+ python -m lidar_slam --no-model /working/2d7ab115-d2a4-43d1-aebe-f8180e147539 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/2d7ab115-d2a4-43d1-aebe-f8180e147539 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 0.002320588 Adjusted end_distance from 9.223372036854776e+18 to 360.702320588 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002320588 meters 0.03297263324498695 Centerline is valid? [0, True] SLAMing on 0.032320588 meters 0.029428225919956207 Centerline is valid? [True, True] Translation: X:0.03, Y:0.01, Z:0.00 [[ 9.99822551e-01 1.23177190e-02 1.42527516e-02 3.07141039e-02] [-1.23059508e-02 9.99923862e-01 -9.13088349e-04 6.55386342e-03] [-1.42629136e-02 7.37532661e-04 9.99898007e-01 6.74465924e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.062320587999999996 meters 0.029428225919956207 Centerline is valid? [True, True] Translation: X:0.06, Y:0.00, Z:0.00 [[ 9.99820431e-01 1.24888511e-02 1.42525383e-02 6.32381444e-02] [-1.24770529e-02 9.99921739e-01 -9.16413822e-04 4.52485321e-03] [-1.42628678e-02 7.38419587e-04 9.99898007e-01 8.38717525e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.092320588 meters 0.027074458442536472 Centerline is valid? [True, True] Translation: X:0.09, Y:0.00, Z:0.00 [[ 9.99746312e-01 1.90744291e-02 1.19781802e-02 9.41372077e-02] [-1.90665647e-02 9.99817920e-01 -7.70420751e-04 5.29615902e-05] [-1.19906946e-02 5.41842556e-04 9.99927962e-01 3.21827772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.122320588 meters 0.024438850294091194 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.01, Z:0.01 [[ 9.99601439e-01 2.71680730e-02 7.67197049e-03 1.25137250e-01] [-2.71650835e-02 9.99630839e-01 -4.93620046e-04 -5.00249496e-03] [-7.68254901e-03 2.85013589e-04 9.99970448e-01 6.67149652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.152320588 meters 0.022210646614868816 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.01, Z:0.01 [[ 9.99313530e-01 3.68144621e-02 4.14302200e-03 1.55119185e-01] [-3.68136725e-02 9.99322111e-01 -2.66711629e-04 -1.20170224e-02] [-4.15003234e-03 1.14008684e-04 9.99991382e-01 7.61361766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.182320588 meters 0.020731601917470543 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.02, Z:0.01 [[ 9.98972170e-01 4.53158238e-02 1.03922892e-03 1.84144391e-01] [-4.53157789e-02 9.98972710e-01 -6.66842837e-05 -2.00981046e-02] [-1.04118319e-03 1.95222755e-05 9.99999458e-01 6.18640076e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.212320588 meters 0.019667078667362968 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.03, Z:0.01 [[ 9.98618322e-01 5.25294843e-02 -1.44892139e-03 2.12378362e-01] [-5.25294021e-02 9.98619373e-01 9.47699115e-05 -2.87841306e-02] [ 1.45189919e-03 -1.85279956e-05 9.99998946e-01 5.42034398e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.242320588 meters 0.019667078667362968 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.03, Z:0.01 [[ 9.98644887e-01 5.20220194e-02 -1.44894691e-03 2.39707757e-01] [-5.20219372e-02 9.98645938e-01 9.43776580e-05 -3.08417497e-02] [ 1.45189466e-03 -1.88727404e-05 9.99998946e-01 5.55882480e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27232058800000003 meters 0.019317523280370296 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.04, Z:0.01 [[ 9.98334026e-01 5.76559422e-02 -2.22804431e-03 2.68467891e-01] [-5.76557681e-02 9.98336512e-01 1.42364109e-04 -3.82059752e-02] [ 2.23254612e-03 -1.36673279e-05 9.99997508e-01 5.94658119e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.302320588 meters 0.019339061355140314 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.04, Z:0.01 [[ 9.98176972e-01 6.03297879e-02 1.74643139e-03 2.96458140e-01] [-6.03296942e-02 9.98178499e-01 -1.06321972e-04 -4.38975449e-02] [-1.74966464e-03 7.66472519e-07 9.99998469e-01 6.21322182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.332320588 meters 0.019326059890483117 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.05, Z:0.01 [[ 9.98105672e-01 6.13524064e-02 4.57701578e-03 3.25104835e-01] [-6.13517618e-02 9.98116167e-01 -2.81235969e-04 -4.89339498e-02] [-4.58564795e-03 -1.04765698e-07 9.99989486e-01 7.49550045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.362320588 meters 0.0194097283981433 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.05, Z:0.01 [[ 9.98085501e-01 6.12241907e-02 8.77100643e-03 3.53124314e-01] [-6.12217994e-02 9.98124040e-01 -5.41132541e-04 -5.39310905e-02] [-8.78768277e-03 3.11974754e-06 9.99961388e-01 8.25256683e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.392320588 meters 0.0194097283981433 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.06, Z:0.01 [[ 9.98085502e-01 6.12241867e-02 8.77095633e-03 3.83069739e-01] [-6.12217881e-02 9.98124040e-01 -5.41943381e-04 -5.57806556e-02] [-8.78768241e-03 3.93220089e-06 9.99961388e-01 8.40390345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.422320588 meters 0.019480710108554997 Centerline is valid? [True, True] Translation: X:0.41, Y:-0.06, Z:0.01 [[ 9.98125167e-01 6.01267506e-02 1.14422528e-02 4.13044059e-01] [-6.01225965e-02 9.98190750e-01 -7.06998524e-04 -5.93905125e-02] [-1.14640604e-02 1.77350702e-05 9.99934285e-01 9.53481145e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45232058799999997 meters 0.019651770289875376 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.06, Z:0.01 [[ 9.98146485e-01 5.89878393e-02 1.49676306e-02 4.43996377e-01] [-5.89805835e-02 9.98258700e-01 -9.26112637e-04 -6.16364768e-02] [-1.49961969e-02 4.15964852e-05 9.99887550e-01 8.97588013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.482320588 meters 0.019822381083740626 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.06, Z:0.01 [[ 9.98177011e-01 5.71711063e-02 1.93421486e-02 4.76362805e-01] [-5.71585953e-02 9.98364390e-01 -1.19949687e-03 -6.24538954e-02] [-1.93790889e-02 9.17401610e-05 9.99812204e-01 7.45831314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.512320588 meters 0.020128904033746054 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.06, Z:0.01 [[ 9.98284056e-01 5.49044206e-02 2.03580038e-02 5.08773125e-01] [-5.48900370e-02 9.98491604e-01 -1.26506735e-03 -6.36665805e-02] [-2.03967537e-02 1.45444977e-04 9.99791954e-01 5.08920199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.542320588 meters 0.020128904033746054 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.07, Z:0.01 [[ 9.98273648e-01 5.50934304e-02 2.03577448e-02 5.41259271e-01] [-5.50790012e-02 9.98481193e-01 -1.26923114e-03 -6.56252206e-02] [-2.03967516e-02 1.45755749e-04 9.99791954e-01 5.25314361e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.572320588 meters 0.02039778369287408 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.07, Z:0.00 [[ 9.98396121e-01 5.26426225e-02 2.08312024e-02 5.73404716e-01] [-5.26269334e-02 9.98613395e-01 -1.30102176e-03 -6.90539346e-02] [-2.08708069e-02 2.02652778e-04 9.99782160e-01 3.22069254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.602320588 meters 0.02063933603234574 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.07, Z:0.00 [[ 9.98521009e-01 5.03372454e-02 2.05415897e-02 6.05153502e-01] [-5.03214489e-02 9.98732246e-01 -1.28550152e-03 -7.38543957e-02] [-2.05802566e-02 2.49917724e-04 9.99788173e-01 2.91316312e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.632320588 meters 0.020938628591570047 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.08, Z:0.00 [[ 9.98589944e-01 4.86886503e-02 2.11551402e-02 6.36848268e-01] [-4.86714700e-02 9.98813961e-01 -1.32654177e-03 -7.82874051e-02] [-2.11946369e-02 2.95019505e-04 9.99775325e-01 3.06438528e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6623205879999999 meters 0.020938628591570047 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.08, Z:0.00 [[ 9.98580866e-01 4.88745847e-02 2.11548736e-02 6.69334559e-01] [-4.88573562e-02 9.98804880e-01 -1.33078662e-03 -8.02645831e-02] [-2.11946327e-02 2.95326860e-04 9.99775325e-01 3.22833936e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.692320588 meters 0.021165389849293156 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.08, Z:0.00 [[ 9.98620460e-01 4.75119717e-02 2.23559529e-02 7.01343154e-01] [-4.74923360e-02 9.98870609e-01 -1.40873422e-03 -8.27508754e-02] [-2.23976360e-02 3.45054386e-04 9.99749082e-01 4.21624570e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.722320588 meters 0.021182279415936887 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.08, Z:0.00 [[ 9.98675966e-01 4.61201870e-02 2.27868998e-02 7.33819124e-01] [-4.60993603e-02 9.98935823e-01 -1.43871371e-03 -8.42127479e-02] [-2.28290043e-02 3.86347305e-04 9.99739310e-01 4.50903460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.752320588 meters 0.021530222218571475 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.09, Z:0.00 [[ 9.98792449e-01 4.42964841e-02 2.12476926e-02 7.67031713e-01] [-4.42778720e-02 9.99018348e-01 -1.34584933e-03 -8.62530320e-02] [-2.12864512e-02 4.03421540e-04 9.99773336e-01 4.22871268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.782320588 meters 0.02192110075431942 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.09, Z:0.00 [[ 9.98918955e-01 4.18102344e-02 2.03180910e-02 7.98706726e-01] [-4.17926564e-02 9.99125474e-01 -1.28917505e-03 -8.98523584e-02] [-2.03542230e-02 4.38634402e-04 9.99792735e-01 2.55403185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.812320588 meters 0.02192110075431942 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.09, Z:0.00 [[ 9.98911207e-01 4.19950854e-02 2.03178321e-02 8.31195035e-01] [-4.19774628e-02 9.99117721e-01 -1.29325112e-03 -9.18556411e-02] [-2.03542163e-02 4.38952001e-04 9.99792735e-01 2.71800732e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.842320588 meters 0.02192110075431942 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.09, Z:0.00 [[ 9.98903423e-01 4.21799367e-02 2.03175926e-02 8.63682955e-01] [-4.21622758e-02 9.99109934e-01 -1.29701022e-03 -9.38652156e-02] [-2.03542164e-02 4.38952003e-04 9.99792735e-01 2.88193961e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.872320588 meters 0.02228610828946977 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.10, Z:0.00 [[ 9.99034559e-01 3.98419601e-02 1.85086199e-02 8.95704938e-01] [-3.98268657e-02 9.99205895e-01 -1.18356934e-03 -9.78048453e-02] [-1.85410779e-02 4.45286352e-04 9.99828000e-01 2.04384860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9023205879999999 meters 0.022447458606063193 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.10, Z:0.00 [[ 9.99091093e-01 3.87694967e-02 1.77176451e-02 9.27958041e-01] [-3.87554575e-02 9.99248080e-01 -1.13517967e-03 -1.01011055e-01] [-1.77483332e-02 4.47492450e-04 9.99842386e-01 2.12039585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.932320588 meters 0.0224926303209023 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.10, Z:0.00 [[ 9.99078213e-01 3.88859499e-02 1.81825865e-02 9.59854632e-01] [-3.88711436e-02 9.99243550e-01 -1.16715646e-03 -1.03235295e-01] [-1.82142183e-02 4.59302664e-04 9.99834002e-01 4.13387922e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.962320588 meters 0.0224926303209023 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.11, Z:0.00 [[ 9.99071084e-01 3.90687998e-02 1.81823526e-02 9.92341399e-01] [-3.90539575e-02 9.99236417e-01 -1.17079568e-03 -1.05263544e-01] [-1.82142105e-02 4.59615280e-04 9.99834002e-01 4.29785746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.992320588 meters 0.02234972355618222 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.11, Z:0.01 [[ 9.99011048e-01 4.01102335e-02 1.91857884e-02 1.02509321e+00] [-4.00938326e-02 9.99195151e-01 -1.23888727e-03 -1.07512437e-01] [-1.92200388e-02 4.68430278e-04 9.99815168e-01 6.01405608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.022320588 meters 0.02179428744230462 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.11, Z:0.01 [[ 9.98925637e-01 4.29771741e-02 1.73359135e-02 1.05723049e+00] [-4.29641821e-02 9.99075984e-01 -1.12134278e-03 -1.11199789e-01] [-1.73680870e-02 3.75314704e-04 9.99849093e-01 8.25136663e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.052320588 meters 0.02117944089909874 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.12, Z:0.01 [[ 9.98829372e-01 4.63887545e-02 1.37101841e-02 1.08939589e+00] [-4.63809253e-02 9.98923431e-01 -8.88636884e-04 -1.16399563e-01] [-1.37366469e-02 2.51705595e-04 9.99905616e-01 7.86472818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.082320588 meters 0.02071486521796497 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.12, Z:0.01 [[ 9.98709723e-01 4.99617258e-02 9.09484096e-03 1.12166500e+00] [-4.99584087e-02 9.98751124e-01 -5.91688613e-04 -1.22524940e-01] [-9.11304441e-03 1.36561389e-04 9.99958466e-01 6.18116386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1123205879999998 meters 0.02071486521796497 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.12, Z:0.01 [[ 9.98706592e-01 5.00242727e-02 9.09484358e-03 1.15245035e+00] [-5.00209586e-02 9.98747993e-01 -5.91647830e-04 -1.24507221e-01] [-9.11305352e-03 1.35949794e-04 9.99958466e-01 6.33653563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1423205879999998 meters 0.020449774318920158 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.13, Z:0.00 [[ 9.98596539e-01 5.25044301e-02 6.94534976e-03 1.18392013e+00] [-5.25025538e-02 9.98620687e-01 -4.52328799e-04 -1.29982772e-01] [-6.95951922e-03 8.70453727e-05 9.99975778e-01 4.34286422e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1723205879999998 meters 0.020254544862111003 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.14, Z:0.00 [[ 9.98453230e-01 5.48604150e-02 9.02675093e-03 1.21451097e+00] [-5.48573455e-02 9.98494029e-01 -5.87472487e-04 -1.35352205e-01] [-9.04538589e-03 9.13802067e-05 9.99959085e-01 3.92189427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2023205879999999 meters 0.020333189536882613 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.14, Z:0.00 [[ 9.98248897e-01 5.70936092e-02 1.54744911e-02 1.24559165e+00] [-5.70848362e-02 9.98368822e-01 -1.00841001e-03 -1.39845357e-01] [-1.55068232e-02 1.23285393e-04 9.99879754e-01 4.95519827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2323205879999999 meters 0.020345792761377643 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.14, Z:0.01 [[ 9.97978575e-01 5.88888746e-02 2.38927810e-02 1.27773225e+00] [-5.88683954e-02 9.98264533e-01 -1.56020042e-03 -1.44158398e-01] [-2.39431943e-02 1.50516915e-04 9.99713309e-01 7.25847475e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.262320588 meters 0.020574597422677386 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.15, Z:0.01 [[ 9.97742243e-01 6.06110959e-02 2.89259602e-02 1.31001107e+00] [-6.05816970e-02 9.98161448e-01 -1.89245365e-03 -1.47713197e-01] [-2.89874820e-02 1.35797195e-04 9.99579765e-01 1.06293432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.292320588 meters 0.02045693835514032 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.15, Z:0.01 [[ 9.97632165e-01 6.18792946e-02 3.00169299e-02 1.34166898e+00] [-6.18477925e-02 9.98083633e-01 -1.97768567e-03 -1.49839862e-01] [-3.00817843e-02 1.16521981e-04 9.99547434e-01 1.31306454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3223205879999997 meters 0.019806305151389026 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.23, Z:0.01 [[ 9.97847415e-01 6.55767500e-02 -4.75049409e-04 1.36733094e+00] [-6.55767426e-02 9.97847528e-01 3.12473770e-05 -2.29315298e-01] [ 4.76075980e-04 -2.79215769e-08 9.99999887e-01 5.58697709e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3523205879999998 meters 0.019771271096694156 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.23, Z:0.01 [[ 9.97840493e-01 6.56691464e-02 -1.38311934e-03 1.39579467e+00] [-6.56690809e-02 9.97841452e-01 9.27511830e-05 -2.31860729e-01] [ 1.38622470e-03 -1.72271069e-06 9.99999039e-01 7.73011594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3823205879999998 meters 0.019771271096694156 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.23, Z:0.01 [[ 9.97871041e-01 6.52033202e-02 -1.38316232e-03 1.42401953e+00] [-6.52032551e-02 9.97871999e-01 9.20994635e-05 -2.33995235e-01] [ 1.38622414e-03 -1.71670159e-06 9.99999039e-01 7.87284992e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4123205879999998 meters 0.019531894720326338 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.24, Z:0.01 [[ 9.97835867e-01 6.57522776e-02 4.69113093e-04 1.45226760e+00] [-6.57522718e-02 9.97835977e-01 -2.78613037e-05 -2.37860417e-01] [-4.69929866e-04 -3.04424348e-06 9.99999890e-01 1.04197647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4423205879999998 meters 0.019531894720326338 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.24, Z:0.01 [[ 9.97840277e-01 6.56853159e-02 4.68985732e-04 1.48136928e+00] [-6.56853091e-02 9.97840388e-01 -2.98383657e-05 -2.39750136e-01] [-4.69932847e-04 -1.03154967e-06 9.99999890e-01 1.05668239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4723205879999999 meters 0.019682102298102314 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.24, Z:0.01 [[ 9.97890503e-01 6.48297365e-02 3.41320342e-03 1.51132014e+00] [-6.48293665e-02 9.97896340e-01 -2.19055288e-04 -2.42653456e-01] [-3.42022450e-03 -2.68262345e-06 9.99994151e-01 1.15883269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.502320588 meters 0.01958290250225488 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.25, Z:0.01 [[ 9.97942670e-01 6.37367778e-02 6.93186149e-03 1.54232335e+00] [-6.37352148e-02 9.97966745e-01 -4.46375357e-04 -2.45725803e-01] [-6.94621777e-03 3.65333447e-06 9.99975875e-01 1.18055057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.532320588 meters 0.019870297570046665 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.25, Z:0.01 [[ 9.98046245e-01 6.18560442e-02 8.80472883e-03 1.57385228e+00] [-6.18534408e-02 9.98085081e-01 -5.67942542e-04 -2.49379630e-01] [-8.82299917e-03 2.22301482e-05 9.99961076e-01 1.09802335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.562320588 meters 0.019960053201267824 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.25, Z:0.01 [[ 9.98144725e-01 5.99102912e-02 1.08566051e-02 1.60589692e+00] [-5.99062019e-02 9.98203764e-01 -7.01761797e-04 -2.53478421e-01] [-1.08791468e-02 5.00818576e-05 9.99940819e-01 1.05509174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5923205879999998 meters 0.019960053201267824 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.26, Z:0.01 [[ 9.98132696e-01 6.01103816e-02 1.08564417e-02 1.63834927e+00] [-6.01062767e-02 9.98191735e-01 -7.04287183e-04 -2.55519953e-01] [-1.08791453e-02 5.04317765e-05 9.99940819e-01 1.07147912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6223205879999998 meters 0.020153270039788746 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.26, Z:0.01 [[ 9.98205547e-01 5.81973304e-02 1.40980820e-02 1.67059425e+00] [-5.81901998e-02 9.98305095e-01 -9.15813271e-04 -2.60334656e-01] [-1.41274850e-02 9.37996801e-05 9.99900198e-01 9.00001708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6523205879999998 meters 0.0202581720589704 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.26, Z:0.01 [[ 9.98257635e-01 5.68215768e-02 1.59060371e-02 1.70297180e+00] [-5.68122934e-02 9.98384341e-01 -1.03525322e-03 -2.64926894e-01] [-1.59391630e-02 1.29790987e-04 9.99872955e-01 8.18790768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6823205879999998 meters 0.020258983470263666 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.27, Z:0.01 [[ 9.98230862e-01 5.68795413e-02 1.73165900e-02 1.73524690e+00] [-5.68685087e-02 9.98381038e-01 -1.12927060e-03 -2.68602440e-01] [-1.73527875e-02 1.42504113e-04 9.99849419e-01 8.12773020e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7123205879999999 meters 0.020258983470263666 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.27, Z:0.01 [[ 9.98219609e-01 5.70767530e-02 1.73163447e-02 1.76770053e+00] [-5.70656848e-02 9.98369783e-01 -1.13302790e-03 -2.70663604e-01] [-1.73527848e-02 1.42841600e-04 9.99849419e-01 8.29162129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.742320588 meters 0.02011129894555008 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.27, Z:0.01 [[ 9.98172165e-01 5.78608988e-02 1.74483905e-02 1.80085124e+00] [-5.78497206e-02 9.98324646e-01 -1.14512268e-03 -2.73392206e-01] [-1.74854161e-02 1.33645074e-04 9.99847109e-01 8.36437132e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.772320588 meters 0.020060500256831433 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.28, Z:0.01 [[ 9.98085022e-01 5.93898273e-02 1.72955610e-02 1.83284810e+00] [-5.93790400e-02 9.98234861e-01 -1.13702153e-03 -2.76227198e-01] [-1.73325594e-02 1.07850352e-04 9.99849774e-01 8.32513744e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8023205879999997 meters 0.020158997622444674 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.28, Z:0.01 [[ 9.97989244e-01 6.10996219e-02 1.68613275e-02 1.86469837e+00] [-6.10895756e-02 9.98131670e-01 -1.11072394e-03 -2.79640456e-01] [-1.68976898e-02 7.84392079e-05 9.99857221e-01 7.51578785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8323205879999998 meters 0.02004208244680039 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.28, Z:0.01 [[ 9.97873812e-01 6.33779778e-02 1.52015847e-02 1.89656819e+00] [-6.33700450e-02 9.97989594e-01 -1.00344955e-03 -2.83993834e-01] [-1.52346200e-02 3.79909217e-05 9.99883946e-01 7.75635275e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8623205879999998 meters 0.02004208244680039 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.29, Z:0.01 [[ 9.97861176e-01 6.35766574e-02 1.52013620e-02 1.92901748e+00] [-6.35686963e-02 9.97976957e-01 -1.00681912e-03 -2.86078903e-01] [-1.52346192e-02 3.83349433e-05 9.99883946e-01 7.92023291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8923205879999998 meters 0.020071983057493824 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.29, Z:0.01 [[ 9.97754126e-01 6.55428211e-02 1.38145820e-02 1.96090949e+00] [-6.55364128e-02 9.97849757e-01 -9.16558863e-04 -2.90617750e-01] [-1.38449511e-02 9.14224016e-06 9.99904154e-01 8.58838576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9223205879999998 meters 0.0199593865435189 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.29, Z:0.01 [[ 9.97658878e-01 6.74033879e-02 1.15562415e-02 1.99304726e+00] [-6.73990094e-02 9.97725806e-01 -7.68368067e-04 -2.94714662e-01] [-1.15817510e-02 -1.23100079e-05 9.99932929e-01 9.56046548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9523205879999999 meters 0.019957726045695758 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.30, Z:0.01 [[ 9.97589434e-01 6.89060770e-02 8.20200251e-03 2.02533646e+00] [-6.89039114e-02 9.97623151e-01 -5.46646263e-04 -2.98361415e-01] [-8.22017484e-03 -1.98215183e-05 9.99966214e-01 1.05219204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9823205879999999 meters 0.019957726045695758 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.30, Z:0.01 [[ 9.97580197e-01 6.90396978e-02 8.20192911e-03 2.05694329e+00] [-6.90375278e-02 9.97613913e-01 -5.47747222e-04 -3.00430303e-01] [-8.22017490e-03 -1.98191275e-05 9.99966214e-01 1.06815620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0123205879999997 meters 0.01980820499403271 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.30, Z:0.01 [[ 9.97566078e-01 6.95057790e-02 5.55575809e-03 2.08873761e+00] [-6.95047852e-02 9.97581549e-01 -3.71994134e-04 -3.02105280e-01] [-5.56817750e-03 -1.50630431e-05 9.99984497e-01 1.17066457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042320588 meters 0.019728240597422803 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.30, Z:0.01 [[ 9.97532251e-01 7.01480722e-02 2.94198439e-03 2.12119505e+00] [-7.01477942e-02 9.97536590e-01 -1.97705550e-04 -3.03542360e-01] [-2.94860574e-03 -9.15605262e-06 9.99995653e-01 1.16724174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0723205879999997 meters 0.01958913817809682 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.31, Z:0.01 [[ 9.97505074e-01 7.05879753e-02 9.82381429e-04 2.15274565e+00] [-7.05879443e-02 9.97505558e-01 -6.61979344e-05 -3.05491042e-01] [-9.84603713e-04 -3.31151016e-06 9.99999515e-01 1.21912196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.102320588 meters 0.019657575931564426 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.31, Z:0.01 [[ 9.97430627e-01 7.15752844e-02 3.02051937e-03 2.18261343e+00] [-7.15749994e-02 9.97435200e-01 -2.02489356e-04 -3.08988489e-01] [-3.02726558e-03 -1.42245870e-05 9.99995418e-01 1.27831487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.132320588 meters 0.019657575931564426 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.31, Z:0.01 [[ 9.97425838e-01 7.16419914e-02 3.02048327e-03 2.21338198e+00] [-7.16417051e-02 9.97430411e-01 -2.03027690e-04 -3.11034257e-01] [-3.02726718e-03 -1.38875074e-05 9.99995418e-01 1.29385713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.162320588 meters 0.019704301942247236 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.32, Z:0.01 [[ 9.97322469e-01 7.28460241e-02 6.43037129e-03 2.24479018e+00] [-7.28447510e-02 9.97343198e-01 -4.32280588e-04 -3.15019350e-01] [-6.44477699e-03 -3.72956514e-05 9.99979232e-01 1.47115797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.192320588 meters 0.019781488573310635 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.32, Z:0.02 [[ 9.97172290e-01 7.44229848e-02 1.04232151e-02 2.27646961e+00] [-7.44197098e-02 9.97226761e-01 -7.02246224e-04 -3.17748114e-01] [-1.04465723e-02 -7.54321692e-05 9.99945430e-01 1.64919298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2223205879999997 meters 0.019800900647085617 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.32, Z:0.02 [[ 9.96915468e-01 7.70639285e-02 1.48559782e-02 2.30856170e+00] [-7.70575432e-02 9.97026143e-01 -1.00260593e-03 -3.19613676e-01] [-1.48890634e-02 -1.45251819e-04 9.99889141e-01 1.73384410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.252320588 meters 0.019800900647085617 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.32, Z:0.02 [[ 9.96899671e-01 7.72680584e-02 1.48557488e-02 2.34100647e+00] [-7.72616451e-02 9.97010344e-01 -1.00600195e-03 -3.21752026e-01] [-1.48890670e-02 -1.44896573e-04 9.99889141e-01 1.75023214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2823205879999997 meters 0.020092635981758884 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.32, Z:0.02 [[ 9.96552580e-01 8.07806339e-02 1.89062225e-02 2.37287010e+00] [-8.07708416e-02 9.96731873e-01 -1.28222380e-03 -3.24575251e-01] [-1.89480134e-02 -2.49268065e-04 9.99820439e-01 1.68182764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.312320588 meters 0.0205467994885638 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.33, Z:0.02 [[ 9.96200240e-01 8.45334184e-02 2.09566695e-02 2.40516404e+00] [-8.45221596e-02 9.96420582e-01 -1.42400166e-03 -3.28114002e-01] [-2.10020325e-02 -3.52712162e-04 9.99779371e-01 1.62878044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3423205879999998 meters 0.02118457371573162 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.33, Z:0.01 [[ 9.95728715e-01 8.91278703e-02 2.40945676e-02 2.43712044e+00] [-8.91142566e-02 9.96020059e-01 -1.64030517e-03 -3.31615011e-01] [-2.41448696e-02 -5.13870525e-04 9.99708338e-01 1.49785097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.372320588 meters 0.02202779438691874 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.33, Z:0.02 [[ 9.95079502e-01 9.59811026e-02 2.45848156e-02 2.46890726e+00] [-9.59687294e-02 9.95382923e-01 -1.68539139e-03 -3.32752536e-01] [-2.46330713e-02 -6.82275092e-04 9.99696327e-01 1.56746527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.402320588 meters 0.02202779438691874 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.33, Z:0.02 [[ 9.95030045e-01 9.64927021e-02 2.45839129e-02 2.50139735e+00] [-9.64801608e-02 9.95333458e-01 -1.69851750e-03 -3.34685944e-01] [-2.46330856e-02 -6.81783932e-04 9.99696327e-01 1.58386898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4323205879999996 meters 0.023198366916322554 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.33, Z:0.02 [[ 9.94299214e-01 1.03680905e-01 2.48866054e-02 2.53269344e+00] [-1.03670295e-01 9.94610232e-01 -1.71961489e-03 -3.32961594e-01] [-2.49307636e-02 -8.70189995e-04 9.99688801e-01 1.62862009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.462320588 meters 0.0250582758681862 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.33, Z:0.02 [[ 9.93459049e-01 1.11827534e-01 2.31023992e-02 2.56430884e+00] [-1.11820558e-01 9.93727131e-01 -1.59766405e-03 -3.31318215e-01] [-2.31361437e-02 -9.96109359e-04 9.99731827e-01 1.58901928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4923205879999997 meters 0.026481580428009858 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.33, Z:0.02 [[ 9.92631235e-01 1.19213224e-01 2.17126169e-02 2.59534450e+00] [-1.19208811e-01 9.92868069e-01 -1.50207418e-03 -3.29206776e-01] [-2.17368312e-02 -1.09732950e-03 9.99763125e-01 1.50042059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.522320588 meters 0.026481580428009858 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.33, Z:0.02 [[ 9.92572654e-01 1.19700159e-01 2.17117172e-02 2.62786511e+00] [-1.19695579e-01 9.92809485e-01 -1.51503503e-03 -3.31173298e-01] [-2.17369487e-02 -1.09501423e-03 9.99763125e-01 1.51684079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5523205879999997 meters 0.028325746714737848 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.33, Z:0.01 [[ 9.91763959e-01 1.26601057e-01 1.94015827e-02 2.65920746e+00] [-1.26598729e-01 9.91953089e-01 -1.35310991e-03 -3.31342212e-01] [-1.94167650e-02 -1.11425007e-03 9.99810856e-01 1.36495619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.582320588 meters 0.03006544487612968 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.33, Z:0.01 [[ 9.91005356e-01 1.32865107e-01 1.59764938e-02 2.69031535e+00] [-1.32864332e-01 9.91133607e-01 -1.11461280e-03 -3.30457255e-01] [-1.59829331e-02 -1.01811893e-03 9.99871746e-01 1.45403723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6123205879999998 meters 0.03068684952384332 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.33, Z:0.02 [[ 9.90387861e-01 1.37760587e-01 1.24058946e-02 2.72194397e+00] [-1.37760490e-01 9.90465192e-01 -8.66420043e-04 -3.26348850e-01] [-1.24069653e-02 -8.50950233e-04 9.99922669e-01 1.51553570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6423205879999996 meters 0.0319959510206553 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.32, Z:0.02 [[ 9.89884482e-01 1.41562468e-01 9.42226345e-03 2.75370685e+00] [-1.41562578e-01 9.89929090e-01 -6.58676923e-04 -3.21796696e-01] [-9.42061661e-03 -6.81825837e-04 9.99955393e-01 1.55609673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.672320588 meters 0.0319959510206553 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.32, Z:0.02 [[ 9.89867816e-01 1.41678964e-01 9.42216527e-03 2.78539199e+00] [-1.41679065e-01 9.89912424e-01 -6.60080547e-04 -3.23984974e-01] [-9.42063799e-03 -6.81531081e-04 9.99955393e-01 1.57210382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7023205879999996 meters 0.0319959510206553 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.33, Z:0.02 [[ 9.89851136e-01 1.41795459e-01 9.42208756e-03 2.81707685e+00] [-1.41795555e-01 9.89895744e-01 -6.61189377e-04 -3.26177240e-01] [-9.42063803e-03 -6.81531083e-04 9.99955393e-01 1.58810999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.732320588 meters 0.03312962768641896 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.32, Z:0.02 [[ 9.89463874e-01 1.44606667e-01 7.08191895e-03 2.84936473e+00] [-1.44606782e-01 9.89489075e-01 -4.98485294e-04 -3.20447285e-01] [-7.07956573e-03 -5.30860321e-04 9.99974799e-01 1.71813201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7623205879999997 meters 0.03285223372949108 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.31, Z:0.02 [[ 9.89355889e-01 1.45423771e-01 5.18184374e-03 2.88020671e+00] [-1.45423847e-01 9.89369381e-01 -3.64145710e-04 -3.13048786e-01] [-5.17971297e-03 -3.93293946e-04 9.99986508e-01 1.86706955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.792320588 meters 0.03285166905064525 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.30, Z:0.02 [[ 9.89206272e-01 1.46480072e-01 3.81323240e-03 2.91060675e+00] [-1.46480123e-01 9.89213578e-01 -2.67451215e-04 -3.04974780e-01] [-3.81127754e-03 -2.93998331e-04 9.99992694e-01 2.05158427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8223205879999997 meters 0.03285166905064525 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.31, Z:0.02 [[ 9.89266320e-01 1.46073970e-01 3.81346593e-03 2.93889905e+00] [-1.46074031e-01 9.89273626e-01 -2.64114656e-04 -3.07212817e-01] [-3.81114155e-03 -2.95768605e-04 9.99992694e-01 2.06588992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.852320588 meters 0.03280227668933295 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.30, Z:0.02 [[ 9.89329144e-01 1.45566230e-01 6.19003009e-03 2.96857436e+00] [-1.45566388e-01 9.89348394e-01 -4.27447439e-04 -2.98736473e-01] [-6.18631824e-03 -4.78174114e-04 9.99980750e-01 2.16534954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.882320588 meters 0.0325563044491964 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.29, Z:0.02 [[ 9.89428043e-01 1.44798458e-01 8.09650874e-03 2.99743505e+00] [-1.44798731e-01 9.89460974e-01 -5.55613335e-04 -2.90154117e-01] [-8.09163137e-03 -6.22624776e-04 9.99967068e-01 2.28431790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9123205879999996 meters 0.03224492742795441 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.28, Z:0.02 [[ 9.89578909e-01 1.43602183e-01 1.05827849e-02 3.02674068e+00] [-1.43602616e-01 9.89635168e-01 -7.22869847e-04 -2.83362280e-01] [-1.05769018e-02 -8.04378837e-04 9.99943739e-01 2.23959173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.942320588 meters 0.03128334000205708 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.28, Z:0.02 [[ 9.89871391e-01 1.41378237e-01 1.29160172e-02 3.05655816e+00] [-1.41378751e-01 9.89955190e-01 -8.77878263e-04 -2.77102650e-01] [-1.29103911e-02 -9.57063796e-04 9.99916199e-01 2.16070234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9723205879999997 meters 0.03128334000205708 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.28, Z:0.02 [[ 9.89871394e-01 1.41378227e-01 1.29158860e-02 3.08657519e+00] [-1.41378716e-01 9.89955193e-01 -8.79804625e-04 -2.79145650e-01] [-1.29105336e-02 -9.55137946e-04 9.99916199e-01 2.17588553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.002320588 meters 0.02913813819489084 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.27, Z:0.02 [[ 9.91213303e-01 1.31243839e-01 1.64694483e-02 3.11788994e+00] [-1.31243265e-01 9.91349560e-01 -1.12040553e-03 -2.67379085e-01] [-1.64740266e-02 -1.05094330e-03 9.99863742e-01 2.21240297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0323205879999997 meters 0.02913813819489084 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.27, Z:0.02 [[ 9.91205398e-01 1.31303543e-01 1.64693370e-02 3.14873106e+00] [-1.31302949e-01 9.91341655e-01 -1.12204027e-03 -2.69464752e-01] [-1.64740677e-02 -1.05030015e-03 9.99863742e-01 2.22798688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.062320588 meters 0.026806623625841984 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.26, Z:0.02 [[ 9.92309587e-01 1.22214355e-01 1.96299459e-02 3.17959469e+00] [-1.22211749e-01 9.92503149e-01 -1.33684017e-03 -2.64025496e-01] [-1.96461642e-02 -1.07245071e-03 9.99806420e-01 2.23343472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0923205879999998 meters 0.02437216177653589 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.26, Z:0.02 [[ 9.93476434e-01 1.12068102e-01 2.11024868e-02 3.21011411e+00] [-1.12062806e-01 9.93700087e-01 -1.43705843e-03 -2.59652308e-01] [-2.11305913e-02 -9.37120189e-04 9.99776285e-01 2.23565967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.122320588 meters 0.022698354567717745 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.26, Z:0.02 [[ 9.94525152e-01 1.02173467e-01 2.19158569e-02 3.24109962e+00] [-1.02165334e-01 9.94766311e-01 -1.49333522e-03 -2.56618854e-01] [-2.19537354e-02 -7.53881411e-04 9.99758703e-01 2.19960457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.152320588 meters 0.021737055935192925 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.25, Z:0.02 [[ 9.95358633e-01 9.34592657e-02 2.29468596e-02 3.27290395e+00] [-9.34479963e-02 9.95622932e-01 -1.56527895e-03 -2.54386247e-01] [-2.29927095e-02 -5.86324141e-04 9.99735461e-01 1.93726714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1823205879999996 meters 0.021737055935192925 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.26, Z:0.02 [[ 9.95340394e-01 9.36533872e-02 2.29465098e-02 3.30538862e+00] [-9.36420514e-02 9.95604691e-01 -1.57040029e-03 -2.56553456e-01] [-2.29927261e-02 -5.85675403e-04 9.99735461e-01 1.95367196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.212320588 meters 0.021051314166853574 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.25, Z:0.02 [[ 9.96008239e-01 8.59436345e-02 2.41097537e-02 3.33834240e+00] [-8.59287714e-02 9.96299910e-01 -1.65373363e-03 -2.54619133e-01] [-2.41626733e-02 -4.24589192e-04 9.99707950e-01 1.87513199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2423205879999997 meters 0.02035479395815472 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.25, Z:0.02 [[ 9.96600344e-01 7.87396223e-02 2.42451255e-02 3.37035846e+00] [-7.87223868e-02 9.96895185e-01 -1.66600871e-03 -2.52442087e-01] [-2.43010298e-02 -2.48289292e-04 9.99704656e-01 1.82020217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.272320588 meters 0.02026998049344117 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.25, Z:0.02 [[ 9.97023351e-01 7.29206664e-02 2.50402336e-02 3.40293094e+00] [-7.29003644e-02 9.97337739e-01 -1.72389970e-03 -2.52502632e-01] [-2.50992779e-02 -1.06673898e-04 9.99684958e-01 1.78188526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3023205879999997 meters 0.02026998049344117 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.25, Z:0.02 [[ 9.97009182e-01 7.31142638e-02 2.50398764e-02 3.43540779e+00] [-7.30938928e-02 9.97323565e-01 -1.72908192e-03 -2.54679754e-01] [-2.50992794e-02 -1.06351491e-04 9.99684958e-01 1.79828140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.332320588 meters 0.020362140224883567 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.26, Z:0.02 [[ 9.97370934e-01 6.73888471e-02 2.66451467e-02 3.46780187e+00] [-6.73636546e-02 9.97726787e-01 -1.84299163e-03 -2.56193817e-01] [-2.67087737e-02 4.32318250e-05 9.99643256e-01 1.64580999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3623205879999998 meters 0.020569899474143744 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.26, Z:0.02 [[ 9.97661550e-01 6.32032061e-02 2.60151099e-02 3.50061493e+00] [-6.31776298e-02 9.98000666e-01 -1.80471147e-03 -2.59255137e-01] [-2.60771605e-02 1.56918263e-04 9.99659921e-01 1.60628881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3923205879999996 meters 0.020747370231737405 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.26, Z:0.02 [[ 9.97978293e-01 5.85640806e-02 2.46895668e-02 3.53367046e+00] [-5.85395079e-02 9.98283615e-01 -1.71748438e-03 -2.62797152e-01] [-2.47477729e-02 2.68697037e-04 9.99693691e-01 1.51784351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.422320588 meters 0.02114838163675615 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.27, Z:0.01 [[ 9.98216712e-01 5.50810771e-02 2.30102180e-02 3.56636336e+00] [-5.50587074e-02 9.98481829e-01 -1.60506039e-03 -2.67121624e-01] [-2.30636930e-02 3.35285242e-04 9.99733941e-01 1.41488345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4523205879999996 meters 0.02114838163675615 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.27, Z:0.01 [[ 9.98206460e-01 5.52666849e-02 2.30099199e-02 3.59883817e+00] [-5.52442660e-02 9.98471573e-01 -1.60932903e-03 -2.69327438e-01] [-2.30636932e-02 3.35276499e-04 9.99733941e-01 1.43127565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.482320588 meters 0.021413176009700725 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.27, Z:0.01 [[ 9.98458961e-01 5.16261496e-02 2.03578886e-02 3.63061261e+00] [-5.16077978e-02 9.98666411e-01 -1.42614655e-03 -2.73998163e-01] [-2.04043660e-02 3.73323000e-04 9.99791740e-01 1.42416640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5123205879999997 meters 0.021413176009700725 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.28, Z:0.01 [[ 9.98449314e-01 5.18124980e-02 2.03575997e-02 3.66308557e+00] [-5.17941010e-02 9.98656761e-01 -1.43026587e-03 -2.76215535e-01] [-2.04043602e-02 3.73644398e-04 9.99791740e-01 1.44056287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.542320588 meters 0.022106869028921682 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.28, Z:0.01 [[ 9.98659558e-01 4.85218026e-02 1.80200336e-02 3.69481064e+00] [-4.85068163e-02 9.98822047e-01 -1.26806158e-03 -2.79880790e-01] [-1.80603354e-02 3.92267357e-04 9.99836822e-01 1.36545325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5723205879999997 meters 0.022474143197003547 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.28, Z:0.01 [[ 9.98834734e-01 4.55765315e-02 1.58730769e-02 3.72641616e+00] [-4.55645000e-02 9.98960772e-01 -1.11899327e-03 -2.82660347e-01] [-1.59075810e-02 3.94440529e-04 9.99873389e-01 1.38527680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6023205879999995 meters 0.022718008465144997 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.28, Z:0.01 [[ 9.98920982e-01 4.42366122e-02 1.41419007e-02 3.75895261e+00] [-4.42268856e-02 9.99021012e-01 -9.99938712e-04 -2.84057232e-01] [-1.41722899e-02 3.73407534e-04 9.99899498e-01 1.41616075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.632320588 meters 0.022666656576297895 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.29, Z:0.01 [[ 9.98982954e-01 4.32864277e-02 1.26231047e-02 3.79129875e+00] [-4.32785787e-02 9.99062643e-01 -8.94422999e-04 -2.86658584e-01] [-1.26499887e-02 3.47203299e-04 9.99919925e-01 1.46591792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6623205879999996 meters 0.022985268725611043 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.29, Z:0.01 [[ 9.99013669e-01 4.28710060e-02 1.15657078e-02 3.82295707e+00] [-4.28643735e-02 9.99080563e-01 -8.20859469e-04 -2.90231990e-01] [-1.15902649e-02 3.24293013e-04 9.99932778e-01 1.45017647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.692320588 meters 0.02297396710323598 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.30, Z:0.01 [[ 9.99026140e-01 4.26098247e-02 1.14531512e-02 3.85501449e+00] [-4.26032874e-02 9.99091736e-01 -8.14273441e-04 -2.95492820e-01] [-1.14774448e-02 3.25538561e-04 9.99934079e-01 1.44839348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7223205879999997 meters 0.02297396710323598 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.30, Z:0.01 [[ 9.99020944e-01 4.27315032e-02 1.14530521e-02 3.88664130e+00] [-4.27249579e-02 9.99086539e-01 -8.15666883e-04 -2.97704240e-01] [-1.14774448e-02 3.25537132e-04 9.99934079e-01 1.46436472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.752320588 meters 0.022854269087012668 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.30, Z:0.02 [[ 9.98950306e-01 4.39224492e-02 1.30040161e-02 3.91859777e+00] [-4.39140921e-02 9.99034880e-01 -9.27637496e-04 -3.02522781e-01] [-1.30322097e-02 3.55604202e-04 9.99915014e-01 1.56041874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7823205879999997 meters 0.02275336274398802 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.30, Z:0.02 [[ 9.98861955e-01 4.49627898e-02 1.59104760e-02 3.95100848e+00] [-4.49503819e-02 9.98988574e-01 -1.13679522e-03 -3.04635308e-01] [-1.59454973e-02 4.20319525e-04 9.99872774e-01 1.71193778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.812320588 meters 0.022838728455982206 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.30, Z:0.02 [[ 9.98747748e-01 4.62959861e-02 1.89635654e-02 3.98297585e+00] [-4.62785562e-02 9.98927652e-01 -1.35717595e-03 -3.04937425e-01] [-1.90060617e-02 4.77870000e-04 9.99819254e-01 1.64582336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8423205879999998 meters 0.022838728455982206 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.31, Z:0.02 [[ 9.98739216e-01 4.64798034e-02 1.89632936e-02 4.01544809e+00] [-4.64623346e-02 9.98919115e-01 -1.36096976e-03 -3.07204673e-01] [-1.90060541e-02 4.78174972e-04 9.99819254e-01 1.66222156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8723205879999996 meters 0.02251665568184119 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.31, Z:0.02 [[ 9.98555713e-01 4.91983878e-02 2.15871904e-02 4.04834879e+00] [-4.91763002e-02 9.98788906e-01 -1.55316606e-03 -3.09118806e-01] [-2.16374596e-02 4.89344690e-04 9.99765763e-01 1.54136515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.902320588 meters 0.022322681157343864 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.31, Z:0.01 [[ 9.98372981e-01 5.22319400e-02 2.28738860e-02 4.08002777e+00] [-5.22078792e-02 9.98634879e-01 -1.64821380e-03 -3.11548863e-01] [-2.29287498e-02 4.51335051e-04 9.99737000e-01 1.36789059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9323205879999996 meters 0.022071768581541716 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.32, Z:0.01 [[ 9.98097419e-01 5.59780751e-02 2.58456344e-02 4.11204054e+00] [-5.59485293e-02 9.98431912e-01 -1.86545201e-03 -3.15308089e-01] [-2.59095306e-02 4.15877601e-04 9.99664205e-01 1.22569863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.962320588 meters 0.021835191413614133 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.32, Z:0.01 [[ 9.97821998e-01 5.93140644e-02 2.88634973e-02 4.14431387e+00] [-5.92785065e-02 9.98239302e-01 -2.08680249e-03 -3.17697393e-01] [-2.89364542e-02 3.71272421e-04 9.99581184e-01 1.25446658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9923205879999997 meters 0.021835191413614133 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.32, Z:0.01 [[ 9.97810912e-01 5.95004669e-02 2.88630844e-02 4.17678581e+00] [-5.94648220e-02 9.98228209e-01 -2.09250752e-03 -3.19985281e-01] [-2.89364502e-02 3.71588659e-04 9.99581184e-01 1.27086540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0223205879999995 meters 0.021866155053310122 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.32, Z:0.01 [[ 9.97511903e-01 6.28011265e-02 3.20315756e-02 4.20933545e+00] [-6.27588092e-02 9.98026013e-01 -2.32579193e-03 -3.21816647e-01] [-3.21144080e-02 3.09741594e-04 9.99484151e-01 1.39703421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052320588 meters 0.02194676661745964 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.32, Z:0.01 [[ 9.97217254e-01 6.55498770e-02 3.55100328e-02 4.24135304e+00] [-6.54989992e-02 9.97849260e-01 -2.59543975e-03 -3.22512659e-01] [-3.56037907e-02 2.62345690e-04 9.99365950e-01 1.33696366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082320588 meters 0.022013413727992117 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.32, Z:0.01 [[ 9.96995472e-01 6.77564414e-02 3.75379051e-02 4.27384895e+00] [-6.77005378e-02 9.97701870e-01 -2.75983914e-03 -3.24058242e-01] [-3.76386350e-02 2.10210754e-04 9.99291393e-01 1.30297510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112320587999999 meters 0.022013413727992117 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.33, Z:0.01 [[ 9.96961708e-01 6.82522040e-02 3.75365058e-02 4.30640076e+00] [-6.81959373e-02 9.97668077e-01 -2.77881500e-03 -3.26122870e-01] [-3.76386338e-02 2.10534951e-04 9.99291393e-01 1.31938469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142320588 meters 0.022170296723124507 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.33, Z:0.01 [[ 9.96833919e-01 6.91040209e-02 3.93290140e-02 4.33898812e+00] [-6.90422515e-02 9.97609439e-01 -2.92825235e-03 -3.27207571e-01] [-3.94373496e-02 2.03617583e-04 9.99222024e-01 1.23784845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.172320588 meters 0.022087143355191814 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.33, Z:0.01 [[ 9.96922731e-01 6.88055219e-02 3.75615284e-02 4.37107564e+00] [-6.87483428e-02 9.97630067e-01 -2.81329695e-03 -3.26841255e-01] [-3.76660805e-02 2.22346842e-04 9.99290357e-01 1.16016837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202320588 meters 0.022144827184646845 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.33, Z:0.01 [[ 9.96975337e-01 6.84358143e-02 3.68336372e-02 4.40347864e+00] [-6.83799778e-02 9.97655491e-01 -2.77503068e-03 -3.25773546e-01] [-3.69371919e-02 2.47953845e-04 9.99317558e-01 1.06336105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.232320587999999 meters 0.0220877139400345 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.33, Z:0.01 [[ 9.97107983e-01 6.77274837e-02 3.44769334e-02 4.43632837e+00] [-6.76780018e-02 9.97703824e-01 -2.60155526e-03 -3.25015719e-01] [-3.45739650e-02 2.60701556e-04 9.99402108e-01 1.04920272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262320588 meters 0.0220877139400345 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.33, Z:0.01 [[ 9.97074278e-01 6.82225965e-02 3.44755084e-02 4.46887773e+00] [-6.81727596e-02 9.97670090e-01 -2.62037999e-03 -3.27144223e-01] [-3.45739527e-02 2.62422939e-04 9.99402108e-01 1.06563124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.292320588 meters 0.02207631357981441 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.33, Z:0.01 [[ 9.97148717e-01 6.75907155e-02 3.35548872e-02 4.50114571e+00] [-6.75426653e-02 9.97713090e-01 -2.56473838e-03 -3.27616826e-01] [-3.36515027e-02 2.91039068e-04 9.99433585e-01 9.73708588e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322320588 meters 0.022146671925494462 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.33, Z:0.01 [[ 9.97134718e-01 6.82823385e-02 3.25557283e-02 4.53293185e+00] [-6.82370097e-02 9.97666000e-01 -2.50266599e-03 -3.29431426e-01] [-3.26506311e-02 2.73989601e-04 9.99466788e-01 9.13106385e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3523205879999995 meters 0.02189674352449095 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.33, Z:0.01 [[ 9.97075050e-01 6.95159779e-02 3.17627556e-02 4.56476985e+00] [-6.94730148e-02 9.97580809e-01 -2.45557428e-03 -3.31069448e-01] [-3.18566171e-02 2.41737459e-04 9.99492420e-01 8.86470487e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382320588 meters 0.02189674352449095 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.33, Z:0.01 [[ 9.97040286e-01 7.00133938e-02 3.17615021e-02 4.59731325e+00] [-6.99701679e-02 9.97546022e-01 -2.47174360e-03 -3.33260127e-01] [-3.18566152e-02 2.42070311e-04 9.99492420e-01 9.02877322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.412320588 meters 0.021804924616305878 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.33, Z:0.01 [[ 9.96964894e-01 7.19891637e-02 2.96405347e-02 4.62971050e+00] [-7.19520099e-02 9.97405398e-01 -2.31954644e-03 -3.33898463e-01] [-2.97306115e-02 1.79810322e-04 9.99557931e-01 9.18364199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442320587999999 meters 0.021580293258428127 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.33, Z:0.01 [[ 9.96898162e-01 7.38652412e-02 2.71658050e-02 4.66171436e+00] [-7.38346745e-02 9.97268225e-01 -2.12792180e-03 -3.34876911e-01] [-2.72487735e-02 1.15542964e-04 9.99628677e-01 8.94708322e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.472320588 meters 0.021419224771739867 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.34, Z:0.01 [[ 9.96809184e-01 7.59178381e-02 2.46563083e-02 4.69434747e+00] [-7.58931843e-02 9.97114075e-01 -1.93547840e-03 -3.37123311e-01] [-2.47320894e-02 5.80568943e-05 9.99694113e-01 7.79559000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.502320588 meters 0.021319479252537948 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.34, Z:0.01 [[ 9.96792121e-01 7.67266601e-02 2.27703300e-02 4.72605783e+00] [-7.67057809e-02 9.97052164e-01 -1.79024603e-03 -3.40744778e-01] [-2.28405664e-02 3.78871882e-05 9.99739120e-01 7.13808279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532320588 meters 0.021319479252537948 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.34, Z:0.01 [[ 9.96777452e-01 7.69170938e-02 2.27699624e-02 4.75851031e+00] [-7.68961576e-02 9.97037491e-01 -1.79491709e-03 -3.43234439e-01] [-2.28405660e-02 3.82102685e-05 9.99739120e-01 7.30203494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5623205879999995 meters 0.021400466970329966 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.35, Z:0.01 [[ 9.96744494e-01 7.75424186e-02 2.20813517e-02 4.79077853e+00] [-7.75228273e-02 9.96989053e-01 -1.74315471e-03 -3.47036207e-01] [-2.21500343e-02 2.56710487e-05 9.99754658e-01 7.01351032e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592320588 meters 0.02139968937770439 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.35, Z:0.01 [[ 9.96860482e-01 7.61848993e-02 2.15647900e-02 4.82245611e+00] [-7.61658361e-02 9.97093706e-01 -1.70516470e-03 -3.49139602e-01] [-2.16320242e-02 5.73110484e-05 9.99765999e-01 7.76234084e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.622320588 meters 0.02139968937770439 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.35, Z:0.01 [[ 9.96845938e-01 7.63750612e-02 2.15644394e-02 4.85490662e+00] [-7.63559466e-02 9.97079158e-01 -1.70959447e-03 -3.51643899e-01] [-2.16320234e-02 5.76291200e-05 9.99765999e-01 7.92628885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652320587999999 meters 0.021277981135289604 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.35, Z:0.01 [[ 9.96973183e-01 7.47437962e-02 2.13971550e-02 4.88784340e+00] [-7.47245132e-02 9.97202766e-01 -1.70043674e-03 -3.52854185e-01] [-2.14643992e-02 9.63978440e-05 9.99769609e-01 8.25658185e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682320588 meters 0.021277981135289604 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.36, Z:0.01 [[ 9.96958843e-01 7.49349085e-02 2.13968283e-02 4.92029326e+00] [-7.49155814e-02 9.97188423e-01 -1.70454399e-03 -3.55372888e-01] [-2.14643993e-02 9.64043751e-05 9.99769609e-01 8.42048407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.712320588 meters 0.02160568632367295 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.36, Z:0.01 [[ 9.97066992e-01 7.25104293e-02 2.44877657e-02 4.95282889e+00] [-7.24843173e-02 9.97367639e-01 -1.95344405e-03 -3.56935584e-01] [-2.45649501e-02 1.72735610e-04 9.99698221e-01 6.51429023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.742320588 meters 0.02196063384648816 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.36, Z:0.01 [[ 9.97158037e-01 7.04129930e-02 2.67928979e-02 4.98457487e+00] [-7.03808866e-02 9.97517894e-01 -2.14063155e-03 -3.60013745e-01] [-2.68771234e-02 2.48840045e-04 9.99638714e-01 6.24786860e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7723205879999995 meters 0.02224409834577379 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.36, Z:0.01 [[ 9.97173854e-01 6.88216790e-02 3.01310571e-02 5.01616890e+00] [-6.87799366e-02 9.97628919e-01 -2.42084767e-03 -3.63470455e-01] [-3.02262207e-02 3.41593810e-04 9.99543025e-01 6.02716882e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802320588 meters 0.022614899011107185 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.37, Z:0.01 [[ 9.97100069e-01 6.81262498e-02 3.39155778e-02 5.04774613e+00] [-6.80727548e-02 9.97676622e-01 -2.73084667e-03 -3.66184905e-01] [-3.40228214e-02 4.14200594e-04 9.99420970e-01 6.14069477e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.832320588 meters 0.022945137850580652 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.37, Z:0.01 [[ 9.96926384e-01 6.82299666e-02 3.85026950e-02 5.08018044e+00] [-6.81609324e-02 9.97669510e-01 -3.10434178e-03 -3.67134409e-01] [-3.86247740e-02 4.70420633e-04 9.99253674e-01 6.24253294e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862320587999999 meters 0.022945137850580652 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.37, Z:0.01 [[ 9.96893124e-01 6.87151349e-02 3.85010331e-02 5.11272626e+00] [-6.86456687e-02 9.97636210e-01 -3.12489398e-03 -3.69430463e-01] [-3.86247523e-02 4.72256161e-04 9.99253674e-01 6.40687771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892320588 meters 0.022944585366928272 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.37, Z:0.01 [[ 9.96638977e-01 7.05989077e-02 4.15516906e-02 5.14453223e+00] [-7.05189643e-02 9.97504684e-01 -3.38837246e-03 -3.69339454e-01] [-4.16872214e-02 4.46801882e-04 9.99130610e-01 7.05930819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922320588 meters 0.022712855649201 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.37, Z:0.01 [[ 9.96439033e-01 7.25917586e-02 4.28916155e-02 5.17681859e+00] [-7.25076239e-02 9.97361660e-01 -3.51607787e-03 -3.70791353e-01] [-4.30336912e-02 3.93588098e-04 9.99073544e-01 6.87629234e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.952320588 meters 0.022712855649201 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.37, Z:0.01 [[ 9.96403268e-01 7.30820608e-02 4.28898549e-02 5.20936955e+00] [-7.29974582e-02 9.97325853e-01 -3.53749729e-03 -3.73132097e-01] [-4.30336887e-02 3.93923465e-04 9.99073544e-01 7.04044308e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982320587999999 meters 0.022390137692214134 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.38, Z:0.01 [[ 9.96302958e-01 7.51774968e-02 4.15783532e-02 5.24100468e+00] [-7.50990740e-02 9.97170119e-01 -3.44707875e-03 -3.77862273e-01] [-4.17198341e-02 3.11838932e-04 9.99129300e-01 6.32994454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012320588 meters 0.022499952769229288 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.39, Z:0.00 [[ 9.96351174e-01 7.58620491e-02 3.91061181e-02 5.27329023e+00] [-7.57930137e-02 9.97118286e-01 -3.24701569e-03 -3.85598089e-01] [-3.92397507e-02 2.71197347e-04 9.99229788e-01 2.88854445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.042320588 meters 0.022614408966579725 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.39, Z:0.00 [[ 9.96637269e-01 7.37869917e-02 3.56319111e-02 5.30474305e+00] [-7.37277514e-02 9.97273967e-01 -2.97545363e-03 -3.93248198e-01] [-3.57543271e-02 3.38387300e-04 9.99360552e-01 1.67202468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.072320587999999 meters 0.023072820531027164 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.40, Z:0.00 [[ 9.96883120e-01 7.01007146e-02 3.61930228e-02 5.33614266e+00] [-7.00366423e-02 9.97539797e-01 -3.03666647e-03 -3.98744958e-01] [-3.63168531e-02 4.92363758e-04 9.99340204e-01 7.23414299e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1023205879999995 meters 0.02379413419870086 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.40, Z:0.00 [[ 9.97190165e-01 6.42842412e-02 3.84618115e-02 5.36833626e+00] [-6.42074340e-02 9.97931346e-01 -3.23015735e-03 -4.01433645e-01] [-3.85898956e-02 7.51546914e-04 9.99254850e-01 1.17328564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.132320588 meters 0.025105415038553628 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.40, Z:0.00 [[ 9.97508423e-01 5.80348589e-02 4.01111144e-02 5.39922595e+00] [-5.79462404e-02 9.98314019e-01 -3.36939894e-03 -4.02683052e-01] [-4.02390305e-02 1.03671554e-03 9.99189544e-01 1.80776658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.162320588 meters 0.025105415038553628 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.41, Z:0.00 [[ 9.97480903e-01 5.85071784e-02 4.01093285e-02 5.43176683e+00] [-5.84180894e-02 9.98286447e-01 -3.39059992e-03 -4.05092918e-01] [-4.02389735e-02 1.03894833e-03 9.99189544e-01 1.97219929e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192320587999999 meters 0.02632825330740385 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.41, Z:0.00 [[ 9.97734220e-01 5.30440920e-02 4.13853845e-02 5.46318582e+00] [-5.29445340e-02 9.98591325e-01 -3.49874225e-03 -4.08409535e-01] [-4.15126735e-02 1.29968498e-03 9.99137132e-01 3.49480476e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222320588 meters 0.027180517439626968 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.41, Z:-0.00 [[ 9.98058419e-01 4.83979373e-02 3.92049891e-02 5.49534970e+00] [-4.83043186e-02 9.98827107e-01 -3.33222300e-03 -4.13866180e-01] [-3.93202786e-02 1.43198293e-03 9.99225633e-01 -2.92800107e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.252320588 meters 0.028045840963735212 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.42, Z:-0.00 [[ 9.98341684e-01 4.47591657e-02 3.62008134e-02 5.52707755e+00] [-4.46764250e-02 9.98996726e-01 -3.09171724e-03 -4.21102031e-01] [-3.63028768e-02 1.46926727e-03 9.99339753e-01 -1.31418717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282320587999999 meters 0.02864536229259517 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.43, Z:-0.00 [[ 9.98514031e-01 4.15275623e-02 3.52872742e-02 5.55811039e+00] [-4.14467081e-02 9.99136152e-01 -3.02004699e-03 -4.30157100e-01] [-3.53822065e-02 1.55301795e-03 9.99372647e-01 -1.36030001e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3123205879999995 meters 0.02864536229259517 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.43, Z:-0.00 [[ 9.98494837e-01 4.19878006e-02 3.52857696e-02 5.59065165e+00] [-4.19066146e-02 9.99116914e-01 -3.03758286e-03 -4.32627946e-01] [-3.53821506e-02 1.55430366e-03 9.99372647e-01 -1.19594881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.342320588 meters 0.029619749728208165 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.44, Z:-0.00 [[ 9.98615209e-01 3.92015693e-02 3.50842104e-02 5.62180789e+00] [-3.91191453e-02 9.99229950e-01 -3.03295105e-03 -4.41128808e-01] [-3.51760903e-02 1.65628672e-03 9.99379757e-01 -6.37762916e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.372320588 meters 0.029630936237422578 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.45, Z:-0.00 [[ 9.98677770e-01 3.82121171e-02 3.43881680e-02 5.65286674e+00] [-3.81318669e-02 9.99268252e-01 -2.98671368e-03 -4.52545845e-01] [-3.44771332e-02 1.67147951e-03 9.99404089e-01 -1.39715397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.402320587999999 meters 0.03015932978307625 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.46, Z:-0.00 [[ 9.98750820e-01 3.71257468e-02 3.34436668e-02 5.68375111e+00] [-3.70487856e-02 9.99309197e-01 -2.91820049e-03 -4.64377502e-01] [-3.35289042e-02 1.67550789e-03 9.99436344e-01 -2.75367014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.432320588 meters 0.03015932978307625 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.47, Z:-0.00 [[ 9.98733860e-01 3.75804356e-02 3.34423116e-02 5.71628262e+00] [-3.75032109e-02 9.99292201e-01 -2.93369694e-03 -4.66904748e-01] [-3.35288908e-02 1.67578840e-03 9.99436344e-01 -2.58941749e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.462320588 meters 0.029597882059193264 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.48, Z:-0.00 [[ 9.98719879e-01 3.74605857e-02 3.39898230e-02 5.74715976e+00] [-3.73806302e-02 9.99296642e-01 -2.98498232e-03 -4.80326265e-01] [-3.40777352e-02 1.71060017e-03 9.99417721e-01 -2.78411049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492320588 meters 0.029790612238170294 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.49, Z:-0.00 [[ 9.98598423e-01 3.85805797e-02 3.62315966e-02 5.77865819e+00] [-3.84898772e-02 9.99253873e-01 -3.19784328e-03 -4.90796211e-01] [-3.63279379e-02 1.79881155e-03 9.99338304e-01 -2.22689127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5223205879999995 meters 0.02916904458082758 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.50, Z:-0.00 [[ 9.98374364e-01 4.13995219e-02 3.91753627e-02 5.81148103e+00] [-4.12949172e-02 9.99140955e-01 -3.47593908e-03 -5.00275315e-01] [-3.92856115e-02 1.85254511e-03 9.99226305e-01 -5.17099191e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552320588 meters 0.0281447868943006 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.51, Z:0.00 [[ 9.98041839e-01 4.65909025e-02 4.17345920e-02 5.84296367e+00] [-4.64760084e-02 9.98912482e-01 -3.71953054e-03 -5.09160597e-01] [-4.18625011e-02 1.77258985e-03 9.99121809e-01 6.50540399e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.582320588 meters 0.026633365835867735 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.52, Z:0.00 [[ 9.97798329e-01 5.21695181e-02 4.09492002e-02 5.87382542e+00] [-5.20635682e-02 9.98637102e-01 -3.65025517e-03 -5.17348544e-01] [-4.10838227e-02 1.51025703e-03 9.99154562e-01 1.57998733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.612320587999999 meters 0.025089645827377584 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.53, Z:0.00 [[ 9.97519328e-01 5.87739704e-02 3.87402967e-02 5.90418895e+00] [-5.86840810e-02 9.98270628e-01 -3.45437113e-03 -5.25385159e-01] [-3.88763274e-02 1.17236326e-03 9.99243342e-01 3.82448985e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.642320588 meters 0.025089645827377584 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.53, Z:0.00 [[ 9.97491075e-01 5.92527591e-02 3.87384336e-02 5.93667984e+00] [-5.91624217e-02 9.98242321e-01 -3.47520958e-03 -5.27968337e-01] [-3.88762596e-02 1.17463100e-03 9.99243342e-01 5.46710247e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.672320588 meters 0.024125705517549584 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.54, Z:-0.00 [[ 9.97128599e-01 6.60341860e-02 3.70680952e-02 5.96767738e+00] [-6.59561440e-02 9.97816981e-01 -3.32562715e-03 -5.35177555e-01] [-3.72067799e-02 8.71209313e-04 9.99307208e-01 -2.38334763e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702320588 meters 0.023142007159236196 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.54, Z:-0.00 [[ 9.96637720e-01 7.30052612e-02 3.71952629e-02 5.99925342e+00] [-7.29311687e-02 9.97331361e-01 -3.34673879e-03 -5.42574350e-01] [-3.73403317e-02 6.22792121e-04 9.99302413e-01 -3.93359035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732320587999999 meters 0.023775075189752966 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.54, Z:-0.00 [[ 9.97713341e-01 6.31605774e-02 2.40588801e-02 6.03180540e+00] [-6.31266771e-02 9.98003170e-01 -2.16670764e-03 -5.37049546e-01] [-2.41476891e-02 6.42995964e-04 9.99708195e-01 -1.97612135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762320588 meters 0.023735016335866752 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.54, Z:-0.00 [[ 9.97712557e-01 6.32018601e-02 2.39828733e-02 6.06447107e+00] [-6.31678530e-02 9.98000550e-01 -2.17367379e-03 -5.42866742e-01] [-2.40723010e-02 6.53755014e-04 9.99710006e-01 -1.33407657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.792320588 meters 0.024036800196200202 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.55, Z:-0.00 [[ 9.97772918e-01 6.23157742e-02 2.37896842e-02 6.09595605e+00] [-6.22818229e-02 9.98056252e-01 -2.16614595e-03 -5.52150236e-01] [-2.38784281e-02 6.79656863e-04 9.99714639e-01 -1.54883594e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822320587999999 meters 0.024036800196200202 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.55, Z:-0.00 [[ 9.97742284e-01 6.28047527e-02 2.37885923e-02 6.12841754e+00] [-6.27706552e-02 9.98025601e-01 -2.17811178e-03 -5.54795481e-01] [-2.38784199e-02 6.79968702e-04 9.99714639e-01 -1.38478739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8523205879999995 meters 0.02427925483401755 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.57, Z:-0.00 [[ 9.97884494e-01 6.13735004e-02 2.14436723e-02 6.16013420e+00] [-6.13452321e-02 9.98114655e-01 -1.97421111e-03 -5.71054305e-01] [-2.15244078e-02 6.54567602e-04 9.99768109e-01 -3.12114068e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882320588 meters 0.02427925483401755 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.57, Z:-0.00 [[ 9.97873123e-01 6.15581735e-02 2.14434471e-02 6.19254133e+00] [-6.15298953e-02 9.98103284e-01 -1.97665543e-03 -5.73983025e-01] [-2.15244542e-02 6.53038279e-04 9.99768109e-01 -1.48189651e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912320588 meters 0.02427032023810097 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.58, Z:0.00 [[ 9.97941323e-01 6.09745982e-02 1.98800017e-02 6.22472103e+00] [-6.09501340e-02 9.98139126e-01 -1.83474658e-03 -5.79665750e-01] [-1.99548805e-02 6.19280655e-04 9.99800690e-01 1.90643136e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942320587999999 meters 0.02445164225733113 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.58, Z:-0.00 [[ 9.97989245e-01 5.98427408e-02 2.08881003e-02 6.25636966e+00] [-5.98154310e-02 9.98207588e-01 -1.93033480e-03 -5.84657575e-01] [-2.09661767e-02 6.77022649e-04 9.99779956e-01 -5.42139765e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.972320588 meters 0.02458616846400313 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.59, Z:-0.00 [[ 9.97962705e-01 5.98863698e-02 2.20014204e-02 6.28782077e+00] [-5.98560219e-02 9.98204945e-01 -2.03591153e-03 -5.92389829e-01] [-2.20838500e-02 7.14846280e-04 9.99755866e-01 -7.35547977e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002320588 meters 0.02458616846400313 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.60, Z:-0.00 [[ 9.97933358e-01 6.03738566e-02 2.20002535e-02 6.32026911e+00] [-6.03433500e-02 9.98175578e-01 -2.04849071e-03 -5.95087312e-01] [-2.20837910e-02 7.16688220e-04 9.99755866e-01 -5.71458977e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032320587999999 meters 0.024972703601253043 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.60, Z:0.00 [[ 9.97926313e-01 5.99183201e-02 2.35131577e-02 6.35177602e+00] [-5.98831194e-02 9.98202974e-01 -2.19897051e-03 -6.04147120e-01] [-2.36026626e-02 7.86369308e-04 9.99721109e-01 6.64515678e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0623205879999995 meters 0.024917489101106072 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.61, Z:0.00 [[ 9.97860838e-01 6.09864250e-02 2.35457975e-02 6.38361430e+00] [-6.09511844e-02 9.98138297e-01 -2.21213197e-03 -6.12735709e-01] [-2.36368722e-02 7.72255618e-04 9.99720312e-01 3.44230321e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092320588 meters 0.024192574881862945 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.62, Z:0.00 [[ 9.97834828e-01 6.29097358e-02 1.91838946e-02 6.41401768e+00] [-6.28866898e-02 9.98019045e-01 -1.80282303e-03 -6.20490645e-01] [-1.92593073e-02 5.92507981e-04 9.99814347e-01 1.62982706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.122320588 meters 0.023755246540518093 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.63, Z:0.00 [[ 9.97768377e-01 6.53721214e-02 1.35923056e-02 6.44553524e+00] [-6.53607616e-02 9.97860880e-01 -1.27877331e-03 -6.26458198e-01] [-1.36468261e-02 3.87516122e-04 9.99906803e-01 7.01301540e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152320587999999 meters 0.023188397352177932 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.63, Z:-0.00 [[ 9.97661374e-01 6.79978845e-02 6.93328013e-03 6.47642692e+00] [-6.79949887e-02 9.97685449e-01 -6.52802865e-04 -6.33654663e-01] [-6.96162192e-03 1.79847900e-04 9.99975751e-01 -3.25485983e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182320588 meters 0.023188397352177932 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.64, Z:0.00 [[ 9.97652772e-01 6.81239937e-02 6.93316750e-03 6.50797398e+00] [-6.81210926e-02 9.97676846e-01 -6.53998666e-04 -6.36590430e-01] [-6.96161369e-03 1.80168636e-04 9.99975751e-01 1.27142153e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212320588 meters 0.02285828939195422 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.64, Z:-0.00 [[ 9.97470841e-01 7.09354686e-02 4.48122645e-03 6.53953968e+00] [-7.09342814e-02 9.97480901e-01 -4.23511180e-04 -6.44754882e-01] [-4.49997977e-03 1.04567474e-04 9.99989870e-01 -8.22398160e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242320588 meters 0.02247398690137147 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.65, Z:0.00 [[ 9.97367364e-01 7.24054484e-02 3.97385937e-03 6.57067653e+00] [-7.24045241e-02 9.97375277e-01 -3.76154198e-04 -6.53152907e-01] [-3.99066470e-03 8.74385250e-05 9.99992033e-01 2.81478518e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2723205879999995 meters 0.022420869703129467 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.66, Z:0.00 [[ 9.97214877e-01 7.43016319e-02 6.46190771e-03 6.60218035e+00] [-7.42992248e-02 9.97235805e-01 -6.12108266e-04 -6.60759149e-01] [-6.48952638e-03 1.30288736e-04 9.99978934e-01 1.88304536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302320588 meters 0.022456381476121313 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.67, Z:0.00 [[ 9.97123909e-01 7.49591996e-02 1.11816366e-02 6.63388045e+00] [-7.49520224e-02 9.97186578e-01 -1.06014624e-03 -6.66688245e-01] [-1.12296456e-02 2.19010891e-04 9.99936922e-01 3.16828552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.332320588 meters 0.022456381476121313 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.67, Z:0.00 [[ 9.97109409e-01 7.51518597e-02 1.11814005e-02 6.66625373e+00] [-7.51446667e-02 9.97172076e-01 -1.06263399e-03 -6.69703578e-01] [-1.12296393e-02 2.19339737e-04 9.99936922e-01 3.33217213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362320587999999 meters 0.022276038901120947 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.68, Z:0.00 [[ 9.96923699e-01 7.71467045e-02 1.38392611e-02 6.69772378e+00] [-7.71358602e-02 9.97019722e-01 -1.31645586e-03 -6.75086768e-01] [-1.38995765e-02 2.44902735e-04 9.99903366e-01 4.51462680e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392320588 meters 0.02198894470236506 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.68, Z:0.00 [[ 9.96773089e-01 7.89425032e-02 1.45427038e-02 6.72940180e+00] [-7.89306922e-02 9.96879144e-01 -1.38524047e-03 -6.79988993e-01] [-1.46066725e-02 2.32904748e-04 9.99893290e-01 4.99427190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422320588 meters 0.021992077583315398 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.69, Z:0.00 [[ 9.96528558e-01 8.20787489e-02 1.39252549e-02 6.76162312e+00] [-8.20681684e-02 9.96625830e-01 -1.33051718e-03 -6.86237357e-01] [-1.39874760e-02 1.83078202e-04 9.99902154e-01 3.44433869e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452320588 meters 0.021992077583315398 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.69, Z:0.00 [[ 9.96512497e-01 8.22735543e-02 1.39250193e-02 6.79399123e+00] [-8.22629583e-02 9.96609768e-01 -1.33298151e-03 -6.89274208e-01] [-1.39874794e-02 1.82819444e-04 9.99902154e-01 3.60823108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482320587999999 meters 0.021750992860151284 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.70, Z:0.00 [[ 9.96283610e-01 8.52517692e-02 1.22924244e-02 6.82610436e+00] [-8.52437217e-02 9.96359433e-01 -1.17809501e-03 -6.95761317e-01] [-1.23481077e-02 1.25864748e-04 9.99923751e-01 1.97236809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512320588 meters 0.021750992860151284 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.70, Z:0.00 [[ 9.96266875e-01 8.54471527e-02 1.22921614e-02 6.85846865e+00] [-8.54390863e-02 9.96342696e-01 -1.18083788e-03 -6.98807409e-01] [-1.23481044e-02 1.26198628e-04 9.99923751e-01 2.13623148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542320588 meters 0.02154162732406694 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.71, Z:0.00 [[ 9.96064758e-01 8.80132937e-02 1.04239231e-02 6.88995448e+00] [-8.80076209e-02 9.96119297e-01 -1.00255504e-03 -7.05208176e-01] [-1.04717091e-02 8.12250684e-05 9.99945167e-01 3.37440772e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572320587999999 meters 0.0214958055614582 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.71, Z:-0.00 [[ 9.95784486e-01 9.12127277e-02 9.66932563e-03 6.92142259e+00] [-9.12079682e-02 9.95831430e-01 -9.32977469e-04 -7.10916518e-01] [-9.71411779e-03 4.71249441e-05 9.99952816e-01 -7.20224191e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6023205879999995 meters 0.021494817344733425 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.72, Z:-0.00 [[ 9.95474270e-01 9.46354979e-02 8.66600313e-03 6.95296666e+00] [-9.46317980e-02 9.95511990e-01 -8.36917311e-04 -7.16535518e-01] [-8.70631211e-03 1.30501919e-05 9.99962099e-01 -9.33257668e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632320588 meters 0.021389349314834615 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.72, Z:0.00 [[ 9.95101282e-01 9.85124843e-02 8.29027621e-03 6.98571107e+00] [-9.85092155e-02 9.95135815e-01 -8.02707692e-04 -7.22462432e-01] [-8.32902750e-03 -1.78931518e-05 9.99965313e-01 3.00658055e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662320588 meters 0.0213832300739082 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.73, Z:0.00 [[ 9.94783733e-01 1.01617990e-01 8.89435006e-03 7.01775783e+00] [-1.01614345e-01 9.94823493e-01 -8.61992734e-04 -7.29340639e-01] [-8.93590236e-03 -4.62972018e-05 9.99960073e-01 1.84285678e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692320587999999 meters 0.0213832300739082 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.73, Z:0.00 [[ 9.94763048e-01 1.01820295e-01 8.89414150e-03 7.05011230e+00] [-1.01816639e-01 9.94802807e-01 -8.64143461e-04 -7.32421498e-01] [-8.93590427e-03 -4.59536087e-05 9.99960073e-01 2.00669870e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722320588 meters 0.02153132349350323 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.74, Z:0.00 [[ 9.94492119e-01 1.04414412e-01 9.11345613e-03 7.08131362e+00] [-1.04410674e-01 9.94533874e-01 -8.86311969e-04 -7.39711762e-01] [-9.15618457e-03 -7.01118255e-05 9.99958079e-01 4.18584766e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.752320588 meters 0.021674897991760676 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.75, Z:0.01 [[ 9.94251224e-01 1.06635120e-01 9.66720660e-03 7.11265128e+00] [-1.06631006e-01 9.94298216e-01 -9.41435037e-04 -7.45948843e-01] [-9.71247632e-03 -9.48010290e-05 9.99952828e-01 5.24002264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782320587999999 meters 0.022017463804371265 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.75, Z:0.01 [[ 9.93895240e-01 1.09771648e-01 1.10650992e-02 7.14467383e+00] [-1.09766437e-01 9.93956823e-01 -1.07895462e-03 -7.49457188e-01] [-1.11166694e-02 -1.42208653e-04 9.99938198e-01 6.08131365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8123205879999995 meters 0.02233320152756103 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.75, Z:0.00 [[ 9.93469526e-01 1.13430231e-01 1.23240689e-02 7.17711731e+00] [-1.13424029e-01 9.93545943e-01 -1.20326585e-03 -7.50758472e-01] [-1.23810154e-02 -2.02437596e-04 9.99923332e-01 4.58118323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842320588 meters 0.02233320152756103 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.75, Z:0.00 [[ 9.93409927e-01 1.13951103e-01 1.23232437e-02 7.20949292e+00] [-1.13944837e-01 9.93486339e-01 -1.21169702e-03 -7.53617711e-01] [-1.23810485e-02 -2.00458146e-04 9.99923332e-01 4.74502564e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.872320588 meters 0.022888737983649897 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.75, Z:0.00 [[ 9.92907422e-01 1.18165070e-01 1.31098007e-02 7.24142233e+00] [-1.18158351e-01 9.92993929e-01 -1.28860604e-03 -7.54192296e-01] [-1.31702208e-02 -2.69565937e-04 9.99913233e-01 2.50391083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902320587999999 meters 0.023204095156089115 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.76, Z:0.00 [[ 9.92299827e-01 1.23312067e-01 1.16270474e-02 7.27378525e+00] [-1.23307117e-01 9.92367898e-01 -1.14443587e-03 -7.55679095e-01] [-1.16794313e-02 -2.98074173e-04 9.99931749e-01 2.20210504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932320588 meters 0.024187823926220233 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.76, Z:0.00 [[ 9.91570846e-01 1.29386578e-01 6.80959216e-03 7.30618233e+00] [-1.29385015e-01 9.91594205e-01 -6.71425531e-04 -7.58971080e-01] [-6.83922558e-03 -2.15293199e-04 9.99976589e-01 3.08478835e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962320588 meters 0.025506513811264623 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.76, Z:0.00 [[ 9.90790007e-01 1.35336386e-01 4.38464282e-03 7.33803397e+00] [-1.35335793e-01 9.90799695e-01 -4.33103433e-04 -7.61205984e-01] [-4.40291743e-03 -1.64284560e-04 9.99990294e-01 4.00929394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992320587999999 meters 0.026138715283360512 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.76, Z:0.01 [[ 9.90187931e-01 1.39729750e-01 1.85980409e-03 7.37016315e+00] [-1.39729650e-01 9.90189674e-01 -1.84296236e-04 -7.61892646e-01] [-1.86731047e-03 -7.73818653e-05 9.99998254e-01 6.38191277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0223205879999995 meters 0.026138715283360512 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.77, Z:0.01 [[ 9.90161772e-01 1.39914995e-01 1.85973840e-03 7.40253780e+00] [-1.39914894e-01 9.90163516e-01 -1.84960215e-04 -7.65043839e-01] [-1.86732382e-03 -7.70645667e-05 9.99998254e-01 6.54588654e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052320588 meters 0.026735064468568496 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.77, Z:0.01 [[ 9.89786712e-01 1.42552950e-01 9.60262664e-04 7.43425612e+00] [-1.42552924e-01 9.89787176e-01 -9.62673538e-05 -7.65157874e-01] [-9.64178867e-04 -4.16041028e-05 9.99999534e-01 7.41814516e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082320588 meters 0.026445111260021803 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.77, Z:0.01 [[ 9.89752072e-01 1.42795398e-01 5.56805905e-04 7.46685380e+00] [-1.42795388e-01 9.89752229e-01 -5.62545534e-05 -7.66016117e-01] [-5.59132777e-04 -2.38312547e-05 9.99999843e-01 7.01611642e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112320587999999 meters 0.026043757220793773 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.77, Z:0.01 [[ 9.90097763e-01 1.40379310e-01 -2.62464666e-04 7.49881749e+00] [-1.40379308e-01 9.90097798e-01 2.54773041e-05 -7.68848344e-01] [ 2.63442174e-04 1.16195863e-05 9.99999965e-01 6.46505527e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142320588 meters 0.025432142992586743 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.77, Z:0.01 [[ 9.90540692e-01 1.37218783e-01 3.79415036e-04 7.53061527e+00] [-1.37218778e-01 9.90540764e-01 -3.84218193e-05 -7.71631461e-01] [-3.81098255e-04 -1.40044921e-05 9.99999927e-01 6.24797328e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.172320588 meters 0.025432142992586743 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.77, Z:0.01 [[ 9.90523505e-01 1.37342792e-01 3.79410262e-04 7.56215185e+00] [-1.37342788e-01 9.90523577e-01 -3.84693238e-05 -7.74742486e-01] [-3.81098295e-04 -1.40044936e-05 9.99999927e-01 6.40772003e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202320587999999 meters 0.02495548119824055 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.78, Z:0.01 [[ 9.90896730e-01 1.34596361e-01 2.73684111e-03 7.59453317e+00] [-1.34596117e-01 9.90900505e-01 -2.73905461e-04 -7.75044588e-01] [-2.74880391e-03 -9.69561600e-05 9.99996217e-01 5.61751966e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.232320587999999 meters 0.024572784029000816 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.77, Z:0.01 [[ 9.91155802e-01 1.32666408e-01 3.13052926e-03 7.62677240e+00] [-1.32666079e-01 9.91160740e-01 -3.13620641e-04 -7.73054001e-01] [-3.14446462e-03 -1.04468124e-04 9.99995051e-01 5.92484048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262320588 meters 0.024283182638256 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.77, Z:0.01 [[ 9.91205456e-01 1.32278831e-01 3.74900908e-03 7.65900375e+00] [-1.32278355e-01 9.91212538e-01 -3.75936540e-04 -7.71324283e-01] [-3.76579325e-03 -1.23282403e-04 9.99992902e-01 6.78738066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292320588 meters 0.024283182638256 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.77, Z:0.01 [[ 9.91180012e-01 1.32469355e-01 3.74890408e-03 7.69136660e+00] [-1.32468876e-01 9.91187094e-01 -3.76983786e-04 -7.74517488e-01] [-3.76580414e-03 -1.22954317e-04 9.99992902e-01 6.95130448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322320587999999 meters 0.02450785656552478 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.78, Z:0.01 [[ 9.90966660e-01 1.34069494e-01 3.23241205e-03 7.72393594e+00] [-1.34069146e-01 9.90971926e-01 -3.25265564e-04 -7.75975694e-01] [-3.24683778e-03 -1.11039393e-04 9.99994723e-01 7.16577739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3523205879999995 meters 0.02488527241940606 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.78, Z:0.01 [[ 9.90605384e-01 1.36731575e-01 2.33421567e-03 7.75561801e+00] [-1.36731400e-01 9.90608131e-01 -2.35357288e-04 -7.78981884e-01] [-2.34447379e-03 -8.60143779e-05 9.99997248e-01 7.67421607e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382320588 meters 0.02553451089151956 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.78, Z:0.01 [[ 9.90170688e-01 1.39845984e-01 2.26052368e-03 7.78732091e+00] [-1.39845828e-01 9.90173264e-01 -2.28006063e-04 -7.81255892e-01] [-2.27019584e-03 -9.03598840e-05 9.99997419e-01 8.34080456e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412320588 meters 0.025965348920271594 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.78, Z:0.01 [[ 9.89786339e-01 1.42499221e-01 4.12000240e-03 7.81940340e+00] [-1.42498722e-01 9.89794899e-01 -4.15840853e-04 -7.81935008e-01] [-4.13721435e-03 -1.75501482e-04 9.99991426e-01 9.34679015e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442320587999999 meters 0.026196566503622138 Centerline is valid? [True, True] Translation: X:7.85, Y:-0.78, Z:0.01 [[ 9.89493283e-01 1.44403859e-01 7.11111026e-03 7.85191359e+00] [-1.44402419e-01 9.89518785e-01 -7.18169429e-04 -7.82416878e-01] [-7.14028362e-03 -3.16237700e-04 9.99974458e-01 1.05086770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472320588 meters 0.026196566503622138 Centerline is valid? [True, True] Translation: X:7.88, Y:-0.79, Z:0.01 [[ 9.89466121e-01 1.44589865e-01 7.11094314e-03 7.88429155e+00] [-1.44588418e-01 9.89491623e-01 -7.19823528e-04 -7.85639524e-01] [-7.14029786e-03 -3.15919028e-04 9.99974458e-01 1.06726859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502320588 meters 0.02665112776022952 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.79, Z:0.01 [[ 9.89344230e-01 1.45262874e-01 9.83320864e-03 7.91597074e+00] [-1.45260136e-01 9.89392996e-01 -9.95944995e-04 -7.88355211e-01] [-9.87358159e-03 -4.43040785e-04 9.99951157e-01 1.17206262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532320587999999 meters 0.026258889592743015 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.79, Z:0.01 [[ 9.89531319e-01 1.44013004e-01 9.38207880e-03 7.94847757e+00] [-1.44010439e-01 9.89575711e-01 -9.51886769e-04 -7.91917316e-01] [-9.42136137e-03 -4.09195520e-04 9.99955534e-01 1.33615084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5623205879999995 meters 0.025913798888610024 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.80, Z:0.01 [[ 9.89907748e-01 1.41331653e-01 1.03929885e-02 7.98026392e+00] [-1.41328347e-01 9.89962213e-01 -1.05553245e-03 -7.95249310e-01] [-1.04378461e-02 -4.23944143e-04 9.99945434e-01 1.47114434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.592320588 meters 0.025093704983426647 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.80, Z:0.02 [[ 9.90355825e-01 1.37987421e-01 1.24423231e-02 8.01241684e+00] [-1.37982401e-01 9.90433873e-01 -1.26511394e-03 -7.95689483e-01] [-1.24978681e-02 -4.63908656e-04 9.99921791e-01 1.51338408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622320588 meters 0.025093704983426647 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.80, Z:0.02 [[ 9.90329663e-01 1.38175082e-01 1.24420504e-02 8.04478614e+00] [-1.38170044e-01 9.90407710e-01 -1.26779480e-03 -7.98932111e-01] [-1.24978803e-02 -4.63583846e-04 9.99921791e-01 1.52978145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652320587999999 meters 0.02455589484147738 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.80, Z:0.02 [[ 9.90716269e-01 1.35042399e-01 1.56468933e-02 8.07776109e+00] [-1.35034018e-01 9.90839678e-01 -1.59578063e-03 -7.96703288e-01] [-1.57190608e-02 -5.31897033e-04 9.99876306e-01 1.56740850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682320588 meters 0.0240137931730066 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.79, Z:0.02 [[ 9.91030137e-01 1.32379277e-01 1.83028805e-02 8.11005713e+00] [-1.32367314e-01 9.91198972e-01 -1.86890374e-03 -7.92839788e-01] [-1.83892004e-02 -5.70563197e-04 9.99830742e-01 1.60919460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.712320588 meters 0.023651756460872014 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.79, Z:0.02 [[ 9.91202163e-01 1.30977185e-01 1.90591097e-02 8.14300753e+00] [-1.30963907e-01 9.91385222e-01 -1.94854590e-03 -7.87812991e-01] [-1.91501347e-02 -5.64652561e-04 9.99816460e-01 1.74530336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742320587999999 meters 0.023672434718576232 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.78, Z:0.02 [[ 9.91202378e-01 1.31078328e-01 1.83389926e-02 8.17604700e+00] [-1.31066007e-01 9.91371866e-01 -1.87731953e-03 -7.83812112e-01] [-1.84268372e-02 -5.42814949e-04 9.99830064e-01 1.72792641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7723205879999995 meters 0.023672434718576232 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.79, Z:0.02 [[ 9.91177161e-01 1.31268926e-01 1.83385983e-02 8.20841522e+00] [-1.31256567e-01 9.91346647e-01 -1.88116835e-03 -7.87075941e-01] [-1.84268468e-02 -5.42490341e-04 9.99830064e-01 1.74432251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802320588 meters 0.023767204242045394 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.78, Z:0.02 [[ 9.90988147e-01 1.32893282e-01 1.67889550e-02 8.24089290e+00] [-1.32883124e-01 9.91130215e-01 -1.72411939e-03 -7.83467688e-01] [-1.68691645e-02 -5.22386913e-04 9.99857569e-01 1.66294737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832320588 meters 0.023852217204051385 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.78, Z:0.02 [[ 9.90829359e-01 1.34352436e-01 1.43737510e-02 8.27330445e+00] [-1.34345116e-01 9.90933502e-01 -1.47804918e-03 -7.79761772e-01] [-1.44420109e-02 -4.66548718e-04 9.99895600e-01 1.54025418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862320587999999 meters 0.024132131766673746 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.78, Z:0.01 [[ 9.90630855e-01 1.36023808e-01 1.21668852e-02 8.30639772e+00] [-1.36018654e-01 9.90705483e-01 -1.25393977e-03 -7.77592378e-01] [-1.22243655e-02 -4.12731919e-04 9.99925194e-01 1.39852068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892320588 meters 0.024283181632658992 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.78, Z:0.01 [[ 9.90564530e-01 1.36604514e-01 1.10054352e-02 8.33868908e+00] [-1.36600320e-01 9.90625592e-01 -1.13542653e-03 -7.75235528e-01] [-1.10573701e-02 -3.78632717e-04 9.99938794e-01 1.30111563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922320588 meters 0.023994213500300773 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.77, Z:0.01 [[ 9.90707683e-01 1.35628463e-01 1.01590799e-02 8.37148131e+00] [-1.35624824e-01 9.90759711e-01 -1.04948462e-03 -7.72448486e-01] [-1.02075471e-02 -3.38090954e-04 9.99947844e-01 1.27651585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.952320587999999 meters 0.023994213500300773 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.78, Z:0.01 [[ 9.90690180e-01 1.35756261e-01 1.01589445e-02 8.40301408e+00] [-1.35752615e-01 9.90742208e-01 -1.05079553e-03 -7.75674858e-01] [-1.02075472e-02 -3.38090466e-04 9.99947844e-01 1.29248910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982320587999999 meters 0.02345856806796539 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.77, Z:0.01 [[ 9.91161568e-01 1.32474036e-01 7.02681939e-03 8.43551150e+00] [-1.32472204e-01 9.91186454e-01 -7.27554795e-04 -7.72180649e-01] [-7.06127031e-03 -2.09733899e-04 9.99975047e-01 1.30414757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.012320588 meters 0.022594514557469508 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.77, Z:0.01 [[ 9.91817646e-01 1.27562370e-01 5.05954428e-03 8.46705052e+00] [-1.27561359e-01 9.91830543e-01 -5.23429458e-04 -7.68513870e-01] [-5.08498046e-03 -1.26255770e-04 9.99987063e-01 1.28326252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.042320587999999 meters 0.021796632769297216 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.76, Z:0.01 [[ 9.92699407e-01 1.20549111e-01 3.97477608e-03 8.49615925e+00] [-1.20548435e-01 9.92707362e-01 -4.10022880e-04 -7.64768047e-01] [-3.99521737e-03 -7.21235668e-05 9.99992016e-01 1.16265673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.072320588 meters 0.021268475609634865 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.76, Z:0.01 [[ 9.93626936e-01 1.12658198e-01 3.69371364e-03 8.52586185e+00] [-1.12657566e-01 9.93633800e-01 -3.79375130e-04 -7.61310077e-01] [-3.71293844e-03 -3.91674394e-05 9.99993106e-01 1.12588255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102320588 meters 0.021268475609634865 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.76, Z:0.01 [[ 9.93686383e-01 1.12132626e-01 3.69405298e-03 8.55313594e+00] [-1.12132003e-01 9.93693249e-01 -3.76070710e-04 -7.64423604e-01] [-3.71292530e-03 -4.05252143e-05 9.99993106e-01 1.13972688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.132320587999999 meters 0.02091032699967497 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.76, Z:0.01 [[ 9.94431127e-01 1.05261937e-01 5.16314436e-03 8.58237152e+00] [-1.05260632e-01 9.94444530e-01 -5.24589809e-04 -7.61615448e-01] [-5.18968000e-03 -2.18074041e-05 9.99986533e-01 1.12636640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.162320588 meters 0.02070131782755 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.76, Z:0.01 [[ 9.95089197e-01 9.88254038e-02 5.57044204e-03 8.61122337e+00] [-9.88237973e-02 9.95104788e-01 -5.63574480e-04 -7.59851177e-01] [-5.59886903e-03 1.03146406e-05 9.99984326e-01 1.22900769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.192320588 meters 0.02086893705881942 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.76, Z:0.01 [[ 9.95642487e-01 9.30108036e-02 6.71031851e-03 8.63979067e+00] [-9.30083580e-02 9.95665098e-01 -6.76288116e-04 -7.60469837e-01] [-6.74413204e-03 4.92254751e-05 9.99977257e-01 1.22292748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.222320587999999 meters 0.02101181064445165 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.76, Z:0.01 [[ 9.96106951e-01 8.80171442e-02 4.89118682e-03 8.66986238e+00] [-8.80157794e-02 9.96118958e-01 -4.94002871e-04 -7.62533636e-01] [-4.91568464e-03 6.15780744e-05 9.99987916e-01 1.32152370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.252320588 meters 0.02157601655693401 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.77, Z:0.01 [[ 9.96546291e-01 8.29713769e-02 3.35256549e-03 8.69853070e+00] [-8.29707193e-02 9.96551929e-01 -3.35018122e-04 -7.65845861e-01] [-3.36880252e-03 5.56962968e-05 9.99994324e-01 1.18224595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.282320588 meters 0.021841412590573723 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.77, Z:0.01 [[ 9.96889950e-01 7.87432473e-02 3.15085399e-03 8.72731211e+00] [-7.87426500e-02 9.96894928e-01 -3.13377856e-04 -7.71493808e-01] [-3.16574675e-03 6.42966421e-05 9.99994987e-01 1.19208297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.312320588 meters 0.021841412590573723 Centerline is valid? [True, True] Translation: X:8.76, Y:-0.77, Z:0.01 [[ 9.96924426e-01 7.83055529e-02 3.15099132e-03 8.75543249e+00] [-7.83049577e-02 9.96929404e-01 -3.11998903e-04 -7.74598380e-01] [-3.16574714e-03 6.43010854e-05 9.99994987e-01 1.20635985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.342320588 meters 0.02220378044091723 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.78, Z:0.01 [[ 9.97158211e-01 7.51268331e-02 5.60900804e-03 8.78363806e+00] [-7.51249011e-02 9.97173978e-01 -5.54641257e-04 -7.81270005e-01] [-5.63482529e-03 1.31688910e-04 9.99984116e-01 1.22127360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.372320588 meters 0.022631076182901725 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.79, Z:0.01 [[ 9.97266340e-01 7.35023251e-02 7.56678362e-03 8.81387029e+00] [-7.34987395e-02 9.97295027e-01 -7.51226555e-04 -7.85938835e-01] [-7.60153257e-03 1.93023899e-04 9.99971089e-01 1.39791053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.402320588 meters 0.022631076182901725 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.79, Z:0.01 [[ 9.97261772e-01 7.35642747e-02 7.56670600e-03 8.84457299e+00] [-7.35606850e-02 9.97290459e-01 -7.52008129e-04 -7.88969819e-01] [-7.60152463e-03 1.93336883e-04 9.99971089e-01 1.41346047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432320588 meters 0.022631076182901725 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.79, Z:0.01 [[ 9.97257201e-01 7.36262256e-02 7.56665928e-03 8.87527548e+00] [-7.36226341e-02 9.97285888e-01 -7.52478167e-04 -7.92002996e-01] [-7.60152464e-03 1.93336884e-04 9.99971089e-01 1.42900799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.462320587999999 meters 0.022643998341655164 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.79, Z:0.02 [[ 9.97229773e-01 7.37413057e-02 9.74675137e-03 8.90622357e+00] [-7.37353468e-02 9.97277373e-01 -9.69801604e-04 -7.94439207e-01] [-9.79172904e-03 2.48434941e-04 9.99952029e-01 1.58489307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.492320588 meters 0.022327333560403017 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.80, Z:0.02 [[ 9.97091656e-01 7.56527643e-02 9.21348026e-03 8.93793412e+00] [-7.56475074e-02 9.97134199e-01 -9.18233795e-04 -7.96255028e-01] [-9.25654319e-03 2.18586440e-04 9.99957133e-01 1.81796404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.522320588 meters 0.02194951908727431 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.80, Z:0.02 [[ 9.96843757e-01 7.88357749e-02 9.35115593e-03 8.97014684e+00] [-7.88304886e-02 9.96887598e-01 -9.33131857e-04 -7.99153333e-01] [-9.39561554e-03 1.93030476e-04 9.99955842e-01 1.78440237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.552320587999999 meters 0.021333681318653135 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.80, Z:0.02 [[ 9.96527335e-01 8.27399094e-02 9.34765221e-03 9.00076404e+00] [-8.27347961e-02 9.96571163e-01 -9.33055751e-04 -8.04765629e-01] [-9.39280158e-03 1.56439461e-04 9.99955874e-01 1.77679233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.582320588 meters 0.0211201978500819 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.81, Z:0.02 [[ 9.96107067e-01 8.73610204e-02 1.17797957e-02 9.03276137e+00] [-8.73532020e-02 9.96176707e-01 -1.17758721e-03 -8.11929432e-01] [-1.18376333e-02 1.44000068e-04 9.99929922e-01 1.73545056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.612320588 meters 0.0211201978500819 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.82, Z:0.02 [[ 9.96095939e-01 8.74878332e-02 1.17796458e-02 9.06429453e+00] [-8.74800060e-02 9.96165578e-01 -1.17908617e-03 -8.15043454e-01] [-1.18376333e-02 1.43999461e-04 9.99929922e-01 1.75141646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.642320588 meters 0.02100939659412527 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.82, Z:0.02 [[ 9.95811563e-01 9.05082332e-02 1.29456588e-02 9.09608771e+00] [-9.04990139e-02 9.95895700e-01 -1.29740480e-03 -8.20828632e-01] [-1.30099517e-02 1.20401344e-04 9.99915360e-01 1.82703077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.672320588 meters 0.021058701099087532 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.82, Z:0.02 [[ 9.95574246e-01 9.28663574e-02 1.44138974e-02 9.12809745e+00] [-9.28551488e-02 9.95678577e-01 -1.44637425e-03 -8.24087627e-01] [-1.44859284e-02 1.01568368e-04 9.99895068e-01 1.89381071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.702320588 meters 0.02093115026762164 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.83, Z:0.02 [[ 9.95446606e-01 9.41207600e-02 1.50776984e-02 9.16055340e+00] [-9.41085891e-02 9.95560784e-01 -1.51627309e-03 -8.26879791e-01] [-1.51534780e-02 9.04279772e-05 9.99885175e-01 1.90716977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.732320588 meters 0.020921229245134364 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.83, Z:0.02 [[ 9.95309685e-01 9.57813705e-02 1.35852952e-02 9.19286206e+00] [-9.57716236e-02 9.95402394e-01 -1.36772835e-03 -8.31168361e-01] [-1.36538382e-02 6.02275012e-05 9.99906780e-01 1.90449319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762320588 meters 0.020921229245134364 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.83, Z:0.02 [[ 9.95297274e-01 9.59102785e-02 1.35851179e-02 9.22439182e+00] [-9.59005196e-02 9.95389981e-01 -1.36948819e-03 -8.34303692e-01] [-1.36538383e-02 6.02279939e-05 9.99906780e-01 1.92045859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.792320587999999 meters 0.020869581662068353 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.84, Z:0.02 [[ 9.95262739e-01 9.64796843e-02 1.19895916e-02 9.25598874e+00] [-9.64720979e-02 9.95334953e-01 -1.21084380e-03 -8.38888097e-01] [-1.20504815e-02 4.84466567e-05 9.99927389e-01 1.85957056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.822320588 meters 0.021100182847564607 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.84, Z:0.02 [[ 9.95074435e-01 9.85682502e-02 1.05436423e-02 9.28794276e+00] [-9.85624863e-02 9.95130293e-01 -1.06616684e-03 -8.41324856e-01] [-1.05973880e-02 2.17077648e-05 9.99943846e-01 1.81846645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852320588 meters 0.02103936380836468 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.84, Z:0.02 [[ 9.94708268e-01 1.02385255e-01 8.52761534e-03 9.32059099e+00] [-1.02381614e-01 9.94744821e-01 -8.63585490e-04 -8.41634574e-01] [-8.57121962e-03 -1.40553934e-05 9.99963266e-01 1.96318325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.882320587999999 meters 0.02105913761200824 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.84, Z:0.02 [[ 9.94345731e-01 1.05945984e-01 7.21218299e-03 9.35119741e+00] [-1.05943477e-01 9.94371886e-01 -7.29803289e-04 -8.40786243e-01] [-7.24891172e-03 -3.84069574e-05 9.99973726e-01 2.03412712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.912320588 meters 0.02105913761200824 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.84, Z:0.02 [[ 9.94345731e-01 1.05945984e-01 7.21218299e-03 9.38104729e+00] [-1.05943477e-01 9.94371886e-01 -7.29803289e-04 -8.43806762e-01] [-7.24891172e-03 -3.84069574e-05 9.99973726e-01 2.04924883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.942320588 meters 0.02116549440698422 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.85, Z:0.02 [[ 9.93886283e-01 1.10300591e-01 4.88219118e-03 9.41176563e+00] [-1.10299495e-01 9.93898273e-01 -4.94030613e-04 -8.45070088e-01] [-4.90689325e-03 -4.74929707e-05 9.99987960e-01 2.22622767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.972320587999999 meters 0.021441432883444845 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.85, Z:0.02 [[ 9.93485587e-01 1.13941028e-01 1.95720527e-03 9.44019974e+00] [-1.13940865e-01 9.93487514e-01 -1.94812076e-04 -8.49388113e-01] [-1.96665609e-03 -2.94626729e-05 9.99998066e-01 2.32187731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.002320588 meters 0.021912141620886557 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.85, Z:0.02 [[ 9.93181586e-01 1.16577356e-01 2.37953204e-04 9.46887403e+00] [-1.16577354e-01 9.93181615e-01 -2.15151739e-05 -8.54144578e-01] [-2.38838929e-04 -6.37148027e-06 9.99999971e-01 2.32725068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.032320588 meters 0.021912141620886557 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.86, Z:0.02 [[ 9.93243548e-01 1.16048253e-01 2.38000556e-04 9.49615689e+00] [-1.16048251e-01 9.93243577e-01 -2.10353620e-05 -8.57170879e-01] [-2.38833641e-04 -6.72631074e-06 9.99999971e-01 2.34110274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.062320588 meters 0.022354931541545626 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.85, Z:0.03 [[ 9.92996665e-01 1.18133929e-01 -1.41355899e-03 9.52564451e+00] [-1.18133846e-01 9.92997671e-01 1.42648542e-04 -8.54009574e-01] [ 1.42051242e-03 2.53396345e-05 9.99998991e-01 2.50440959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.092320588 meters 0.022367929639663425 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.85, Z:0.02 [[ 9.93061585e-01 1.17586413e-01 -1.45718887e-03 9.55367093e+00] [-1.17586324e-01 9.93062654e-01 1.46534761e-04 -8.50648269e-01] [ 1.46431034e-03 2.58274409e-05 9.99998928e-01 2.49337705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.122320588 meters 0.022367929639663425 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.85, Z:0.03 [[ 9.93123741e-01 1.17060293e-01 -1.45726583e-03 9.58095299e+00] [-1.17060205e-01 9.93124809e-01 1.45760224e-04 -8.53629688e-01] [ 1.46430959e-03 2.58298981e-05 9.99998928e-01 2.50723222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.152320588 meters 0.022367937375831086 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.85, Z:0.02 [[ 9.93231291e-01 1.16132343e-01 -2.20940147e-03 9.60938652e+00] [-1.16132145e-01 9.93233748e-01 2.18425240e-04 -8.52413292e-01] [ 2.21981833e-03 3.96357482e-05 9.99997535e-01 2.44950421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182320588 meters 0.022211850308341656 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.85, Z:0.02 [[ 9.93312573e-01 1.15453632e-01 -7.69126948e-04 9.63690382e+00] [-1.15453607e-01 9.93312870e-01 7.73716074e-05 -8.53808918e-01] [ 7.72916530e-04 1.19442902e-05 9.99999701e-01 2.44306305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.212320587999999 meters 0.022198016923973867 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.86, Z:0.03 [[ 9.93511453e-01 1.13731147e-01 4.67122870e-04 9.66507689e+00] [-1.13731140e-01 9.93511563e-01 -4.24251623e-05 -8.55666693e-01] [-4.68917035e-04 -1.09765317e-05 9.99999890e-01 2.52998429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.242320588 meters 0.022198016923973867 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.86, Z:0.03 [[ 9.93571566e-01 1.13204790e-01 4.67145456e-04 9.69236058e+00] [-1.13204782e-01 9.93571676e-01 -4.21832585e-05 -8.58592693e-01] [-4.68917840e-04 -1.09710133e-05 9.99999890e-01 2.54383914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.272320588 meters 0.021996105073790934 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.86, Z:0.03 [[ 9.93693813e-01 1.12055428e-01 4.02318628e-03 9.72095558e+00] [-1.12054799e-01 9.93701955e-01 -3.82167103e-04 -8.58215654e-01] [-4.04067197e-03 -7.10602444e-05 9.99991834e-01 2.64489185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.302320587999999 meters 0.02202238211947299 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.86, Z:0.03 [[ 9.93771995e-01 1.11290699e-01 5.62166052e-03 9.74917622e+00] [-1.11289472e-01 9.93787890e-01 -5.31582487e-04 -8.55870660e-01] [-5.64589833e-03 -9.73598422e-05 9.99984057e-01 2.86577407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.332320588 meters 0.02200815126032177 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.85, Z:0.03 [[ 9.93839923e-01 1.10487946e-01 8.63837069e-03 9.77851854e+00] [-1.10485038e-01 9.93877454e-01 -8.14637496e-04 -8.52753628e-01] [-8.67548948e-03 -1.44791447e-04 9.99962357e-01 2.87827053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.362320588 meters 0.02201929372506767 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.85, Z:0.03 [[ 9.93885625e-01 1.09913332e-01 1.05083087e-02 9.80718836e+00] [-1.09909043e-01 9.93941160e-01 -9.86566063e-04 -8.52017639e-01] [-1.05530773e-02 -1.74424323e-04 9.99944300e-01 2.66509330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.392320587999999 meters 0.02210462124213761 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.85, Z:0.02 [[ 9.94075805e-01 1.08147838e-01 1.08323101e-02 9.83621425e+00] [-1.08143228e-01 9.94134809e-01 -1.01205633e-03 -8.53201171e-01] [-1.08782282e-02 -1.65380269e-04 9.99940817e-01 2.42525426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.422320588 meters 0.021839259348614134 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.85, Z:0.02 [[ 9.94327251e-01 1.05915811e-01 9.75491424e-03 9.86605286e+00] [-1.05911954e-01 9.94375093e-01 -9.12519783e-04 -8.53667936e-01] [-9.79669403e-03 -1.25818744e-04 9.99952003e-01 2.32125201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.452320588 meters 0.021839259348614134 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.86, Z:0.02 [[ 9.94375720e-01 1.05459741e-01 9.75551618e-03 9.89417372e+00] [-1.05455926e-01 9.94423565e-01 -9.06070624e-04 -8.56585748e-01] [-9.79666915e-03 -1.27802366e-04 9.99952003e-01 2.33550462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.482320588 meters 0.02163791641718127 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.86, Z:0.02 [[ 9.94749723e-01 1.01692684e-01 1.14711202e-02 9.92326723e+00] [-1.01687215e-01 9.94815855e-01 -1.06049160e-03 -8.55305308e-01] [-1.15194965e-02 -1.11542544e-04 9.99933642e-01 2.29170586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512320588 meters 0.021422889468199934 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.85, Z:0.02 [[ 9.95126473e-01 9.78453636e-02 1.22305733e-02 9.95354914e+00] [-9.78388397e-02 9.95201628e-01 -1.13205554e-03 -8.53277140e-01] [-1.22826528e-02 -7.00866620e-05 9.99924563e-01 2.47539346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542320587999999 meters 0.021422889468199934 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.86, Z:0.02 [[ 9.95126474e-01 9.78453620e-02 1.22305432e-02 9.98342599e+00] [-9.78388340e-02 9.95201628e-01 -1.13238112e-03 -8.56043029e-01] [-1.22826547e-02 -6.97596520e-05 9.99924563e-01 2.49052043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.572320588 meters 0.02111730862455503 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.86, Z:0.03 [[ 9.95456610e-01 9.42255158e-02 1.37000005e-02 1.00129391e+01] [-9.42169989e-02 9.95550878e-01 -1.26720392e-03 -8.56043811e-01] [-1.37584505e-02 -2.93264119e-05 9.99905348e-01 2.72526549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602320588 meters 0.021211127473448436 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.86, Z:0.03 [[ 9.95781231e-01 9.02819395e-02 1.63985294e-02 1.00438895e+01] [-9.02691721e-02 9.95916247e-01 -1.51861193e-03 -8.57461849e-01] [-1.64686650e-02 3.19235887e-05 9.99864382e-01 2.74764595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.632320587999999 meters 0.021500525354780937 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.86, Z:0.03 [[ 9.96132120e-01 8.60669494e-02 1.76997251e-02 1.00756856e+01] [-8.60513645e-02 9.96289349e-01 -1.64165815e-03 -8.60010899e-01] [-1.77753401e-02 1.12222916e-04 9.99842000e-01 2.76780392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.662320588 meters 0.021785780055536275 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.86, Z:0.03 [[ 9.96475951e-01 8.19586681e-02 1.78453527e-02 1.01080761e+01] [-8.19421260e-02 9.96635711e-01 -1.65743565e-03 -8.61123781e-01] [-1.79211570e-02 1.89308628e-04 9.99839385e-01 2.65833705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.692320588 meters 0.02207148176630814 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.86, Z:0.03 [[ 9.96736090e-01 7.89282409e-02 1.69558428e-02 1.01406106e+01] [-7.89128317e-02 9.96880273e-01 -1.57697726e-03 -8.62386933e-01] [-1.70274132e-02 2.33796583e-04 9.99854996e-01 2.56798835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.722320587999999 meters 0.022220245489961852 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.86, Z:0.02 [[ 9.96959002e-01 7.64979040e-02 1.48599912e-02 1.01726666e+01] [-7.64857698e-02 9.97069712e-01 -1.38401072e-03 -8.64687940e-01] [-1.49223211e-02 2.43224074e-04 9.99888626e-01 2.38568905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.752320588 meters 0.022220245489961852 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.87, Z:0.02 [[ 9.96949436e-01 7.66224997e-02 1.48598184e-02 1.02042312e+01] [-7.66103517e-02 9.97060145e-01 -1.38586615e-03 -8.67589640e-01] [-1.49223212e-02 2.43222568e-04 9.99888626e-01 2.40165668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.782320588 meters 0.022309101801032308 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.87, Z:0.02 [[ 9.97100100e-01 7.52146087e-02 1.15824324e-02 1.02359172e+01] [-7.52071151e-02 9.97167348e-01 -1.08180183e-03 -8.71615147e-01] [-1.16309907e-02 2.07583393e-04 9.99932336e-01 2.17064979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.812320588 meters 0.022168457524820287 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.88, Z:0.02 [[ 9.97155955e-01 7.48865823e-02 8.48533269e-03 1.02666800e+01] [-7.48825419e-02 9.97192045e-01 -7.93323051e-04 -8.77227564e-01] [-8.52091551e-03 1.55663525e-04 9.99963684e-01 2.20088136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842320588 meters 0.02190164757715276 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.88, Z:0.02 [[ 9.97115822e-01 7.57603604e-02 4.51714188e-03 1.02952238e+01] [-7.57592446e-02 9.97126051e-01 -4.17865941e-04 -8.81813746e-01] [-4.53581752e-03 7.44454852e-05 9.99989710e-01 2.39266363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.872320588 meters 0.02152451010261476 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.89, Z:0.03 [[ 9.97025267e-01 7.70458329e-02 2.13439662e-03 1.03235037e+01] [-7.70455908e-02 9.97027552e-01 -1.95540379e-04 -8.85529254e-01] [-2.14311781e-03 3.05128500e-05 9.99997703e-01 2.61313737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.902320588 meters 0.021458250153866706 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.89, Z:0.03 [[ 9.96952003e-01 7.80126823e-02 -8.51841911e-04 1.03524120e+01] [-7.80126418e-02 9.96952367e-01 8.07498692e-05 -8.88193858e-01] [ 8.55545323e-04 -1.40493060e-05 9.99999634e-01 2.79123479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932320588 meters 0.021262857522204786 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.89, Z:0.03 [[ 9.96869415e-01 7.90073481e-02 -3.03438128e-03 1.03809126e+01] [-7.90068604e-02 9.96874033e-01 2.80464356e-04 -8.91810286e-01] [ 3.04705465e-03 -3.98494002e-05 9.99995357e-01 2.91015819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.962320587999999 meters 0.021256880745485898 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.90, Z:0.03 [[ 9.96709175e-01 8.09801769e-02 -3.60977300e-03 1.04099617e+01] [-8.09795072e-02 9.96715711e-01 3.31533335e-04 -8.95481609e-01] [ 3.62476509e-03 -3.81246786e-05 9.99993430e-01 2.93756070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.992320588 meters 0.021256880745485898 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.90, Z:0.03 [[ 9.96750497e-01 8.04699623e-02 -3.60989794e-03 1.04372402e+01] [-8.04692942e-02 9.96757033e-01 3.30166302e-04 -8.98282628e-01] [ 3.62475964e-03 -3.86074862e-05 9.99993430e-01 2.95140770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022320588 meters 0.020951764216123832 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.90, Z:0.03 [[ 9.96487485e-01 8.36907130e-02 -2.92522888e-03 1.04660692e+01] [-8.36902916e-02 9.96491778e-01 2.66394514e-04 -9.00658857e-01] [ 2.93726128e-03 -2.06455408e-05 9.99995686e-01 3.02498640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.052320587999999 meters 0.020956419086368916 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.90, Z:0.03 [[ 9.96219122e-01 8.68748178e-02 -4.75814511e-04 1.04936787e+01] [-8.68748062e-02 9.96219236e-01 4.51823895e-05 -9.02321162e-01] [ 4.77940781e-04 -3.67526700e-06 9.99999886e-01 3.00322014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.082320588 meters 0.0209810897032133 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.90, Z:0.03 [[ 9.95845291e-01 9.10478449e-02 1.56422905e-03 1.05216142e+01] [-9.10477420e-02 9.95846519e-01 -1.36983369e-04 -9.04862343e-01] [-1.57020409e-03 -6.00527999e-06 9.99998767e-01 3.06344750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.112320588 meters 0.02098441105950387 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.91, Z:0.03 [[ 9.95594195e-01 9.37557388e-02 1.43560846e-03 1.05498420e+01] [-9.37556564e-02 9.95595230e-01 -1.24763208e-04 -9.07928086e-01] [-1.44098221e-03 -1.03828885e-05 9.99998962e-01 3.09412446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.142320587999999 meters 0.0211794368884987 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.91, Z:0.03 [[ 9.95405332e-01 9.57508331e-02 -5.67500293e-05 1.05776672e+01] [-9.57508328e-02 9.95405333e-01 7.64809813e-06 -9.11029532e-01] [ 5.72215936e-05 -2.17909509e-06 9.99999998e-01 3.14618966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.172320588 meters 0.02122484644357692 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.91, Z:0.03 [[ 9.95366821e-01 9.61467009e-02 -8.38520524e-04 1.06052762e+01] [-9.61466708e-02 9.95367174e-01 7.61877315e-05 -9.13288534e-01] [ 8.41961004e-04 4.78621663e-06 9.99999646e-01 3.12352002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.202320588 meters 0.021167495146164585 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.91, Z:0.03 [[ 9.95434717e-01 9.54427461e-02 6.37489669e-04 1.06327761e+01] [-9.54427317e-02 9.95434921e-01 -5.29164757e-05 -9.14062093e-01] [-6.39629973e-04 -8.16885850e-06 9.99999795e-01 3.07504455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.232320588 meters 0.021242608067037063 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.91, Z:0.03 [[ 9.95454276e-01 9.52129643e-02 2.29691649e-03 1.06610312e+01] [-9.52127647e-02 9.95456926e-01 -1.96337829e-04 -9.14877255e-01] [-2.30517533e-03 -2.32504378e-05 9.99997343e-01 3.20216123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262320588 meters 0.021195164007737837 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.92, Z:0.03 [[ 9.95527768e-01 9.43102150e-02 5.48153109e-03 1.06897728e+01] [-9.43090563e-02 9.95542857e-01 -4.70047019e-04 -9.15584175e-01] [-5.50142936e-03 -4.90131646e-05 9.99984866e-01 3.34330284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.292320587999999 meters 0.02118368250864892 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.92, Z:0.03 [[ 9.95541568e-01 9.40012064e-02 7.79490575e-03 1.07186234e+01] [-9.39988742e-02 9.95572081e-01 -6.65824124e-04 -9.16421640e-01] [-7.82297881e-03 -6.98567734e-05 9.99969398e-01 3.45659168e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.322320588 meters 0.02118368250864892 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.92, Z:0.03 [[ 9.95590775e-01 9.34785669e-02 7.79528431e-03 1.07459129e+01] [-9.34762534e-02 9.95621290e-01 -6.61386771e-04 -9.19065945e-01] [-7.82297651e-03 -7.02034046e-05 9.99969398e-01 3.47044115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352320588 meters 0.021139740854836053 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.92, Z:0.04 [[ 9.95594865e-01 9.32764588e-02 9.50611645e-03 1.07743078e+01] [-9.32730424e-02 9.95640244e-01 -8.03068232e-04 -9.19957086e-01] [-9.53957946e-03 -8.71337950e-05 9.99954493e-01 3.53074957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.382320587999999 meters 0.021419732476075367 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.92, Z:0.04 [[ 9.95532023e-01 9.38080956e-02 1.07718325e-02 1.08028313e+01] [-9.38037889e-02 9.95590292e-01 -9.05462381e-04 -9.20989654e-01] [-1.08092716e-02 -1.09021908e-04 9.99941572e-01 3.50939357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.412320588 meters 0.021441951479174614 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.92, Z:0.04 [[ 9.95407648e-01 9.51254223e-02 1.07130046e-02 1.08314656e+01] [-9.51212920e-02 9.95465287e-01 -8.95577174e-04 -9.22811218e-01] [-1.07496163e-02 -1.27570465e-04 9.99942213e-01 3.52577484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.442320588 meters 0.02162473108204339 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.92, Z:0.04 [[ 9.95155965e-01 9.78019610e-02 9.96908443e-03 1.08601051e+01] [-9.77985650e-02 9.95205885e-01 -8.28742226e-04 -9.24793696e-01] [-1.00023441e-02 -1.50234383e-04 9.99949964e-01 3.56757512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.472320587999999 meters 0.022002646928480456 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.93, Z:0.04 [[ 9.94746074e-01 1.02067090e-01 7.90929932e-03 1.08890703e+01] [-1.02065120e-01 9.94777505e-01 -6.53412449e-04 -9.26071394e-01] [-7.93468495e-03 -1.57284116e-04 9.99968508e-01 3.66166500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.502320588 meters 0.022395468238387367 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.93, Z:0.04 [[ 9.94309220e-01 1.06402085e-01 5.26991982e-03 1.09177230e+01] [-1.06401288e-01 9.94323176e-01 -4.32213017e-04 -9.26672508e-01] [-5.28599178e-03 -1.30972870e-04 9.99986020e-01 3.80768900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.532320588 meters 0.022910283512497392 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.93, Z:0.04 [[ 9.93756798e-01 1.11550755e-01 1.96327231e-03 1.09460405e+01] [-1.11550657e-01 9.93758736e-01 -1.60086228e-04 -9.26687091e-01] [-1.96887675e-03 -5.99175373e-05 9.99998060e-01 3.97382564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.562320587999999 meters 0.023474483399225015 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.93, Z:0.04 [[ 9.93328999e-01 1.15310203e-01 1.02782177e-03 1.09748852e+01] [-1.15310180e-01 9.93329530e-01 -8.17011779e-05 -9.26551832e-01] [-1.03038669e-03 -3.73621639e-05 9.99999468e-01 3.95995636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592320588 meters 0.0239805819756981 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.93, Z:0.04 [[ 9.93038268e-01 1.17784708e-01 1.32708814e-03 1.10038002e+01] [-1.17784672e-01 9.93039153e-01 -1.05544818e-04 -9.26291367e-01] [-1.33028204e-03 -5.15005980e-05 9.99999114e-01 3.95376073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.622320588 meters 0.024297022042521745 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.93, Z:0.04 [[ 9.92755912e-01 1.20142197e-01 1.24573432e-03 1.10329575e+01] [-1.20142168e-01 9.92756692e-01 -9.83535252e-05 -9.26613764e-01] [-1.24852749e-03 -5.20241783e-05 9.99999219e-01 4.02810807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.652320588 meters 0.02538646907820498 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.92, Z:0.04 [[ 9.92034504e-01 1.25947874e-01 -2.16259743e-03 1.10629701e+01] [-1.25947791e-01 9.92036856e-01 1.74949643e-04 -9.21134806e-01] [ 2.16741089e-03 9.88182874e-05 9.99997646e-01 4.17089488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682320588 meters 0.025921240512964423 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.92, Z:0.04 [[ 9.91534586e-01 1.29763080e-01 -4.55056219e-03 1.10930724e+01] [-1.29762756e-01 9.91545003e-01 3.67477684e-04 -9.17910393e-01] [ 4.55977223e-03 2.26126658e-04 9.99989579e-01 4.36790292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.712320587999999 meters 0.026751992002801928 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.91, Z:0.04 [[ 9.91006927e-01 1.33713364e-01 -5.09975567e-03 1.11230091e+01] [-1.33713012e-01 9.91020010e-01 4.11461449e-04 -9.14198021e-01] [ 5.10897781e-03 2.74142544e-04 9.99986912e-01 4.39506707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.742320588 meters 0.027420342198626477 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.91, Z:0.04 [[ 9.90571603e-01 1.36970715e-01 -2.63092041e-03 1.11529593e+01] [-1.36970633e-01 9.90575086e-01 2.12255137e-04 -9.08959161e-01] [ 2.63519695e-03 1.50104922e-04 9.99996517e-01 4.43629606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.772320588 meters 0.027546304220229856 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.90, Z:0.04 [[ 9.90500001e-01 1.37512254e-01 -3.56633279e-04 1.11821953e+01] [-1.37512252e-01 9.90500065e-01 3.07988151e-05 -9.03367050e-01] [ 3.57480501e-04 1.85352189e-05 9.99999936e-01 4.48762018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.802320587999999 meters 0.027652703821647348 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.90, Z:0.05 [[ 9.90533680e-01 1.37244640e-01 2.63390435e-03 1.12111822e+01] [-1.37244572e-01 9.90537170e-01 -2.07625699e-04 -8.98498366e-01] [-2.63747567e-03 -1.55828825e-04 9.99996510e-01 4.50978826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.832320588 meters 0.02640231870494343 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.89, Z:0.05 [[ 9.91069473e-01 1.33316124e-01 2.84781279e-03 1.12406594e+01] [-1.33316030e-01 9.91073552e-01 -2.23647193e-04 -8.86924670e-01] [-2.85220772e-03 -1.58009190e-04 9.99995920e-01 4.61609682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.862320588 meters 0.025479456922713653 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.88, Z:0.05 [[ 9.91659956e-01 1.28874721e-01 1.35602680e-03 1.12700236e+01] [-1.28874697e-01 9.91660880e-01 -1.04814586e-04 -8.84109389e-01] [-1.35822668e-03 -7.08171163e-05 9.99999075e-01 4.64994233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.892320587999999 meters 0.02505786036863024 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.88, Z:0.05 [[ 9.92359449e-01 1.23379806e-01 3.83704241e-04 1.13004501e+01] [-1.23379804e-01 9.92359523e-01 -3.00758958e-05 -8.83106314e-01] [-3.84483316e-04 -1.74952545e-05 9.99999926e-01 4.60396011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922320588 meters 0.0238074955432541 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.88, Z:0.05 [[ 9.93261325e-01 1.15894809e-01 5.77306944e-04 1.13302867e+01] [-1.15894802e-01 9.93261493e-01 -4.51352927e-05 -8.81012920e-01] [-5.78647703e-04 -2.20757336e-05 9.99999832e-01 4.67767185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.952320588 meters 0.022960418932429148 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.88, Z:0.05 [[ 9.94023551e-01 1.09141686e-01 2.29606454e-03 1.13602170e+01] [-1.09141560e-01 9.94026200e-01 -1.80326499e-04 -8.78962633e-01] [-2.30202945e-03 -7.13472790e-05 9.99997348e-01 4.61657547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.982320588 meters 0.021910289409087697 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.88, Z:0.05 [[ 9.94754957e-01 1.02267892e-01 1.96304292e-03 1.13894041e+01] [-1.02267788e-01 9.94756893e-01 -1.53549354e-04 -8.75941855e-01] [-1.96845364e-03 -4.80120762e-05 9.99998061e-01 4.75665620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012320588 meters 0.020722288702728762 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.87, Z:0.05 [[ 9.95590597e-01 9.38041077e-02 3.90101828e-04 1.14184190e+01] [-9.38041032e-02 9.95590674e-01 -2.99436719e-05 -8.71316788e-01] [-3.91190582e-04 -6.78151396e-06 9.99999923e-01 4.59416932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.042320587999999 meters 0.020425836181897014 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.87, Z:0.05 [[ 9.95855722e-01 9.09465076e-02 3.36275203e-04 1.14467748e+01] [-9.09465047e-02 9.95855779e-01 -2.39528649e-05 -8.71718784e-01] [-3.37060033e-04 -6.72945675e-06 9.99999943e-01 4.53230971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.072320588 meters 0.020090147548034766 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.87, Z:0.05 [[ 9.96199174e-01 8.70799281e-02 2.07173847e-03 1.14754261e+01] [-8.70797871e-02 9.96201328e-01 -1.58310707e-04 -8.70971158e-01] [-2.07765430e-03 -2.26975501e-05 9.99997841e-01 4.57360882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102320588 meters 0.019775764584347502 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.87, Z:0.05 [[ 9.96597811e-01 8.22515206e-02 5.24322113e-03 1.15034911e+01] [-8.22505483e-02 9.96611603e-01 -4.01172253e-04 -8.69214208e-01] [-5.25845204e-03 -3.14504240e-05 9.99986174e-01 4.60232373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.132320587999999 meters 0.019739449782437742 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.87, Z:0.05 [[ 9.97027163e-01 7.65815747e-02 8.49104569e-03 1.15321346e+01] [-7.65788351e-02 9.97063319e-01 -6.47780305e-04 -8.68756901e-01] [-8.51571824e-03 -4.37982768e-06 9.99963741e-01 4.62604918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.162320588 meters 0.0197536353465906 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.87, Z:0.05 [[ 9.97407876e-01 7.14250406e-02 8.71740015e-03 1.15598576e+01] [-7.14219970e-02 9.97445970e-01 -6.60352191e-04 -8.72397513e-01] [-8.74230132e-03 3.60263489e-05 9.99961785e-01 4.59753852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.192320588 meters 0.02061099622174485 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.89, Z:0.04 [[ 9.97991706e-01 6.28219237e-02 8.12165756e-03 1.15874698e+01] [-6.28190240e-02 9.98024747e-01 -6.11893588e-04 -8.85764776e-01] [-8.14405556e-03 1.00470124e-04 9.99966832e-01 4.39026068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222320587999999 meters 0.021119322646557023 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.89, Z:0.04 [[ 9.98241676e-01 5.86464447e-02 8.61103449e-03 1.16157830e+01] [-5.86430602e-02 9.98278806e-01 -6.45230721e-04 -8.91058659e-01] [-8.63405372e-03 1.39118783e-04 9.99962716e-01 4.27435295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.252320588 meters 0.021670148454104105 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.89, Z:0.04 [[ 9.98457117e-01 5.47233405e-02 9.42030274e-03 1.16447822e+01] [-5.47191510e-02 9.98501538e-01 -7.02085865e-04 -8.93294117e-01] [-9.44460726e-03 1.85531660e-04 9.99955381e-01 4.31198621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.282320588 meters 0.0223510386226386 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.89, Z:0.04 [[ 9.98655244e-01 5.09207274e-02 9.73569548e-03 1.16736521e+01] [-5.09161122e-02 9.98702673e-01 -7.21489821e-04 -8.94597562e-01] [-9.75980388e-03 2.24815830e-04 9.99952347e-01 4.15878007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.312320587999999 meters 0.022630679863429145 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.90, Z:0.04 [[ 9.98826035e-01 4.78642197e-02 7.45439705e-03 1.17018880e+01] [-4.78614557e-02 9.98853833e-01 -5.48841346e-04 -8.99268365e-01] [-7.47212293e-03 1.91418731e-04 9.99972065e-01 4.12136650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342320588 meters 0.023650128010389945 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.91, Z:0.04 [[ 9.99073745e-01 4.30200619e-02 9.62304579e-04 1.17292749e+01] [-4.30200158e-02 9.99074208e-01 -6.86004265e-05 -9.13435777e-01] [-9.64364880e-04 2.71385269e-05 9.99999535e-01 4.02362437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.372320588 meters 0.024030068794197182 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.92, Z:0.04 [[ 9.99164035e-01 4.08712985e-02 -8.75992692e-04 1.17574651e+01] [-4.08712563e-02 9.99164419e-01 6.60994943e-05 -9.22250652e-01] [ 8.77962302e-04 -3.02413157e-05 9.99999614e-01 4.14748046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.402320588 meters 0.024155587365374133 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.93, Z:0.04 [[ 9.99239175e-01 3.89526377e-02 -1.93982656e-03 1.17860038e+01] [-3.89524334e-02 9.99241056e-01 1.43028884e-04 -9.29729733e-01] [ 1.94392570e-03 -6.73590988e-05 9.99998108e-01 4.28118050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432320588 meters 0.024111532525046615 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.94, Z:0.04 [[ 9.99278204e-01 3.79252299e-02 -2.17915780e-03 1.18139288e+01] [-3.79249721e-02 9.99280577e-01 1.59523923e-04 -9.37180708e-01] [ 2.18364005e-03 -7.67642802e-05 9.99997613e-01 4.30635087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.462320587999999 meters 0.024335442816635453 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.94, Z:0.04 [[ 9.99266058e-01 3.82688238e-02 -1.68591388e-03 1.18419701e+01] [-3.82686704e-02 9.99267479e-01 1.23193739e-04 -9.44619176e-01] [ 1.68939339e-03 -5.85856389e-05 9.99998571e-01 4.16942988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.492320588 meters 0.0240350538688889 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.95, Z:0.04 [[ 9.99250357e-01 3.86658809e-02 -1.91657620e-03 1.18698550e+01] [-3.86656855e-02 9.99252193e-01 1.38941352e-04 -9.53095980e-01] [ 1.92051526e-03 -6.47314634e-05 9.99998154e-01 4.13983095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.522320588 meters 0.023441026940743043 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.96, Z:0.04 [[ 9.99169400e-01 4.07095835e-02 -1.80003370e-03 1.18976691e+01] [-4.07094155e-02 9.99171020e-01 1.29879442e-04 -9.61803247e-01] [ 1.80382885e-03 -5.64932444e-05 9.99998372e-01 4.10495336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.552320587999999 meters 0.022526490507203345 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.98, Z:0.04 [[ 9.98969145e-01 4.53306207e-02 -2.40446862e-03 1.19258640e+01] [-4.53303386e-02 9.98972037e-01 1.71708943e-04 -9.75278077e-01] [ 2.40978059e-03 -6.25365592e-05 9.99997095e-01 4.23830332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.582320588 meters 0.022199979056276985 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.98, Z:0.04 [[ 9.98928265e-01 4.62014040e-02 -2.78400250e-03 1.19543693e+01] [-4.62010330e-02 9.98932143e-01 1.97467897e-04 -9.84300390e-01] [ 2.79015287e-03 -6.86324721e-05 9.99996105e-01 4.25604572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.612320588 meters 0.02212169492245405 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.99, Z:0.04 [[ 9.98882796e-01 4.72078679e-02 -2.13923217e-03 1.19826951e+01] [-4.72076520e-02 9.98885086e-01 1.51332869e-04 -9.93434960e-01] [ 2.14399122e-03 -5.01756709e-05 9.99997700e-01 4.27292502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.642320587999999 meters 0.02189189446563567 Centerline is valid? [True, True] Translation: X:12.01, Y:-1.00, Z:0.04 [[ 9.98850696e-01 4.79255670e-02 -6.54019014e-04 1.20107409e+01] [-4.79255462e-02 9.98850910e-01 4.74788444e-05 -1.00195181e+00] [ 6.55542938e-04 -1.60800583e-05 9.99999785e-01 4.29914670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672320588 meters 0.02186693297202393 Centerline is valid? [True, True] Translation: X:12.04, Y:-1.01, Z:0.04 [[ 9.98824175e-01 4.84215261e-02 2.37140465e-03 1.20385954e+01] [-4.84212811e-02 9.98826989e-01 -1.60658468e-04 -1.00702668e+00] [-2.37640229e-03 4.56431106e-05 9.99997175e-01 4.18700851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.702320588 meters 0.021395042428405862 Centerline is valid? [True, True] Translation: X:12.07, Y:-1.01, Z:0.04 [[ 9.98627058e-01 5.17820208e-02 7.91337864e-03 1.20662460e+01] [-5.17793826e-02 9.98658403e-01 -5.38033185e-04 -1.01387778e+00] [-7.93062252e-03 1.27544636e-04 9.99968544e-01 4.17896882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.732320588 meters 0.02118602296664815 Centerline is valid? [True, True] Translation: X:12.10, Y:-1.02, Z:0.04 [[ 9.98437624e-01 5.47842686e-02 1.09997654e-02 1.20962614e+01] [-5.47793149e-02 9.98498203e-01 -7.51352951e-04 -1.02059974e+00] [-1.10244083e-02 1.47619441e-04 9.99939218e-01 4.25205861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762320588 meters 0.020795161836285422 Centerline is valid? [True, True] Translation: X:12.13, Y:-1.03, Z:0.04 [[ 9.98096366e-01 6.03560510e-02 1.26803226e-02 1.21272070e+01] [-6.03499032e-02 9.98176907e-01 -8.67261471e-04 -1.02827006e+00] [-1.27095496e-02 1.00354284e-04 9.99919225e-01 4.41894828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.792320587999999 meters 0.02055074594973196 Centerline is valid? [True, True] Translation: X:12.16, Y:-1.03, Z:0.05 [[ 9.97659435e-01 6.71263179e-02 1.30272681e-02 1.21585024e+01] [-6.71203876e-02 9.97744485e-01 -8.92398748e-04 -1.03435925e+00] [-1.30577883e-02 1.59147464e-05 9.99914743e-01 4.55230043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.822320588 meters 0.02081873573262093 Centerline is valid? [True, True] Translation: X:12.19, Y:-1.04, Z:0.05 [[ 9.97146264e-01 7.44958800e-02 1.22348676e-02 1.21908603e+01] [-7.44911817e-02 9.97221319e-01 -8.39910092e-04 -1.03787646e+00] [-1.22634406e-02 -7.38765316e-05 9.99924798e-01 4.66257391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852320588 meters 0.021127899848953653 Centerline is valid? [True, True] Translation: X:12.22, Y:-1.04, Z:0.05 [[ 9.96575863e-01 8.17558345e-02 1.23504176e-02 1.22220285e+01] [-8.17515985e-02 9.96652375e-01 -8.48300419e-04 -1.03881451e+00] [-1.23784266e-02 -1.64270661e-04 9.99923371e-01 4.63892701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.882320587999999 meters 0.022306556037255527 Centerline is valid? [True, True] Translation: X:12.25, Y:-1.04, Z:0.05 [[ 9.95474064e-01 9.43781132e-02 1.11427317e-02 1.22525278e+01] [-9.43754520e-02 9.95536382e-01 -7.65578931e-04 -1.03798688e+00] [-1.11652487e-02 -2.89486374e-04 9.99937625e-01 4.79880693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.912320588 meters 0.022883529162487738 Centerline is valid? [True, True] Translation: X:12.28, Y:-1.04, Z:0.05 [[ 9.95108496e-01 9.81362473e-02 1.13295432e-02 1.22812274e+01] [-9.81338263e-02 9.95172929e-01 -7.70768116e-04 -1.03970942e+00] [-1.13504950e-02 -3.44813527e-04 9.99935522e-01 4.91243989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.942320588 meters 0.023060929419850856 Centerline is valid? [True, True] Translation: X:12.31, Y:-1.04, Z:0.05 [[ 9.95030138e-01 9.90153396e-02 1.05350234e-02 1.23096998e+01] [-9.90133479e-02 9.95085851e-01 -7.11739254e-04 -1.04053269e+00] [-1.05537259e-02 -3.34905933e-04 9.99944252e-01 5.08410545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.972320587999999 meters 0.02292459503811144 Centerline is valid? [True, True] Translation: X:12.34, Y:-1.04, Z:0.05 [[ 9.95219716e-01 9.72956554e-02 8.44224825e-03 1.23384535e+01] [-9.72943512e-02 9.95255489e-01 -5.66026791e-04 -1.04076996e+00] [-8.45726586e-03 -2.58062044e-04 9.99964203e-01 5.22897441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002320588 meters 0.022389979722615274 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.04, Z:0.05 [[ 9.95606546e-01 9.34892582e-02 5.23099682e-03 1.23670221e+01] [-9.34887221e-02 9.95620278e-01 -3.47443744e-04 -1.04101022e+00] [-5.24056877e-03 -1.43121942e-04 9.99986258e-01 5.22987617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.032320588 meters 0.021491784554848074 Centerline is valid? [True, True] Translation: X:12.40, Y:-1.04, Z:0.05 [[ 9.96498730e-01 8.35559379e-02 2.94727256e-03 1.23970366e+01] [-8.35557220e-02 9.96503087e-01 -1.96525055e-04 -1.03883251e+00] [-2.95338704e-03 -5.04245189e-05 9.99995637e-01 5.07185983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.062320587999999 meters 0.020980196441382336 Centerline is valid? [True, True] Translation: X:12.43, Y:-1.04, Z:0.05 [[ 9.96922236e-01 7.83048355e-02 3.79577299e-03 1.24261585e+01] [-7.83044533e-02 9.96929461e-01 -2.49439804e-04 -1.03917962e+00] [-3.80365026e-03 -4.85538413e-05 9.99992765e-01 4.98041761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092320588 meters 0.020679925532648174 Centerline is valid? [True, True] Translation: X:12.46, Y:-1.04, Z:0.05 [[ 9.97333680e-01 7.29141384e-02 3.00975695e-03 1.24550892e+01] [-7.29138791e-02 9.97338221e-01 -1.95925134e-04 -1.04094062e+00] [-3.01603136e-03 -2.40503192e-05 9.99995451e-01 4.94638834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.122320588 meters 0.020642871980517855 Centerline is valid? [True, True] Translation: X:12.48, Y:-1.04, Z:0.05 [[ 9.97681387e-01 6.80509984e-02 9.54847852e-04 1.24838508e+01] [-6.80509720e-02 9.97681844e-01 -6.01204547e-05 -1.04445650e+00] [-9.56725622e-04 -4.99726574e-06 9.99999542e-01 4.98641071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.152320588 meters 0.020583771629255326 Centerline is valid? [True, True] Translation: X:12.51, Y:-1.05, Z:0.05 [[ 9.97970909e-01 6.36715211e-02 -5.53232414e-05 1.25119375e+01] [-6.36715209e-02 9.97970910e-01 6.22748866e-06 -1.04845694e+00] [ 5.56074993e-05 -2.69233760e-06 9.99999998e-01 4.95239643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182320588 meters 0.0205156570862309 Centerline is valid? [True, True] Translation: X:12.54, Y:-1.05, Z:0.05 [[ 9.98173097e-01 6.03568073e-02 -2.74317613e-03 1.25400294e+01] [-6.03565429e-02 9.98176866e-01 1.79168643e-04 -1.05180242e+00] [ 2.74898900e-03 -1.32726916e-05 9.99996221e-01 5.12275098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.212320587999999 meters 0.020614426532971564 Centerline is valid? [True, True] Translation: X:12.57, Y:-1.06, Z:0.05 [[ 9.98403270e-01 5.64881185e-02 -6.14162215e-05 1.25689799e+01] [-5.64881182e-02 9.98403271e-01 6.21619536e-06 -1.05567976e+00] [ 6.16692977e-05 -2.73698300e-06 9.99999998e-01 5.33480452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.242320588 meters 0.020614426532971564 Centerline is valid? [True, True] Translation: X:12.60, Y:-1.06, Z:0.05 [[ 9.98432195e-01 5.59745318e-02 -6.13994013e-05 1.25963123e+01] [-5.59745315e-02 9.98432197e-01 6.48973493e-06 -1.05773962e+00] [ 6.16663990e-05 -3.04275757e-06 9.99999998e-01 5.34865286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.272320588 meters 0.020614426532971564 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.06, Z:0.05 [[ 9.98460856e-01 5.54609288e-02 -6.14020660e-05 1.26236457e+01] [-5.54609285e-02 9.98460858e-01 6.45810790e-06 -1.05978516e+00] [ 6.16657322e-05 -3.04275236e-06 9.99999998e-01 5.36250579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.302320587999999 meters 0.020806465532499208 Centerline is valid? [True, True] Translation: X:12.65, Y:-1.07, Z:0.05 [[ 9.98502218e-01 5.39341468e-02 9.18846701e-03 1.26516299e+01] [-5.39311731e-02 9.98544492e-01 -5.71275945e-04 -1.06705080e+00] [-9.20590440e-03 7.48754932e-05 9.99957622e-01 5.27673135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332320588 meters 0.02089507268659229 Centerline is valid? [True, True] Translation: X:12.68, Y:-1.07, Z:0.05 [[ 9.98497560e-01 5.37779206e-02 1.05146641e-02 1.26818307e+01] [-5.37739906e-02 9.98552917e-01 -6.56324755e-04 -1.07177799e+00] [-1.05347442e-02 8.99232203e-05 9.99944504e-01 5.38482446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.362320588 meters 0.020825952960596392 Centerline is valid? [True, True] Translation: X:12.71, Y:-1.08, Z:0.05 [[ 9.98495630e-01 5.38293462e-02 1.04345125e-02 1.27139347e+01] [-5.38254579e-02 9.98550146e-01 -6.53309525e-04 -1.07624749e+00] [-1.04545512e-02 9.06842933e-05 9.99945346e-01 5.38480753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.392320587999999 meters 0.020842621959359483 Centerline is valid? [True, True] Translation: X:12.75, Y:-1.08, Z:0.05 [[ 9.98500936e-01 5.39125946e-02 9.45054087e-03 1.27458148e+01] [-5.39093967e-02 9.98545655e-01 -5.92975275e-04 -1.08016357e+00] [-9.46876536e-03 8.26134106e-05 9.99955167e-01 5.24321545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422320588 meters 0.020973233519345248 Centerline is valid? [True, True] Translation: X:12.78, Y:-1.08, Z:0.05 [[ 9.98563021e-01 5.32261260e-02 6.23480991e-03 1.27764721e+01] [-5.32247189e-02 9.98582483e-01 -3.91495342e-04 -1.08470540e+00] [-6.24680974e-03 5.90867665e-05 9.99980487e-01 5.19187542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.452320588 meters 0.020950690018166185 Centerline is valid? [True, True] Translation: X:12.81, Y:-1.09, Z:0.05 [[ 9.98667635e-01 5.13525639e-02 5.08611064e-03 1.28058589e+01] [-5.13516079e-02 9.98680585e-01 -3.18463524e-04 -1.09018618e+00] [-5.09575387e-03 5.68592551e-05 9.99987015e-01 5.08377737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.482320588 meters 0.021728411572550642 Centerline is valid? [True, True] Translation: X:12.84, Y:-1.10, Z:0.05 [[ 9.98979284e-01 4.47632379e-02 6.05327178e-03 1.28351092e+01] [-4.47617648e-02 9.98997618e-01 -3.78697407e-04 -1.10207759e+00] [-6.06415581e-03 1.07355737e-04 9.99981607e-01 5.04194567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512320588 meters 0.02234071691256588 Centerline is valid? [True, True] Translation: X:12.87, Y:-1.11, Z:0.05 [[ 9.99115075e-01 4.13870277e-02 7.49533717e-03 1.28665087e+01] [-4.13846651e-02 9.99143177e-01 -4.70095856e-04 -1.10848446e+00] [-7.50837086e-03 1.59487838e-04 9.99971799e-01 5.17055373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.542320587999999 meters 0.02279548318608503 Centerline is valid? [True, True] Translation: X:12.90, Y:-1.11, Z:0.05 [[ 9.99251413e-01 3.76025443e-02 9.09193280e-03 1.28973044e+01] [-3.75989068e-02 9.99292748e-01 -5.70729581e-04 -1.11316884e+00] [-9.10696339e-03 2.28455606e-04 9.99958505e-01 5.31186044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.572320588 meters 0.023446492819811766 Centerline is valid? [True, True] Translation: X:12.93, Y:-1.12, Z:0.05 [[ 9.99383356e-01 3.34491598e-02 1.06799536e-02 1.29287408e+01] [-3.34438920e-02 9.99440371e-01 -6.71511905e-04 -1.11679897e+00] [-1.06964383e-02 3.13918607e-04 9.99942742e-01 5.27996835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602320588 meters 0.02409818954903043 Centerline is valid? [True, True] Translation: X:12.96, Y:-1.12, Z:0.05 [[ 9.99516260e-01 2.98698048e-02 8.66263438e-03 1.29603798e+01] [-2.98661935e-02 9.99553757e-01 -5.45974900e-04 -1.12049683e+00] [-8.67507690e-03 2.86990876e-04 9.99962330e-01 5.29375626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.632320587999999 meters 0.02447946141339943 Centerline is valid? [True, True] Translation: X:12.99, Y:-1.13, Z:0.05 [[ 9.99606050e-01 2.73225793e-02 6.42047098e-03 1.29917793e+01] [-2.73205392e-02 9.99626642e-01 -4.05258080e-04 -1.12696263e+00] [-6.42914654e-03 2.29687699e-04 9.99979306e-01 4.99270507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.662320588 meters 0.025637363042940557 Centerline is valid? [True, True] Translation: X:13.02, Y:-1.14, Z:0.05 [[ 9.99741129e-01 2.27043001e-02 1.47984936e-03 1.30234779e+01] [-2.27041856e-02 9.99742222e-01 -9.40997032e-05 -1.14031842e+00] [-1.48160436e-03 6.04765690e-05 9.99998901e-01 4.74315649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.692320588 meters 0.025758083021492555 Centerline is valid? [True, True] Translation: X:13.05, Y:-1.15, Z:0.05 [[ 9.99766682e-01 2.15955493e-02 4.62889469e-04 1.30525974e+01] [-2.15955382e-02 9.99766789e-01 -2.89092515e-05 -1.14748964e+00] [-4.63405829e-04 1.89061592e-05 9.99999892e-01 4.95569152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.722320587999999 meters 0.025366852632609932 Centerline is valid? [True, True] Translation: X:13.08, Y:-1.16, Z:0.05 [[ 9.99747490e-01 2.24401353e-02 1.18153664e-03 1.30822267e+01] [-2.24400633e-02 9.99748187e-01 -7.41909859e-05 -1.15540690e+00] [-1.18290397e-03 4.76584950e-05 9.99999299e-01 5.13223971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752320588 meters 0.025042415124830585 Centerline is valid? [True, True] Translation: X:13.11, Y:-1.16, Z:0.05 [[ 9.99733422e-01 2.30692218e-02 9.46593565e-04 1.31113435e+01] [-2.30691760e-02 9.99733869e-01 -5.93199368e-05 -1.16423613e+00] [-9.47710113e-04 3.74669899e-05 9.99999550e-01 5.43109991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.782320588 meters 0.024940214916610602 Centerline is valid? [True, True] Translation: X:13.14, Y:-1.17, Z:0.06 [[ 9.99701604e-01 2.44071513e-02 9.96687717e-04 1.31405851e+01] [-2.44071012e-02 9.99702100e-01 -6.24128984e-05 -1.17354439e+00] [-9.97914126e-04 3.80680167e-05 9.99999501e-01 5.54816111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.812320587999999 meters 0.024253654817417328 Centerline is valid? [True, True] Translation: X:13.17, Y:-1.18, Z:0.06 [[ 9.99641193e-01 2.67814158e-02 4.91475417e-04 1.31701053e+01] [-2.67814038e-02 9.99641313e-01 -3.09274571e-05 -1.18343038e+00] [-4.92127412e-04 1.77539586e-05 9.99999879e-01 5.58455904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842320588 meters 0.022706837423808017 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.20, Z:0.05 [[ 9.99409574e-01 3.43562259e-02 3.91237112e-04 1.31988543e+01] [-3.43562190e-02 9.99409651e-01 -2.42826682e-05 -1.19782154e+00] [-3.91840406e-04 1.08269032e-05 9.99999923e-01 5.45147869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.872320588 meters 0.021531007102424875 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.21, Z:0.05 [[ 9.99165292e-01 4.08305302e-02 1.25990919e-03 1.32281239e+01] [-4.08304630e-02 9.99166086e-01 -7.90073588e-05 -1.20620996e+00] [-1.26208445e-03 2.74987351e-05 9.99999203e-01 5.41965417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.902320588 meters 0.020834051524125947 Centerline is valid? [True, True] Translation: X:13.26, Y:-1.21, Z:0.05 [[ 9.98862664e-01 4.74726262e-02 4.44155503e-03 1.32579911e+01] [-4.74718545e-02 9.98872537e-01 -2.79081553e-04 -1.21417524e+00] [-4.44979608e-03 6.79152890e-05 9.99990097e-01 5.47381281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932320588 meters 0.02027320736424443 Centerline is valid? [True, True] Translation: X:13.29, Y:-1.22, Z:0.06 [[ 9.98479908e-01 5.47776530e-02 6.10582884e-03 1.32886356e+01] [-5.47763243e-02 9.98498576e-01 -3.84739016e-04 -1.22227844e+00] [-6.11773650e-03 4.96993169e-05 9.99981285e-01 5.58025719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.962320587999999 meters 0.01995923120086214 Centerline is valid? [True, True] Translation: X:13.32, Y:-1.23, Z:0.06 [[ 9.98074344e-01 6.17978400e-02 5.35082550e-03 1.33207851e+01] [-6.17969154e-02 9.98088687e-01 -3.38122130e-04 -1.22852237e+00] [-5.36149361e-03 6.80651272e-06 9.99985627e-01 5.79047111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.992320588 meters 0.020135903485718757 Centerline is valid? [True, True] Translation: X:13.35, Y:-1.23, Z:0.06 [[ 9.97679006e-01 6.79613680e-02 4.22533353e-03 1.33523352e+01] [-6.79608424e-02 9.97687953e-01 -2.68011037e-04 -1.23171889e+00] [-4.23377876e-03 -1.97682410e-05 9.99991037e-01 5.93113279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.022320588 meters 0.020707653853104083 Centerline is valid? [True, True] Translation: X:13.38, Y:-1.23, Z:0.06 [[ 9.96791812e-01 8.00114913e-02 2.06027377e-03 1.33841602e+01] [-8.00113920e-02 9.96793941e-01 -1.30745462e-04 -1.23120692e+00] [-2.06412955e-03 -3.45193665e-05 9.99997869e-01 5.99920346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.052320587999999 meters 0.021225651845102972 Centerline is valid? [True, True] Translation: X:13.41, Y:-1.23, Z:0.06 [[ 9.96406804e-01 8.46635121e-02 2.36037379e-03 1.34149743e+01] [-8.46633939e-02 9.96409598e-01 -1.50110612e-04 -1.23228162e+00] [-2.36460799e-03 -5.02660208e-05 9.99997203e-01 6.05144509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082320588 meters 0.021927677994891367 Centerline is valid? [True, True] Translation: X:13.45, Y:-1.23, Z:0.06 [[ 9.95999337e-01 8.91865377e-02 5.57516407e-03 1.34455188e+01] [-8.91859557e-02 9.96014930e-01 -3.53427437e-04 -1.23342986e+00] [-5.58446762e-03 -1.45212843e-04 9.99984396e-01 5.96488843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.112320588 meters 0.022430053828820195 Centerline is valid? [True, True] Translation: X:13.48, Y:-1.23, Z:0.06 [[ 9.95502059e-01 9.44888581e-02 6.89249112e-03 1.34772290e+01] [-9.44880901e-02 9.95525896e-01 -4.37715229e-04 -1.23406878e+00] [-6.90301261e-03 -2.15511910e-04 9.99976151e-01 5.94054388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.142320587999999 meters 0.023425200038720336 Centerline is valid? [True, True] Translation: X:13.51, Y:-1.23, Z:0.06 [[ 9.95093991e-01 9.87425163e-02 6.15340654e-03 1.35088267e+01] [-9.87419826e-02 9.95112992e-01 -3.91215733e-04 -1.23432040e+00] [-6.16196442e-03 -2.18303137e-04 9.99980991e-01 5.84472739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.172320588 meters 0.023893181181018866 Centerline is valid? [True, True] Translation: X:13.54, Y:-1.23, Z:0.06 [[ 9.94833535e-01 1.01450581e-01 3.74388130e-03 1.35412877e+01] [-1.01450399e-01 9.94840570e-01 -2.38957998e-04 -1.23352961e+00] [-3.74880743e-03 -1.42094821e-04 9.99992963e-01 5.76866925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.202320588 meters 0.02391619163228184 Centerline is valid? [True, True] Translation: X:13.57, Y:-1.23, Z:0.06 [[ 9.94836802e-01 1.01267911e-01 -6.67440983e-03 1.35723079e+01] [-1.01267336e-01 9.94859159e-01 4.24845138e-04 -1.23110878e+00] [ 6.68312092e-03 2.53248127e-04 9.99977636e-01 5.73017630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.232320587999999 meters 0.023423212314111166 Centerline is valid? [True, True] Translation: X:13.60, Y:-1.23, Z:0.06 [[ 9.95000362e-01 9.93882410e-02 -9.81111488e-03 1.36012650e+01] [-9.93869281e-02 9.95048668e-01 6.22498829e-04 -1.22944745e+00] [ 9.82440585e-03 3.55710009e-04 9.99951676e-01 5.84744697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262320588 meters 0.023199076479826112 Centerline is valid? [True, True] Translation: X:13.63, Y:-1.23, Z:0.06 [[ 9.95213272e-01 9.72430590e-02 -9.71240031e-03 1.36299493e+01] [-9.72417116e-02 9.95260607e-01 6.11992554e-04 -1.22668216e+00] [ 9.72588145e-03 3.35387318e-04 9.99952646e-01 5.95192271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.292320587999999 meters 0.022636635867420565 Centerline is valid? [True, True] Translation: X:13.66, Y:-1.22, Z:0.06 [[ 9.95541494e-01 9.41188501e-02 -6.22695774e-03 1.36594164e+01] [-9.41182479e-02 9.95560949e-01 3.90334850e-04 -1.22265344e+00] [ 6.23605382e-03 1.97475812e-04 9.99980536e-01 6.04418543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.322320588 meters 0.02222837149574109 Centerline is valid? [True, True] Translation: X:13.69, Y:-1.22, Z:0.06 [[ 9.95823917e-01 9.12485044e-02 -2.90467938e-03 1.36882965e+01] [-9.12483614e-02 9.95828150e-01 1.81977862e-04 -1.22067520e+00] [ 2.90916670e-03 8.38293266e-05 9.99995765e-01 6.12181068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352320588 meters 0.02192981644309573 Centerline is valid? [True, True] Translation: X:13.72, Y:-1.22, Z:0.06 [[ 9.96089128e-01 8.83326412e-02 -1.94776394e-03 1.37165366e+01] [-8.83325716e-02 9.96091031e-01 1.21903900e-04 -1.22336086e+00] [ 1.95091828e-03 5.06238482e-05 9.99998096e-01 6.12859553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.382320587999999 meters 0.021426506392681514 Centerline is valid? [True, True] Translation: X:13.75, Y:-1.23, Z:0.06 [[ 9.96489633e-01 8.37069413e-02 -1.24858475e-03 1.37455309e+01] [-8.37069089e-02 9.96490415e-01 7.82770422e-05 -1.22873964e+00] [ 1.25075506e-03 2.65129086e-05 9.99999217e-01 6.09407040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412320588 meters 0.020774315634769083 Centerline is valid? [True, True] Translation: X:13.77, Y:-1.23, Z:0.06 [[ 9.96881198e-01 7.89012944e-02 -1.56942567e-03 1.37744576e+01] [-7.89012390e-02 9.96882433e-01 9.72876912e-05 -1.23320402e+00] [ 1.57220900e-03 2.68453597e-05 9.99998764e-01 6.07434891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.442320588 meters 0.01997274884873919 Centerline is valid? [True, True] Translation: X:13.80, Y:-1.23, Z:0.06 [[ 9.97556709e-01 6.98608246e-02 -2.79361367e-04 1.38032124e+01] [-6.98608220e-02 9.97556748e-01 1.91707651e-05 -1.23184220e+00] [ 2.80018102e-04 3.92489366e-07 9.99999961e-01 6.09852361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.472320587999999 meters 0.019736569890405887 Centerline is valid? [True, True] Translation: X:13.83, Y:-1.23, Z:0.06 [[ 9.97789493e-01 6.64519511e-02 5.14789823e-04 1.38322026e+01] [-6.64519453e-02 9.97789626e-01 -2.83016529e-05 -1.23327428e+00] [-5.15532645e-04 -5.96969330e-06 9.99999867e-01 6.11377726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502320588 meters 0.019573358205095703 Centerline is valid? [True, True] Translation: X:13.86, Y:-1.24, Z:0.06 [[ 9.98019849e-01 6.28818014e-02 1.50348390e-03 1.38605787e+01] [-6.28817425e-02 9.98020981e-01 -8.64577075e-05 -1.23853249e+00] [-1.50594509e-03 -8.25517934e-06 9.99998866e-01 6.14624930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.532320588 meters 0.019635277465275845 Centerline is valid? [True, True] Translation: X:13.89, Y:-1.25, Z:0.06 [[ 9.98113399e-01 6.13925082e-02 7.76380287e-04 1.38897791e+01] [-6.13924914e-02 9.98113701e-01 -4.54754773e-05 -1.24587968e+00] [-7.77707655e-04 -2.27423688e-06 9.99999698e-01 6.22990613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.562320587999999 meters 0.019587276288573756 Centerline is valid? [True, True] Translation: X:13.92, Y:-1.25, Z:0.06 [[ 9.98182564e-01 6.02605914e-02 -4.79908427e-04 1.39191350e+01] [-6.02605846e-02 9.98182679e-01 2.86209938e-05 -1.25219411e+00] [ 4.80760997e-04 3.50585379e-07 9.99999884e-01 6.27518977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592320588 meters 0.019528823456748376 Centerline is valid? [True, True] Translation: X:13.95, Y:-1.26, Z:0.06 [[ 9.98162844e-01 6.04187025e-02 -4.52956100e-03 1.39478614e+01] [-6.04181120e-02 9.98173121e-01 2.67201024e-04 -1.25502063e+00] [ 4.53742998e-03 6.95738954e-06 9.99989706e-01 6.15547306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.622320588 meters 0.019528823456748376 Centerline is valid? [True, True] Translation: X:13.98, Y:-1.26, Z:0.06 [[ 9.98195186e-01 5.98819866e-02 -4.52968286e-03 1.39752590e+01] [-5.98814000e-02 9.98205464e-01 2.65117990e-04 -1.25692730e+00] [ 4.53742997e-03 6.60425029e-06 9.99989706e-01 6.16932387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.652320588 meters 0.019502320514651495 Centerline is valid? [True, True] Translation: X:14.00, Y:-1.26, Z:0.06 [[ 9.98152174e-01 6.05717079e-02 -4.82752083e-03 1.40029045e+01] [-6.05710633e-02 9.98163848e-01 2.79767063e-04 -1.26208236e+00] [ 4.83560274e-03 1.31579675e-05 9.99988308e-01 5.98497420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682320588 meters 0.019358862224780105 Centerline is valid? [True, True] Translation: X:14.03, Y:-1.27, Z:0.06 [[ 9.98210864e-01 5.95790502e-02 -5.04058235e-03 1.40309414e+01] [-5.95783490e-02 9.98223591e-01 2.89280112e-04 -1.26758468e+00] [ 5.04886324e-03 1.15470236e-05 9.99987254e-01 6.11973823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.712320587999999 meters 0.01951318467570197 Centerline is valid? [True, True] Translation: X:14.06, Y:-1.27, Z:0.06 [[ 9.98267648e-01 5.86697633e-02 -4.42295433e-03 1.40584354e+01] [-5.86692236e-02 9.98277446e-01 2.51779562e-04 -1.27139894e+00] [ 4.43010739e-03 8.14790539e-06 9.99990187e-01 6.31056032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.742320588 meters 0.019311649186846098 Centerline is valid? [True, True] Translation: X:14.09, Y:-1.27, Z:0.06 [[ 9.98376392e-01 5.67232455e-02 -5.20136532e-03 1.40866913e+01] [-5.67224900e-02 9.98389941e-01 2.92778203e-04 -1.27211440e+00] [ 5.20959814e-03 2.73154650e-06 9.99986430e-01 6.46783440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.772320588 meters 0.019238869825116994 Centerline is valid? [True, True] Translation: X:14.11, Y:-1.27, Z:0.07 [[ 9.98536972e-01 5.37151070e-02 -6.21319613e-03 1.41142535e+01] [-5.37139949e-02 9.98556301e-01 3.45848411e-04 -1.27245383e+00] [ 6.22280343e-03 -1.16068397e-05 9.99980638e-01 6.53488382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.802320587999999 meters 0.019584681702698458 Centerline is valid? [True, True] Translation: X:14.14, Y:-1.28, Z:0.06 [[ 9.98937739e-01 4.60148831e-02 -2.45421606e-03 1.41424218e+01] [-4.60146860e-02 9.98940754e-01 1.36746510e-04 -1.27877935e+00] [ 2.45790881e-03 -2.36712687e-05 9.99996979e-01 6.36686421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832320588 meters 0.020497456924187675 Centerline is valid? [True, True] Translation: X:14.17, Y:-1.29, Z:0.06 [[ 9.99344043e-01 3.61808943e-02 1.55794335e-03 1.41709496e+01] [-3.61808100e-02 9.99345257e-01 -8.23215535e-05 -1.28527848e+00] [-1.55990176e-03 2.58999019e-05 9.99998783e-01 6.34469968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.862320588 meters 0.021137380307434478 Centerline is valid? [True, True] Translation: X:14.20, Y:-1.29, Z:0.06 [[ 9.99519819e-01 3.09805465e-02 5.81005836e-04 1.42016602e+01] [-3.09805333e-02 9.99519988e-01 -3.17323402e-05 -1.28903644e+00] [-5.81710031e-04 1.37172323e-05 9.99999831e-01 6.43196954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.892320587999999 meters 0.02120010482490518 Centerline is valid? [True, True] Translation: X:14.23, Y:-1.29, Z:0.06 [[ 9.99541370e-01 3.02802420e-02 3.95773702e-04 1.42318947e+01] [-3.02802358e-02 9.99541448e-01 -2.15067535e-05 -1.29407553e+00] [-3.96243449e-04 9.51276886e-06 9.99999921e-01 6.46969004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922320588 meters 0.02120010482490518 Centerline is valid? [True, True] Translation: X:14.26, Y:-1.30, Z:0.06 [[ 9.99541370e-01 3.02802420e-02 3.95773702e-04 1.42618592e+01] [-3.02802358e-02 9.99541448e-01 -2.15067535e-05 -1.29570384e+00] [-3.96243449e-04 9.51276886e-06 9.99999921e-01 6.48481480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.952320588 meters 0.021338514900125886 Centerline is valid? [True, True] Translation: X:14.29, Y:-1.30, Z:0.07 [[ 9.99562998e-01 2.95082980e-02 1.75288620e-03 1.42925406e+01] [-2.95081763e-02 9.99564534e-01 -9.52536546e-05 -1.30091460e+00] [-1.75493365e-03 4.34875536e-05 9.99998459e-01 6.59940241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.982320587999999 meters 0.021338514900125886 Centerline is valid? [True, True] Translation: X:14.32, Y:-1.30, Z:0.07 [[ 9.99561138e-01 2.95712387e-02 1.75286297e-03 1.43233420e+01] [-2.95711164e-02 9.99562674e-01 -9.56809296e-05 -1.30257201e+00] [-1.75492580e-03 4.38048241e-05 9.99998459e-01 6.61494917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012320588 meters 0.021079772700055413 Centerline is valid? [True, True] Translation: X:14.35, Y:-1.31, Z:0.07 [[ 9.99505729e-01 3.05857526e-02 7.26706709e-03 1.43540533e+01] [-3.05836804e-02 9.99532131e-01 -3.96136998e-04 -1.30788681e+00] [-7.27578321e-03 1.73687541e-04 9.99973516e-01 6.86747643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.042320587999999 meters 0.020770474854611608 Centerline is valid? [True, True] Translation: X:14.39, Y:-1.31, Z:0.07 [[ 9.99447241e-01 3.21723746e-02 8.37562493e-03 1.43860227e+01] [-3.21696663e-02 9.99482317e-01 -4.57916312e-04 -1.31089788e+00] [-8.38602127e-03 1.88222136e-04 9.99964819e-01 6.92607162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.072320588 meters 0.02051308819919988 Centerline is valid? [True, True] Translation: X:14.42, Y:-1.31, Z:0.07 [[ 9.99393527e-01 3.39865950e-02 7.58224009e-03 1.44176343e+01] [-3.39844198e-02 9.99422276e-01 -4.15571034e-04 -1.31476064e+00] [-7.59198350e-03 1.57640971e-04 9.99971168e-01 6.91059802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102320588 meters 0.020374197393391063 Centerline is valid? [True, True] Translation: X:14.45, Y:-1.32, Z:0.07 [[ 9.99336750e-01 3.58568732e-02 6.35170498e-03 1.44497733e+01] [-3.58553787e-02 9.99356928e-01 -3.49044798e-04 -1.31975974e+00] [-6.36013603e-03 1.21070506e-04 9.99979767e-01 6.77895620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.132320587999999 meters 0.020374197393391063 Centerline is valid? [True, True] Translation: X:14.48, Y:-1.32, Z:0.07 [[ 9.99332159e-01 3.59846176e-02 6.35166029e-03 1.44814067e+01] [-3.59831205e-02 9.99352337e-01 -3.49857805e-04 -1.32146080e+00] [-6.36013605e-03 1.21071597e-04 9.99979767e-01 6.79492244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162320588 meters 0.02000649222568428 Centerline is valid? [True, True] Translation: X:14.51, Y:-1.33, Z:0.07 [[ 9.99224055e-01 3.91392803e-02 4.40515495e-03 1.45132191e+01] [-3.91385875e-02 9.99233762e-01 -2.43406327e-04 -1.32649033e+00] [-4.41130630e-03 7.08059146e-05 9.99990268e-01 6.74192504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.192320588 meters 0.01957162014849169 Centerline is valid? [True, True] Translation: X:14.55, Y:-1.33, Z:0.07 [[ 9.99053045e-01 4.33789210e-02 3.35884496e-03 1.45454758e+01] [-4.33785402e-02 9.99058691e-01 -1.86196039e-04 -1.32934926e+00] [-3.36376023e-03 4.03179286e-05 9.99994342e-01 6.75519392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.222320587999999 meters 0.01927499961310605 Centerline is valid? [True, True] Translation: X:14.58, Y:-1.33, Z:0.07 [[ 9.98803434e-01 4.88507437e-02 2.30317953e-03 1.45770501e+01] [-4.88505791e-02 9.98806090e-01 -1.27705199e-04 -1.33077367e+00] [-2.30666823e-03 1.50407378e-05 9.99997340e-01 6.78728211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252320588 meters 0.019113036414613666 Centerline is valid? [True, True] Translation: X:14.61, Y:-1.33, Z:0.07 [[ 9.98485815e-01 5.49773048e-02 1.89003476e-03 1.46082774e+01] [-5.49772045e-02 9.98487604e-01 -1.04989502e-04 -1.33170207e+00] [-1.89294832e-03 9.21700903e-07 9.99998208e-01 6.84593640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.282320588 meters 0.019399490532970493 Centerline is valid? [True, True] Translation: X:14.64, Y:-1.33, Z:0.07 [[ 9.97721098e-01 6.74439757e-02 1.98012000e-03 1.46397285e+01] [-6.74438895e-02 9.97723063e-01 -1.10342711e-04 -1.33167311e+00] [-1.98305335e-03 -2.34557438e-05 9.99998033e-01 6.96061726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.312320587999999 meters 0.0199780277691388 Centerline is valid? [True, True] Translation: X:14.67, Y:-1.33, Z:0.07 [[ 9.97367018e-01 7.24598282e-02 2.93338944e-03 1.46713857e+01] [-7.24596614e-02 9.97371330e-01 -1.63255484e-04 -1.33177840e+00] [-2.93750800e-03 -4.97267705e-05 9.99995684e-01 6.85233354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342320588 meters 0.02044538579173705 Centerline is valid? [True, True] Translation: X:14.70, Y:-1.33, Z:0.07 [[ 9.97069350e-01 7.65027819e-02 1.87210621e-04 1.47026124e+01] [-7.65027812e-02 9.97069368e-01 -1.07417401e-05 -1.33075834e+00] [-1.87483749e-04 -3.61187331e-06 9.99999982e-01 6.80596938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.372320588 meters 0.020772011020922018 Centerline is valid? [True, True] Translation: X:14.73, Y:-1.33, Z:0.07 [[ 9.96846530e-01 7.93087378e-02 -2.66821060e-03 1.47325171e+01] [-7.93086242e-02 9.96850099e-01 1.48520093e-04 -1.32807858e+00] [ 2.67158494e-03 6.35603718e-05 9.99996429e-01 6.80343690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.402320587999998 meters 0.020976424408409012 Centerline is valid? [True, True] Translation: X:14.76, Y:-1.33, Z:0.07 [[ 9.96788712e-01 8.00574078e-02 -1.75360384e-03 1.47614014e+01] [-8.00573575e-02 9.96790254e-01 9.89236062e-05 -1.32547542e+00] [ 1.75589479e-03 4.17829559e-05 9.99998458e-01 6.76150173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432320588 meters 0.020803144397201753 Centerline is valid? [True, True] Translation: X:14.79, Y:-1.32, Z:0.07 [[ 9.96896523e-01 7.87230727e-02 -1.98650444e-05 1.47903152e+01] [-7.87230726e-02 9.96896523e-01 3.41149428e-06 -1.32294123e+00] [ 2.00719570e-05 -1.83706946e-06 1.00000000e+00 6.93545329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.462320587999999 meters 0.020443553539271873 Centerline is valid? [True, True] Translation: X:14.82, Y:-1.32, Z:0.07 [[ 9.97081909e-01 7.63082598e-02 2.17160507e-03 1.48198329e+01] [-7.63081834e-02 9.97084273e-01 -1.18110382e-04 -1.32088598e+00] [-2.17428606e-03 -4.79455128e-05 9.99997635e-01 7.13437873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492320588 meters 0.019970012162533197 Centerline is valid? [True, True] Translation: X:14.85, Y:-1.32, Z:0.07 [[ 9.97347036e-01 7.26712023e-02 4.21726569e-03 1.48500615e+01] [-7.26708791e-02 9.97355950e-01 -2.30021846e-04 -1.31943113e+00] [-4.22283099e-03 -7.70607988e-05 9.99991081e-01 7.32805064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.522320588 meters 0.019586681671898424 Centerline is valid? [True, True] Translation: X:14.88, Y:-1.32, Z:0.07 [[ 9.97647272e-01 6.83792002e-02 4.91993336e-03 1.48818709e+01] [-6.83787049e-02 9.97659401e-01 -2.69015618e-04 -1.31850638e+00] [-4.92681284e-03 -6.80359741e-05 9.99987861e-01 7.39160537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.552320587999999 meters 0.01925523620685685 Centerline is valid? [True, True] Translation: X:14.91, Y:-1.32, Z:0.07 [[ 9.98228648e-01 5.93503343e-02 4.13582778e-03 1.49133085e+01] [-5.93499054e-02 9.98237215e-01 -2.26477442e-04 -1.31665970e+00] [-4.14197872e-03 -1.93847174e-05 9.99991422e-01 7.23309239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582320588 meters 0.019082800373052662 Centerline is valid? [True, True] Translation: X:14.94, Y:-1.32, Z:0.07 [[ 9.98491025e-01 5.47052379e-02 4.79682958e-03 1.49443951e+01] [-5.47046060e-02 9.98502547e-01 -2.62938226e-04 -1.31669460e+00] [-4.80403065e-03 1.32786793e-07 9.99988461e-01 7.08178950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.612320588 meters 0.019093404047004135 Centerline is valid? [True, True] Translation: X:14.98, Y:-1.32, Z:0.07 [[ 9.98688636e-01 5.07432364e-02 6.79211569e-03 1.49768624e+01] [-5.07418702e-02 9.98711732e-01 -3.73428464e-04 -1.31626240e+00] [-6.80231460e-03 2.82941102e-05 9.99976864e-01 6.99111082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.642320587999999 meters 0.01935202851301756 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.32, Z:0.07 [[ 9.98872532e-01 4.67645686e-02 8.16947802e-03 1.50094450e+01] [-4.67624514e-02 9.98905937e-01 -4.50085038e-04 -1.31687010e+00] [-8.18158813e-03 6.75527620e-05 9.99966528e-01 6.97174002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672320588 meters 0.01957665554232295 Centerline is valid? [True, True] Translation: X:15.04, Y:-1.32, Z:0.07 [[ 9.98994316e-01 4.36535117e-02 1.02336938e-02 1.50410796e+01] [-4.36500194e-02 9.99046724e-01 -5.64475800e-04 -1.31885313e+00] [-1.02485796e-02 1.17207182e-04 9.99947475e-01 7.01504321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.702320588 meters 0.0198961072986371 Centerline is valid? [True, True] Translation: X:15.07, Y:-1.32, Z:0.07 [[ 9.99090260e-01 4.11962729e-02 1.10235704e-02 1.50728367e+01] [-4.11920540e-02 9.99151061e-01 -6.09588966e-04 -1.32219818e+00] [-1.10393249e-02 1.54950890e-04 9.99939053e-01 7.12056857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.732320587999999 meters 0.02006349936824324 Centerline is valid? [True, True] Translation: X:15.11, Y:-1.33, Z:0.07 [[ 9.99234529e-01 3.80036047e-02 9.27799966e-03 1.51052729e+01] [-3.80004665e-02 9.99277589e-01 -5.14350778e-04 -1.32642485e+00] [-9.29084431e-03 1.61388742e-04 9.99956826e-01 7.11478105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762320588 meters 0.02010221342747553 Centerline is valid? [True, True] Translation: X:15.14, Y:-1.33, Z:0.07 [[ 9.99252910e-01 3.76842228e-02 8.57446522e-03 1.51382161e+01] [-3.76815132e-02 9.99289686e-01 -4.77392171e-04 -1.32909866e+00] [-8.58636481e-03 1.53936691e-04 9.99963125e-01 7.03591737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.792320587999999 meters 0.020262221446858762 Centerline is valid? [True, True] Translation: X:15.17, Y:-1.33, Z:0.07 [[ 9.99230393e-01 3.81099470e-02 9.28723875e-03 1.51710894e+01] [-3.81067704e-02 9.99273539e-01 -5.18813835e-04 -1.33289194e+00] [-9.30026390e-03 1.64507877e-04 9.99956738e-01 6.93679953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.822320588 meters 0.020126041396237023 Centerline is valid? [True, True] Translation: X:15.20, Y:-1.34, Z:0.07 [[ 9.99210982e-01 3.86736614e-02 9.04214784e-03 1.52033201e+01] [-3.86706657e-02 9.99251882e-01 -5.05976409e-04 -1.33794678e+00] [-9.05495121e-03 1.55911308e-04 9.99958991e-01 6.98840288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852320588 meters 0.0200744875865814 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.34, Z:0.07 [[ 9.99174202e-01 3.95141291e-02 9.46296429e-03 1.52357304e+01] [-3.95108654e-02 9.99218999e-01 -5.31670009e-04 -1.34304548e+00] [-9.47658219e-03 1.57341049e-04 9.99955084e-01 6.94978721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.882320587999999 meters 0.019990982007041268 Centerline is valid? [True, True] Translation: X:15.27, Y:-1.35, Z:0.07 [[ 9.99159910e-01 4.04422661e-02 6.62557888e-03 1.52675700e+01] [-4.04406811e-02 9.99181871e-01 -3.73069489e-04 -1.34706868e+00] [-6.63524608e-03 1.04813154e-04 9.99977981e-01 7.04811150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912320588 meters 0.01988319394200779 Centerline is valid? [True, True] Translation: X:15.30, Y:-1.35, Z:0.07 [[ 9.99144960e-01 4.12435087e-02 2.88478634e-03 1.52991641e+01] [-4.12432095e-02 9.99149124e-01 -1.63168810e-04 -1.35186861e+00] [-2.88906140e-03 4.40514464e-05 9.99995826e-01 7.03882510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.942320588 meters 0.019929522570792023 Centerline is valid? [True, True] Translation: X:15.33, Y:-1.36, Z:0.07 [[ 9.99146814e-01 4.12522727e-02 -1.97345434e-03 1.53294743e+01] [-4.12521341e-02 9.99148762e-01 1.10885003e-04 -1.36412637e+00] [ 1.97634872e-03 -2.93811948e-05 9.99998047e-01 7.05705343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.972320587999999 meters 0.0202159881524699 Centerline is valid? [True, True] Translation: X:15.36, Y:-1.37, Z:0.07 [[ 9.99219162e-01 3.93945313e-02 -3.02279622e-03 1.53584362e+01] [-3.93941927e-02 9.99223733e-01 1.71510260e-04 -1.37002965e+00] [ 3.02720629e-03 -5.22957217e-05 9.99995417e-01 7.21767237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002320588 meters 0.019936049288352346 Centerline is valid? [True, True] Translation: X:15.39, Y:-1.37, Z:0.07 [[ 9.99215359e-01 3.96043637e-02 -4.01178884e-04 1.53860651e+01] [-3.96043569e-02 9.99215439e-01 2.48639001e-05 -1.37370715e+00] [ 4.01848854e-04 -8.95595913e-06 9.99999919e-01 7.34001342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.032320588 meters 0.019719297941769888 Centerline is valid? [True, True] Translation: X:15.42, Y:-1.38, Z:0.07 [[ 9.99117906e-01 4.19253225e-02 2.38282015e-03 1.54161380e+01] [-4.19251266e-02 9.99120747e-01 -1.32143323e-04 -1.37527904e+00] [-2.38626520e-03 3.21267235e-05 9.99997152e-01 7.45065556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.062320587999999 meters 0.0193289043345135 Centerline is valid? [True, True] Translation: X:15.45, Y:-1.38, Z:0.07 [[ 9.98905925e-01 4.64901688e-02 5.06127615e-03 1.54475524e+01] [-4.64893400e-02 9.98918747e-01 -2.81341889e-04 -1.37773326e+00] [-5.06888326e-03 4.57386923e-05 9.99987152e-01 7.45434807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092320588 meters 0.01912295136098016 Centerline is valid? [True, True] Translation: X:15.48, Y:-1.38, Z:0.07 [[ 9.98622825e-01 5.21637674e-02 5.60318571e-03 1.54798556e+01] [-5.21628349e-02 9.98638544e-01 -3.12524495e-04 -1.38248533e+00] [-5.61185967e-03 1.98160429e-05 9.99984253e-01 7.42793736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.122320588 meters 0.019180696701939847 Centerline is valid? [True, True] Translation: X:15.51, Y:-1.39, Z:0.07 [[ 9.98211398e-01 5.96983742e-02 3.17939219e-03 1.55116976e+01] [-5.96981098e-02 9.98216461e-01 -1.78057428e-04 -1.38832644e+00] [-3.18435136e-03 -1.20647497e-05 9.99994930e-01 7.39213199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.152320587999998 meters 0.01954629951417185 Centerline is valid? [True, True] Translation: X:15.54, Y:-1.39, Z:0.07 [[ 9.97797188e-01 6.63379585e-02 2.18761635e-04 1.55439571e+01] [-6.63379573e-02 9.97797211e-01 -1.29132593e-05 -1.39228974e+00] [-2.19136389e-04 -1.62738626e-06 9.99999976e-01 7.42143578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182320588 meters 0.019955477292217996 Centerline is valid? [True, True] Translation: X:15.58, Y:-1.39, Z:0.07 [[ 9.97334648e-01 7.29575975e-02 -8.88158767e-04 1.55752634e+01] [-7.29575824e-02 9.97335043e-01 4.93933531e-05 -1.39461289e+00] [ 8.89395482e-04 1.55362140e-05 9.99999604e-01 7.43831887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.212320587999999 meters 0.021152620850564966 Centerline is valid? [True, True] Translation: X:15.61, Y:-1.40, Z:0.07 [[ 9.96680717e-01 8.14016033e-02 1.15238090e-03 1.56055718e+01] [-8.14015831e-02 9.96681382e-01 -6.45246009e-05 -1.39877972e+00] [-1.15380899e-03 -2.94952038e-05 9.99999334e-01 7.41032753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242320588 meters 0.021309679547204575 Centerline is valid? [True, True] Translation: X:15.64, Y:-1.40, Z:0.08 [[ 9.96577999e-01 8.26471578e-02 1.31883913e-03 1.56368654e+01] [-8.26471319e-02 9.96578871e-01 -7.42584883e-05 -1.40248443e+00] [-1.32046446e-03 -3.49938957e-05 9.99999128e-01 7.53581095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.272320588 meters 0.021126621441205338 Centerline is valid? [True, True] Translation: X:15.67, Y:-1.40, Z:0.08 [[ 9.96684478e-01 8.13391458e-02 1.99861275e-03 1.56677598e+01] [-8.13390837e-02 9.96686481e-01 -1.12498033e-04 -1.40468765e+00] [-2.00114080e-03 -5.04402865e-05 9.99997996e-01 7.61921866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.302320587999999 meters 0.020756511567989498 Centerline is valid? [True, True] Translation: X:15.70, Y:-1.40, Z:0.08 [[ 9.96841691e-01 7.93931978e-02 1.83382507e-03 1.56996575e+01] [-7.93931411e-02 9.96843377e-01 -1.03825975e-04 -1.40444654e+00] [-1.83627945e-03 -4.20950714e-05 9.99998313e-01 7.67332478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332320588 meters 0.020641421664748798 Centerline is valid? [True, True] Translation: X:15.73, Y:-1.40, Z:0.08 [[ 9.97037810e-01 7.69129167e-02 9.75799065e-05 1.57307369e+01] [-7.69129165e-02 9.97037814e-01 -5.83003736e-06 -1.40376981e+00] [-9.77392619e-05 -1.69238752e-06 9.99999995e-01 7.60637991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.362320588 meters 0.02040356974302403 Centerline is valid? [True, True] Translation: X:15.76, Y:-1.40, Z:0.07 [[ 9.97200807e-01 7.47683045e-02 -5.00847218e-04 1.57621413e+01] [-7.47682999e-02 9.97200933e-01 2.79082090e-05 -1.40381828e+00] [ 5.01531962e-04 9.61740641e-06 9.99999874e-01 7.43089241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.392320587999999 meters 0.02032315705133755 Centerline is valid? [True, True] Translation: X:15.79, Y:-1.41, Z:0.07 [[ 9.97283149e-01 7.36583925e-02 -8.72714847e-04 1.57924004e+01] [-7.36583776e-02 9.97283531e-01 4.92103900e-05 -1.40545029e+00] [ 8.73968902e-04 1.52060670e-05 9.99999618e-01 7.41812294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422320588 meters 0.02032483038071374 Centerline is valid? [True, True] Translation: X:15.82, Y:-1.41, Z:0.08 [[ 9.97295589e-01 7.34940413e-02 -3.66312829e-04 1.58232654e+01] [-7.34940387e-02 9.97295656e-01 2.06555409e-05 -1.40702922e+00] [ 3.66840253e-04 6.32212941e-06 9.99999933e-01 7.54112173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.452320588 meters 0.020364036743182566 Centerline is valid? [True, True] Translation: X:15.85, Y:-1.40, Z:0.08 [[ 9.97157921e-01 7.53330155e-02 1.00911212e-03 1.58539063e+01] [-7.53329965e-02 9.97158431e-01 -5.69015197e-05 -1.40197644e+00] [-1.01053122e-03 -1.92796387e-05 9.99999489e-01 7.91401583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.482320587999999 meters 0.02047340181279723 Centerline is valid? [True, True] Translation: X:15.89, Y:-1.40, Z:0.08 [[ 9.97069139e-01 7.64983433e-02 -1.06540755e-03 1.58857093e+01] [-7.64983230e-02 9.97069708e-01 5.98130637e-05 -1.39941918e+00] [ 1.06686120e-03 2.18641310e-05 9.99999431e-01 7.91199259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512320588 meters 0.020495620992825318 Centerline is valid? [True, True] Translation: X:15.91, Y:-1.40, Z:0.08 [[ 9.96996833e-01 7.73078483e-02 -4.56204827e-03 1.59149265e+01] [-7.73074786e-02 9.97007265e-01 2.57592513e-04 -1.39948712e+00] [ 4.56830919e-03 9.58615296e-05 9.99989561e-01 7.90754898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.542320587999999 meters 0.02051190703323668 Centerline is valid? [True, True] Translation: X:15.94, Y:-1.40, Z:0.08 [[ 9.97102194e-01 7.59480190e-02 -4.37180510e-03 1.59441681e+01] [-7.59476673e-02 9.97111775e-01 2.46656626e-04 -1.40195060e+00] [ 4.37791142e-03 8.60865361e-05 9.99990413e-01 7.73291916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572320588 meters 0.020531202623743836 Centerline is valid? [True, True] Translation: X:15.97, Y:-1.40, Z:0.08 [[ 9.97238516e-01 7.42291428e-02 -2.31875467e-03 1.59728260e+01] [-7.42290389e-02 9.97241211e-01 1.30950538e-04 -1.40488265e+00] [ 2.32207806e-03 4.15300107e-05 9.99997303e-01 7.70668218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602320588 meters 0.02004908942617919 Centerline is valid? [True, True] Translation: X:16.00, Y:-1.41, Z:0.08 [[ 9.97496802e-01 7.07049487e-02 9.69896874e-04 1.60020135e+01] [-7.07049326e-02 9.97497273e-01 -5.09541808e-05 -1.40521461e+00] [-9.71072200e-04 -1.77498608e-05 9.99999528e-01 7.85129839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.632320587999999 meters 0.019542642777587337 Centerline is valid? [True, True] Translation: X:16.03, Y:-1.40, Z:0.08 [[ 9.97894437e-01 6.47680026e-02 3.43492085e-03 1.60324608e+01] [-6.47677362e-02 9.97900348e-01 -1.88843660e-04 -1.40201027e+00] [-3.43993974e-03 -3.40260092e-05 9.99994083e-01 8.05953389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662320588 meters 0.01943801945645106 Centerline is valid? [True, True] Translation: X:16.06, Y:-1.40, Z:0.08 [[ 9.98108867e-01 6.14241437e-02 2.40071869e-03 1.60642879e+01] [-6.14240014e-02 9.98111754e-01 -1.32999883e-04 -1.40366414e+00] [-2.40435494e-03 -1.47133854e-05 9.99997109e-01 8.00815817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.692320588 meters 0.01946103650678857 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.41, Z:0.08 [[ 9.98328335e-01 5.77892178e-02 -9.70487904e-04 1.60957705e+01] [-5.77891933e-02 9.98328807e-01 5.32129051e-05 -1.40636216e+00] [ 9.71941163e-04 2.95976216e-06 9.99999528e-01 7.93573620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.722320587999999 meters 0.019368992368457107 Centerline is valid? [True, True] Translation: X:16.13, Y:-1.41, Z:0.08 [[ 9.98491788e-01 5.48026966e-02 -3.28831366e-03 1.61252510e+01] [-5.48023958e-02 9.98497203e-01 1.81572603e-04 -1.40839575e+00] [ 3.29332266e-03 -1.09128683e-06 9.99994577e-01 7.81173833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752320588 meters 0.019363171442828946 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.41, Z:0.08 [[ 9.98610415e-01 5.24464180e-02 -5.15872203e-03 1.61529447e+01] [-5.24456494e-02 9.98623739e-01 2.84248864e-04 -1.41025611e+00] [ 5.16653012e-03 -1.33013497e-05 9.99986653e-01 7.79075058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.782320588 meters 0.019299661051095967 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.41, Z:0.08 [[ 9.98698828e-01 5.07377737e-02 -5.13129024e-03 1.61808516e+01] [-5.07370049e-02 9.98712010e-01 2.79969506e-04 -1.41204853e+00] [ 5.13888622e-03 -1.92589197e-05 9.99986796e-01 7.91058480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.812320587999999 meters 0.019296438539007775 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.41, Z:0.08 [[ 9.98727075e-01 5.03379800e-02 -3.21211921e-03 1.62092011e+01] [-5.03376790e-02 9.98732240e-01 1.74542685e-04 -1.41474767e+00] [ 3.21683314e-03 -1.26298799e-05 9.99994826e-01 8.04057701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842320588 meters 0.019329380705706566 Centerline is valid? [True, True] Translation: X:16.24, Y:-1.42, Z:0.08 [[ 9.98660656e-01 5.17225826e-02 1.29193662e-03 1.62379378e+01] [-5.17225403e-02 9.98661491e-01 -6.61323502e-05 -1.41608148e+00] [-1.29362789e-03 -7.78467844e-07 9.99999163e-01 8.29451759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.872320588 meters 0.019277181192147868 Centerline is valid? [True, True] Translation: X:16.27, Y:-1.42, Z:0.08 [[ 9.98518114e-01 5.43652507e-02 2.44874224e-03 1.62683844e+01] [-5.43650957e-02 9.98521116e-01 -1.29845765e-04 -1.41659608e+00] [-2.45217993e-03 -3.47275808e-06 9.99996993e-01 8.27981497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902320587999998 meters 0.019412081273526983 Centerline is valid? [True, True] Translation: X:16.30, Y:-1.42, Z:0.08 [[ 9.98299789e-01 5.81963822e-02 3.27305737e-03 1.62999928e+01] [-5.81961232e-02 9.98305154e-01 -1.74388038e-04 -1.41792911e+00] [-3.27765880e-03 -1.63877088e-05 9.99994628e-01 8.27459393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932320588 meters 0.019662705581704094 Centerline is valid? [True, True] Translation: X:16.33, Y:-1.42, Z:0.08 [[ 9.97985524e-01 6.32711415e-02 4.65362311e-03 1.63314886e+01] [-6.32706734e-02 9.97996373e-01 -2.47881802e-04 -1.42056273e+00] [-4.65998275e-03 -4.70554184e-05 9.99989141e-01 8.16583362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.962320587999999 meters 0.01995317233314211 Centerline is valid? [True, True] Translation: X:16.36, Y:-1.42, Z:0.08 [[ 9.97733018e-01 6.70567411e-02 5.67605080e-03 1.63637704e+01] [-6.70561001e-02 9.97749161e-01 -3.03368614e-04 -1.42303541e+00] [-5.68361783e-03 -7.79329476e-05 9.99983845e-01 8.05429023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992320588 meters 0.020191848541609107 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.42, Z:0.08 [[ 9.97589573e-01 6.91502606e-02 5.76929337e-03 1.63954796e+01] [-6.91496290e-02 9.97606252e-01 -3.09128454e-04 -1.42474320e+00] [-5.77685944e-03 -9.05611736e-05 9.99983310e-01 8.10024471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.022320588 meters 0.02031259843610274 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.43, Z:0.08 [[ 9.97514900e-01 7.03554629e-02 3.75952979e-03 1.64275208e+01] [-7.03552004e-02 9.97521982e-01 -2.02187460e-04 -1.42577957e+00] [-3.76443860e-03 -6.28174680e-05 9.99992913e-01 8.11083687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.052320588 meters 0.02031259843610274 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.43, Z:0.08 [[ 9.97505394e-01 7.04901035e-02 3.75950252e-03 1.64591549e+01] [-7.04898401e-02 9.97512477e-01 -2.02694906e-04 -1.42744505e+00] [-3.76443865e-03 -6.28174687e-05 9.99992913e-01 8.12680214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.082320587999998 meters 0.02030968155891316 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.43, Z:0.08 [[ 9.97500854e-01 7.05783703e-02 3.27714594e-03 1.64901246e+01] [-7.05781707e-02 9.97506236e-01 -1.76654433e-04 -1.42697403e+00] [-3.28144149e-03 -5.50820175e-05 9.99994615e-01 8.22551254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112320588 meters 0.020127694246889562 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.43, Z:0.08 [[ 9.97558182e-01 6.98281102e-02 1.30698405e-03 1.65215366e+01] [-6.98280774e-02 9.97559038e-01 -7.07405345e-05 -1.42547668e+00] [-1.30873343e-03 -2.06963842e-05 9.99999143e-01 8.38513844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.142320588 meters 0.019806619933298485 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.42, Z:0.08 [[ 9.97798229e-01 6.63097278e-02 1.30898666e-03 1.65522534e+01] [-6.63096923e-02 9.97799088e-01 -7.05127646e-05 -1.42116175e+00] [-1.31078138e-03 -1.64409911e-05 9.99999141e-01 8.41880820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.172320587999998 meters 0.01960575327951232 Centerline is valid? [True, True] Translation: X:16.58, Y:-1.42, Z:0.08 [[ 9.97846867e-01 6.55844102e-02 5.61590627e-04 1.65827106e+01] [-6.55844035e-02 9.97847025e-01 -3.02518802e-05 -1.42041528e+00] [-5.62365588e-04 -6.64484239e-06 9.99999842e-01 8.32451379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202320588 meters 0.019784744385942993 Centerline is valid? [True, True] Translation: X:16.61, Y:-1.42, Z:0.08 [[ 9.97838879e-01 6.57075013e-02 -3.08380593e-04 1.66130783e+01] [-6.57074993e-02 9.97838927e-01 1.66119097e-05 -1.41966652e+00] [ 3.08805687e-04 3.68690829e-06 9.99999952e-01 8.21762992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.232320588 meters 0.01977374315881033 Centerline is valid? [True, True] Translation: X:16.64, Y:-1.42, Z:0.08 [[ 9.97794492e-01 6.63779161e-02 3.51415536e-04 1.66429715e+01] [-6.63779137e-02 9.97794554e-01 -1.85693183e-05 -1.41835933e+00] [-3.51873100e-04 -4.79786651e-06 9.99999938e-01 8.21653770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.262320587999998 meters 0.019913560629443973 Centerline is valid? [True, True] Translation: X:16.67, Y:-1.42, Z:0.08 [[ 9.97684604e-01 6.79930483e-02 1.54129175e-03 1.66729164e+01] [-6.79930020e-02 9.97685795e-01 -8.24808860e-05 -1.41900527e+00] [-1.54333301e-03 -2.25071429e-05 9.99998809e-01 8.22838093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292320588 meters 0.019902606451202398 Centerline is valid? [True, True] Translation: X:16.70, Y:-1.43, Z:0.08 [[ 9.97635134e-01 6.87094929e-02 1.77344456e-03 1.67032207e+01] [-6.87094321e-02 9.97636710e-01 -9.52940754e-05 -1.42578458e+00] [-1.77580100e-03 -2.67836508e-05 9.99998423e-01 8.41211797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.322320588 meters 0.019860790925407074 Centerline is valid? [True, True] Translation: X:16.73, Y:-1.43, Z:0.08 [[ 9.97711998e-01 6.76040858e-02 6.75453832e-04 1.67332878e+01] [-6.76040767e-02 9.97712227e-01 -3.62947621e-05 -1.43048812e+00] [-6.76362221e-04 -9.45171305e-06 9.99999771e-01 8.40101492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.352320587999998 meters 0.019884786728406045 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.43, Z:0.08 [[ 9.97771244e-01 6.67184324e-02 1.09367635e-03 1.67637239e+01] [-6.67184081e-02 9.97771843e-01 -5.87674848e-05 -1.43289487e+00] [-1.09516034e-03 -1.43318384e-05 9.99999400e-01 8.31428834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382320588 meters 0.019746828699432357 Centerline is valid? [True, True] Translation: X:16.79, Y:-1.43, Z:0.08 [[ 9.97739793e-01 6.71637622e-02 2.08183770e-03 1.67941827e+01] [-6.71636750e-02 9.97741965e-01 -1.11865238e-04 -1.43321200e+00] [-2.08465013e-03 -2.82114706e-05 9.99997827e-01 8.29312907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.412320588 meters 0.020082449471391758 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.43, Z:0.08 [[ 9.97595933e-01 6.92324430e-02 3.03711959e-03 1.68250686e+01] [-6.92322661e-02 9.97600555e-01 -1.63467499e-04 -1.43375496e+00] [-3.04114944e-03 -4.71921591e-05 9.99995375e-01 8.37830635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.442320587999998 meters 0.02038498403582368 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.44, Z:0.09 [[ 9.97292923e-01 7.33012081e-02 5.81026932e-03 1.68561420e+01] [-7.33006274e-02 9.97309842e-01 -3.13125411e-04 -1.43573033e+00] [-5.81759125e-03 -1.13618631e-04 9.99983071e-01 8.52819677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472320588 meters 0.021370980825438323 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.44, Z:0.09 [[ 9.96638876e-01 8.15185145e-02 8.10443475e-03 1.68871911e+01] [-8.15176563e-02 9.96671802e-01 -4.36728817e-04 -1.43650678e+00] [-8.11306307e-03 -2.25393609e-04 9.99967063e-01 8.90608050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.502320588 meters 0.022363325955013856 Centerline is valid? [True, True] Translation: X:16.92, Y:-1.44, Z:0.09 [[ 9.96200880e-01 8.66980143e-02 8.20131031e-03 1.69195896e+01] [-8.66972977e-02 9.96234602e-01 -4.43522568e-04 -1.43558901e+00] [-8.20888164e-03 -2.69193869e-04 9.99966270e-01 8.79527896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.532320588 meters 0.022363325955013856 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.44, Z:0.09 [[ 9.96189688e-01 8.68265182e-02 8.20125369e-03 1.69512392e+01] [-8.68257974e-02 9.96223410e-01 -4.44569205e-04 -1.43726899e+00] [-8.20888131e-03 -2.69205133e-04 9.99966270e-01 8.81125133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562320588 meters 0.023396506765246034 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.44, Z:0.08 [[ 9.95662075e-01 9.28034785e-02 6.67434397e-03 1.69835704e+01] [-9.28031287e-02 9.95684412e-01 -3.62766700e-04 -1.43603293e+00] [-6.67920627e-03 -2.58206957e-04 9.99977661e-01 8.20636512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.592320588 meters 0.02325349058829087 Centerline is valid? [True, True] Translation: X:17.02, Y:-1.44, Z:0.08 [[ 9.95641935e-01 9.31228068e-02 5.02786962e-03 1.70154319e+01] [-9.31226067e-02 9.95654611e-01 -2.74406584e-04 -1.43736995e+00] [-5.03157509e-03 -1.94997623e-04 9.99987323e-01 8.10530279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.622320588 meters 0.02317890765705435 Centerline is valid? [True, True] Translation: X:17.05, Y:-1.44, Z:0.08 [[ 9.95807021e-01 9.13485338e-02 4.88070955e-03 1.70469342e+01] [-9.13483246e-02 9.95818966e-01 -2.66235194e-04 -1.43652021e+00] [-4.88462333e-03 -1.80725766e-04 9.99988054e-01 8.20343344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.652320588 meters 0.02252089346449673 Centerline is valid? [True, True] Translation: X:17.08, Y:-1.43, Z:0.08 [[ 9.96098421e-01 8.81755302e-02 3.60715925e-03 1.70787060e+01] [-8.81753940e-02 9.96104945e-01 -1.97079648e-04 -1.43141478e+00] [-3.61048677e-03 -1.21751962e-04 9.99993475e-01 8.44757016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.682320588 meters 0.021794866338805254 Centerline is valid? [True, True] Translation: X:17.11, Y:-1.42, Z:0.09 [[ 9.96357590e-01 8.52552752e-02 1.75816353e-03 1.71085076e+01] [-8.52552390e-02 9.96359140e-01 -9.56809394e-05 -1.42475536e+00] [-1.75991960e-03 -5.45602214e-05 9.99998450e-01 8.59649731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.712320588 meters 0.021522952449833502 Centerline is valid? [True, True] Translation: X:17.14, Y:-1.42, Z:0.09 [[ 9.96623852e-01 8.20988360e-02 -8.24322397e-04 1.71379508e+01] [-8.20988254e-02 9.96624192e-01 4.67413994e-05 -1.42118509e+00] [ 8.25377057e-04 2.10923070e-05 9.99999659e-01 8.51094564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.742320588 meters 0.021393304547077465 Centerline is valid? [True, True] Translation: X:17.17, Y:-1.42, Z:0.08 [[ 9.96781690e-01 8.00514998e-02 -4.24505161e-03 1.71665102e+01] [-8.00512459e-02 9.96790723e-01 2.29958013e-04 -1.41857455e+00] [ 4.24983655e-03 1.10603734e-04 9.99990963e-01 8.25661914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.772320588 meters 0.021533445580680398 Centerline is valid? [True, True] Translation: X:17.20, Y:-1.42, Z:0.08 [[ 9.96755924e-01 8.04527959e-02 -2.23045023e-03 1.71959311e+01] [-8.04527267e-02 9.96758418e-01 1.20902002e-04 -1.41606005e+00] [ 2.23294695e-03 5.89360163e-05 9.99997505e-01 8.30381507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.802320588 meters 0.0217396302218907 Centerline is valid? [True, True] Translation: X:17.23, Y:-1.41, Z:0.08 [[ 9.96682407e-01 8.13888974e-02 1.61512257e-04 1.72254869e+01] [-8.13888975e-02 9.96682421e-01 -6.18503678e-06 -1.41051656e+00] [-1.61479821e-04 -6.98078718e-06 9.99999987e-01 8.39822638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.832320587999998 meters 0.02170303128778743 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.40, Z:0.09 [[ 9.96684493e-01 8.13535995e-02 1.27003229e-03 1.72549427e+01] [-8.13535839e-02 9.96685302e-01 -6.40212744e-05 -1.40339296e+00] [-1.27103087e-03 -3.95126667e-05 9.99999191e-01 8.59555251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862320588 meters 0.021793632217718673 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.40, Z:0.09 [[ 9.96700165e-01 8.11708395e-02 2.75190713e-04 1.72835735e+01] [-8.11708394e-02 9.96700203e-01 -1.15456098e-05 -1.39946869e+00] [-2.75219806e-04 -1.08299500e-05 9.99999962e-01 8.66090836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.892320588 meters 0.021307304491322916 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.40, Z:0.09 [[ 9.97044132e-01 7.68265510e-02 8.24396249e-04 1.73127716e+01] [-7.68265442e-02 9.97044473e-01 -3.99000762e-05 -1.39640163e+00] [-8.25025108e-04 -2.35533780e-05 9.99999659e-01 8.56582811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.922320587999998 meters 0.02036846132509242 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.39, Z:0.08 [[ 9.97767606e-01 6.66663216e-02 3.92509596e-03 1.73419810e+01] [-6.66660509e-02 9.97775324e-01 -1.99908640e-04 -1.39117576e+00] [-3.92969106e-03 -6.22082812e-05 9.99992277e-01 8.27615346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952320588 meters 0.01953188647452789 Centerline is valid? [True, True] Translation: X:17.37, Y:-1.38, Z:0.08 [[ 9.98593119e-01 5.27687179e-02 5.21960357e-03 1.73710637e+01] [-5.27680699e-02 9.98606761e-01 -2.61889511e-04 -1.37986849e+00] [-5.22615098e-03 -1.39073422e-05 9.99986343e-01 8.12986137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.982320588 meters 0.019732215769623168 Centerline is valid? [True, True] Translation: X:17.40, Y:-1.37, Z:0.09 [[ 9.99216231e-01 3.94632203e-02 3.09476467e-03 1.74012430e+01] [-3.94629259e-02 9.99221023e-01 -1.56158870e-04 -1.37313957e+00] [-3.09851645e-03 3.39080086e-05 9.99995199e-01 8.55535769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.012320587999998 meters 0.02058787371635942 Centerline is valid? [True, True] Translation: X:17.43, Y:-1.38, Z:0.08 [[ 9.99456228e-01 3.29728177e-02 2.03659780e-04 1.74305015e+01] [-3.29728164e-02 9.99456249e-01 -9.96770206e-06 -1.38183711e+00] [-2.03877703e-04 3.24704535e-06 9.99999979e-01 8.33746606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042320588 meters 0.021775144322192495 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.39, Z:0.08 [[ 9.99700132e-01 2.44823164e-02 5.12399679e-04 1.74591796e+01] [-2.44823067e-02 9.99700263e-01 -2.53576684e-05 -1.38981346e+00] [-5.12866908e-04 1.28053384e-05 9.99999868e-01 8.20449761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.072320588 meters 0.022174035133378532 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.40, Z:0.09 [[ 9.99782171e-01 2.08576057e-02 7.55673510e-04 1.74871496e+01] [-2.08575847e-02 9.99782456e-01 -3.55897164e-05 -1.40094166e+00] [-7.56251434e-04 1.98204396e-05 9.99999714e-01 8.51605234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.102320587999998 meters 0.021550149509452284 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.41, Z:0.08 [[ 9.99658738e-01 2.49463998e-02 7.75145874e-03 1.75160454e+01] [-2.49441517e-02 9.99688771e-01 -3.86588758e-04 -1.41288025e+00] [-7.75869026e-03 1.93103267e-04 9.99969882e-01 8.40613010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132320588 meters 0.019849814484032648 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.43, Z:0.08 [[ 9.99249447e-01 3.87258326e-02 -9.23458798e-04 1.75457930e+01] [-3.87258067e-02 9.99249874e-01 4.59626650e-05 -1.42618044e+00] [ 9.24546029e-04 -1.01664807e-05 9.99999573e-01 8.20931403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.162320588 meters 0.019119551827250825 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.43, Z:0.09 [[ 9.98758223e-01 4.96109346e-02 -4.55707299e-03 1.75740618e+01] [-4.96104115e-02 9.98768619e-01 2.27807234e-04 -1.42971456e+00] [ 4.56276323e-03 -1.44608136e-06 9.99989591e-01 8.79141575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.192320587999998 meters 0.019409600576833014 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.43, Z:0.08 [[ 9.98594154e-01 5.29281431e-02 -2.88571770e-03 1.76023097e+01] [-5.29279478e-02 9.98598323e-01 1.44039624e-04 -1.43255259e+00] [ 2.88929660e-03 8.89798875e-06 9.99995826e-01 8.37731673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222320588 meters 0.019300876009293665 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.43, Z:0.09 [[ 9.98461379e-01 5.54270240e-02 1.64903396e-03 1.76309408e+01] [-5.54269713e-02 9.98462741e-01 -7.76516541e-05 -1.43319456e+00] [-1.65080296e-03 -1.38687802e-05 9.99998637e-01 8.50565535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.252320588 meters 0.01975688449150154 Centerline is valid? [True, True] Translation: X:17.66, Y:-1.44, Z:0.09 [[ 9.98060895e-01 6.21956550e-02 -2.47998852e-03 1.76600318e+01] [-6.21955452e-02 9.98063976e-01 1.21421613e-04 -1.43577413e+00] [ 2.48273910e-03 3.30580744e-05 9.99996917e-01 8.69680654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.282320588 meters 0.019811397935925176 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.44, Z:0.08 [[ 9.98203449e-01 5.99048007e-02 1.13511575e-03 1.76875029e+01] [-5.99047811e-02 9.98204095e-01 -5.12599671e-05 -1.44431658e+00] [-1.13614791e-03 -1.68309847e-05 9.99999354e-01 8.30906188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312320588 meters 0.019429772120493533 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.44, Z:0.09 [[ 9.98501513e-01 5.46886788e-02 1.96880953e-03 1.77167121e+01] [-5.46886070e-02 9.98503454e-01 -9.03477986e-05 -1.44399234e+00] [-1.97080412e-03 -1.74590372e-05 9.99998058e-01 8.90471520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.342320588 meters 0.019480902956278932 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.44, Z:0.09 [[ 9.98431292e-01 5.57537475e-02 5.14543644e-03 1.77468020e+01] [-5.57532428e-02 9.98444549e-01 -2.41581242e-04 -1.44178483e+00] [-5.15090203e-03 -4.56724957e-05 9.99986733e-01 8.73791277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.372320588 meters 0.019441874295547397 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.44, Z:0.09 [[ 9.98373845e-01 5.68335000e-02 4.42930389e-03 1.77771380e+01] [-5.68331354e-02 9.98383669e-01 -2.08248152e-04 -1.44287955e+00] [-4.43398014e-03 -4.38217189e-05 9.99990169e-01 8.79460393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.402320588 meters 0.019186603213598157 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.44, Z:0.09 [[ 9.98838002e-01 4.81653515e-02 -1.65659680e-03 1.78080743e+01] [-4.81652885e-02 9.98839376e-01 7.78865553e-05 -1.43855853e+00] [ 1.65842555e-03 1.99441143e-06 9.99998625e-01 8.77874094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.432320588 meters 0.019560939741103556 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.44, Z:0.09 [[ 9.99398190e-01 3.46863774e-02 3.35758530e-04 1.78365815e+01] [-3.46863749e-02 9.99398247e-01 -1.33051976e-05 -1.44399388e+00] [-3.36017995e-04 1.65094414e-06 9.99999944e-01 8.81907779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.462320588 meters 0.020886299942712735 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.44, Z:0.09 [[ 9.99694167e-01 2.47125646e-02 9.28300722e-04 1.78665001e+01] [-2.47125355e-02 9.99694598e-01 -4.28346769e-05 -1.44262220e+00] [-9.29075772e-04 1.98809121e-05 9.99999568e-01 8.84525800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.492320588 meters 0.02146839340618803 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.45, Z:0.09 [[ 9.99783653e-01 2.06277014e-02 2.67318974e-03 1.78961082e+01] [-2.06274434e-02 9.99787224e-01 -1.24035863e-04 -1.45117285e+00] [-2.67517953e-03 6.88679583e-05 9.99996419e-01 8.76651086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522320588 meters 0.020483934730243562 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.46, Z:0.09 [[ 9.99639157e-01 2.66742304e-02 3.16867992e-03 1.79272062e+01] [-2.66738960e-02 9.99644177e-01 -1.47725914e-04 -1.46242295e+00] [-3.17149291e-03 6.31515694e-05 9.99994969e-01 8.85996737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.552320588 meters 0.0194312955355644 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.47, Z:0.09 [[ 9.99345802e-01 3.60276132e-02 3.15896346e-03 1.79573383e+01] [-3.60273278e-02 9.99350794e-01 -1.47222072e-04 -1.47063055e+00] [-3.16221670e-03 3.33167479e-05 9.99995000e-01 8.82545660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.582320587999998 meters 0.019055498219935442 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.47, Z:0.09 [[ 9.99018493e-01 4.42924606e-02 -4.77237224e-04 1.79889520e+01] [-4.42924552e-02 9.99018607e-01 2.19178584e-05 -1.47260844e+00] [ 4.77739663e-04 -7.58337531e-07 9.99999886e-01 8.97640810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612320588 meters 0.019148369142892103 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.47, Z:0.09 [[ 9.98677120e-01 5.13033449e-02 -3.46085211e-03 1.80180175e+01] [-5.13030913e-02 9.98683116e-01 1.62070162e-04 -1.47341365e+00] [ 3.46460931e-03 1.56966489e-05 9.99993998e-01 8.92172633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.642320588 meters 0.01931099594259478 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.47, Z:0.09 [[ 9.98740081e-01 5.01676931e-02 1.20582586e-03 1.80465644e+01] [-5.01676660e-02 9.98740808e-01 -5.27369306e-05 -1.47133955e+00] [-1.20695318e-03 -7.82298256e-06 9.99999272e-01 8.83175146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.672320587999998 meters 0.019069177408353254 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.47, Z:0.09 [[ 9.98956244e-01 4.55712197e-02 3.11223654e-03 1.80763654e+01] [-4.55709996e-02 9.98961092e-01 -1.41648761e-04 -1.47131310e+00] [-3.11545832e-03 -3.26816130e-07 9.99995147e-01 8.94368886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702320588 meters 0.01911655866930023 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.47, Z:0.09 [[ 9.99148668e-01 4.10578407e-02 4.02400655e-03 1.81071792e+01] [-4.10574344e-02 9.99156771e-01 -1.83581365e-04 -1.46964794e+00] [-4.02815084e-03 1.82096916e-05 9.99991887e-01 8.75521794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.732320588 meters 0.019901787400457893 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.47, Z:0.09 [[ 9.99478513e-01 3.21538314e-02 2.97201571e-03 1.81385192e+01] [-3.21535688e-02 9.99482931e-01 -1.36104821e-04 -1.46551903e+00] [-2.97485526e-03 4.04729323e-05 9.99995574e-01 8.75398652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.762320587999998 meters 0.02061139947955034 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.47, Z:0.09 [[ 9.99696278e-01 2.43654749e-02 3.69796772e-03 1.81692220e+01] [-2.43650143e-02 9.99703115e-01 -1.69569532e-04 -1.46741246e+00] [-3.70100149e-03 7.94169940e-05 9.99993148e-01 8.89388414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792320588 meters 0.02189330822340399 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.47, Z:0.09 [[ 9.99840140e-01 1.74617079e-02 3.84478950e-03 1.82003802e+01] [-1.74611582e-02 9.99847527e-01 -1.76485800e-04 -1.46942732e+00] [-3.84728501e-03 1.09323110e-04 9.99992593e-01 8.85288701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.822320588 meters 0.02222291915460511 Centerline is valid? [True, True] Translation: X:18.23, Y:-1.48, Z:0.09 [[ 9.99886964e-01 1.49409094e-02 1.68150577e-03 1.82322764e+01] [-1.49407996e-02 9.99888377e-01 -7.78790506e-05 -1.47918394e+00] [-1.68248165e-03 5.27472069e-05 9.99998583e-01 9.08875439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.852320587999998 meters 0.021635974523424174 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.48, Z:0.09 [[ 9.99829791e-01 1.83265619e-02 2.12726191e-03 1.82631827e+01] [-1.83263945e-02 9.99832053e-01 -9.81815951e-05 -1.48374189e+00] [-2.12870397e-03 5.91798429e-05 9.99997733e-01 9.12488471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882320588 meters 0.021376269841790016 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.49, Z:0.09 [[ 9.99787693e-01 2.06050333e-02 4.06235998e-05 1.82947008e+01] [-2.06050332e-02 9.99787694e-01 -2.34126015e-06 -1.49306752e+00] [-4.06632169e-05 1.50371246e-06 9.99999999e-01 8.81347796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.912320588 meters 0.020991211502130784 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.51, Z:0.09 [[ 9.99764550e-01 2.16988898e-02 -5.18165844e-05 1.83240015e+01] [-2.16988897e-02 9.99764551e-01 2.54412216e-06 -1.50526552e+00] [ 5.18595889e-05 -1.41916080e-06 9.99999999e-01 8.74946849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.942320587999998 meters 0.020991211502130784 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.51, Z:0.09 [[ 9.99765919e-01 2.16357327e-02 -5.18093112e-05 1.83531411e+01] [-2.16357326e-02 9.99765920e-01 2.70221764e-06 -1.50662402e+00] [ 5.18556481e-05 -1.58065270e-06 9.99999999e-01 8.76417159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972320588 meters 0.020241620848885027 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.51, Z:0.09 [[ 9.99657577e-01 2.60824606e-02 2.10559735e-03 1.83823732e+01] [-2.60823154e-02 9.99659794e-01 -9.64136241e-05 -1.51083605e+00] [-2.10739572e-03 4.14617557e-05 9.99997779e-01 8.97844650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.002320588 meters 0.01935314569871498 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.52, Z:0.09 [[ 9.99417443e-01 3.40447557e-02 2.39343996e-03 1.84132025e+01] [-3.40445888e-02 9.99420309e-01 -1.10436406e-04 -1.51735289e+00] [-2.39581229e-03 2.88883906e-05 9.99997130e-01 9.05581305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.032320587999997 meters 0.01898904437987485 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.53, Z:0.09 [[ 9.98993796e-01 4.47851237e-02 2.38514303e-03 1.84440896e+01] [-4.47849882e-02 9.98996643e-01 -1.10219103e-04 -1.52520630e+00] [-2.38768606e-03 3.28959799e-06 9.99997149e-01 9.09454694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062320588 meters 0.019297679752407867 Centerline is valid? [True, True] Translation: X:18.48, Y:-1.53, Z:0.09 [[ 9.98519802e-01 5.43860259e-02 -6.04620711e-04 1.84755380e+01] [-5.43860192e-02 9.98519985e-01 2.75551602e-05 -1.52849886e+00] [ 6.05224479e-04 5.36854041e-06 9.99999817e-01 9.27339385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.092320588 meters 0.019702368281893902 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.53, Z:0.09 [[ 9.98204523e-01 5.97909772e-02 -3.57344700e-03 1.85054417e+01] [-5.97907698e-02 9.98210918e-01 1.64925931e-04 -1.53138620e+00] [ 3.57691489e-03 4.90293364e-05 9.99993602e-01 9.25526923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.122320588 meters 0.02007713607418591 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.53, Z:0.09 [[ 9.98028516e-01 6.27415117e-02 -1.60763224e-03 1.85346430e+01] [-6.27414711e-02 9.98029810e-01 7.57437269e-05 -1.52782088e+00] [ 1.60921718e-03 2.52708125e-05 9.99998705e-01 9.31937593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.152320588 meters 0.020247107367597755 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.53, Z:0.09 [[ 9.97943598e-01 6.40630299e-02 2.12225102e-03 1.85632583e+01] [-6.40629760e-02 9.97945853e-01 -9.34782449e-05 -1.52506561e+00] [-2.12388011e-03 -4.26717003e-05 9.99997744e-01 9.41455965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.182320588 meters 0.020309051023658903 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.53, Z:0.09 [[ 9.97934265e-01 6.42402978e-02 6.21231931e-04 1.85937879e+01] [-6.42402928e-02 9.97934459e-01 -2.80564776e-05 -1.52639514e+00] [-6.21751107e-04 -1.19096008e-05 9.99999807e-01 9.38196291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.212320588 meters 0.020213649359409766 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.51, Z:0.09 [[ 9.97934303e-01 6.42422369e-02 2.49494814e-04 1.86241592e+01] [-6.42422361e-02 9.97934334e-01 -1.09146526e-05 -1.51174329e+00] [-2.49680623e-04 -5.13599848e-06 9.99999969e-01 9.30282214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.242320588 meters 0.020415657398785224 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.51, Z:0.09 [[ 9.97832477e-01 6.57666007e-02 2.25863354e-03 1.86527117e+01] [-6.57665463e-02 9.97835032e-01 -9.84199300e-05 -1.50929092e+00] [-2.26021642e-03 -5.03359249e-05 9.99997444e-01 9.42151694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272320588 meters 0.02126030045442729 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.51, Z:0.10 [[ 9.97489785e-01 7.07756636e-02 2.22125382e-03 1.86821362e+01] [-7.07756193e-02 9.97492257e-01 -9.86414356e-05 -1.51015495e+00] [-2.22266490e-03 -5.88167902e-05 9.99997528e-01 9.57383282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.302320588 meters 0.022299956391735088 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.50, Z:0.09 [[ 9.96980747e-01 7.75740148e-02 3.41511352e-03 1.87118482e+01] [-7.75739510e-02 9.96986589e-01 -1.51345363e-04 -1.49521497e+00] [-3.41656285e-03 -1.14035435e-04 9.99994157e-01 9.44897123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.332320587999998 meters 0.022981482399136218 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.48, Z:0.09 [[ 9.96711365e-01 8.08547065e-02 5.38257797e-03 1.87420619e+01] [-8.08545952e-02 9.96725879e-01 -2.38638787e-04 -1.48494027e+00] [-5.38424983e-03 -1.97352172e-04 9.99985485e-01 9.18087722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362320588 meters 0.02172683539013363 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.49, Z:0.09 [[ 9.97294441e-01 7.35059080e-02 8.24656341e-04 1.87723124e+01] [-7.35059027e-02 9.97294781e-01 -3.67429086e-05 -1.49092519e+00] [-8.25126286e-04 -2.39736103e-05 9.99999659e-01 9.42153797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.392320588 meters 0.020680197046407375 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.48, Z:0.09 [[ 9.97862529e-01 6.53438772e-02 7.42345221e-04 1.88019570e+01] [-6.53438726e-02 9.97862805e-01 -3.04661357e-05 -1.48077391e+00] [-7.42749460e-04 -1.81066963e-05 9.99999724e-01 9.36924931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.422320587999998 meters 0.02088875260415844 Centerline is valid? [True, True] Translation: X:18.83, Y:-1.47, Z:0.09 [[ 9.97738120e-01 6.70586858e-02 4.66657706e-03 1.88314912e+01] [-6.70584800e-02 9.97749027e-01 -2.00733956e-04 -1.46875387e+00] [-4.66953367e-03 -1.12653645e-04 9.99989091e-01 9.27446021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452320588 meters 0.02152363769427962 Centerline is valid? [True, True] Translation: X:18.86, Y:-1.47, Z:0.10 [[ 9.97390566e-01 7.20945804e-02 3.79881760e-03 1.88606926e+01] [-7.20944766e-02 9.97397794e-01 -1.64443780e-04 -1.46855502e+00] [-3.80078780e-03 -1.09859092e-04 9.99992771e-01 9.53894439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.482320588 meters 0.021967313866486985 Centerline is valid? [True, True] Translation: X:18.89, Y:-1.47, Z:0.10 [[ 9.97260979e-01 7.38459233e-02 4.16166497e-03 1.88893766e+01] [-7.38458294e-02 9.97269654e-01 -1.76442054e-04 -1.46758170e+00] [-4.16333171e-03 -1.31362826e-04 9.99991325e-01 9.58257253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.512320587999998 meters 0.021641315922677533 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.47, Z:0.09 [[ 9.97484872e-01 7.06577289e-02 5.60503151e-03 1.89183564e+01] [-7.06575180e-02 9.97500606e-01 -2.35882455e-04 -1.47067984e+00] [-5.60768925e-03 -1.60748435e-04 9.99984264e-01 9.25415832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542320588 meters 0.020727137190934018 Centerline is valid? [True, True] Translation: X:18.95, Y:-1.47, Z:0.09 [[ 9.98052025e-01 6.18986010e-02 7.79220881e-03 1.89477683e+01] [-6.18979449e-02 9.98082431e-01 -3.25566713e-04 -1.46830875e+00] [-7.79741884e-03 -1.57389195e-04 9.99969587e-01 9.48984286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.572320588 meters 0.019856600405336402 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.46, Z:0.10 [[ 9.98515756e-01 5.38664038e-02 8.04337203e-03 1.89792737e+01] [-5.38654224e-02 9.98548147e-01 -3.38754665e-04 -1.45817450e+00] [-8.04994174e-03 -9.50077616e-05 9.99967594e-01 9.63812907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.602320587999998 meters 0.01969653243189547 Centerline is valid? [True, True] Translation: X:19.01, Y:-1.46, Z:0.09 [[ 9.98762292e-01 4.94977966e-02 4.88393212e-03 1.90109337e+01] [-4.94973798e-02 9.98774232e-01 -2.06247775e-04 -1.46114549e+00] [-4.88815437e-03 -3.57493428e-05 9.99988052e-01 9.22381884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632320588 meters 0.019572648014782493 Centerline is valid? [True, True] Translation: X:19.04, Y:-1.46, Z:0.09 [[ 9.99019313e-01 4.40881471e-02 4.08022178e-03 1.90404151e+01] [-4.40878147e-02 9.99027645e-01 -1.71427971e-04 -1.46330061e+00] [-4.08381230e-03 -8.62820810e-06 9.99991661e-01 9.08456829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.662320588 meters 0.01940993595217291 Centerline is valid? [True, True] Translation: X:19.07, Y:-1.46, Z:0.09 [[ 9.99161931e-01 4.07187883e-02 4.17314211e-03 1.90697175e+01] [-4.07184122e-02 9.99170646e-01 -1.75069075e-04 -1.46319598e+00] [-4.17680970e-03 4.99863427e-06 9.99991277e-01 9.16036678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.692320587999998 meters 0.019908935557584294 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.46, Z:0.09 [[ 9.99492677e-01 3.12637502e-02 6.07995486e-03 1.90997682e+01] [-3.12627785e-02 9.99511167e-01 -2.54824362e-04 -1.46443810e+00] [-6.08494954e-03 6.46188018e-05 9.99981484e-01 9.34031474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722320588 meters 0.02070705665107118 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.46, Z:0.09 [[ 9.99672405e-01 2.48022279e-02 6.31919898e-03 1.91317813e+01] [-2.48010378e-02 9.99692371e-01 -2.66636488e-04 -1.46495655e+00] [-6.32386819e-03 1.09826446e-04 9.99979998e-01 9.45281244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.752320588 meters 0.023278257529713752 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.47, Z:0.09 [[ 9.99947046e-01 9.41289145e-03 4.15956404e-03 1.91620009e+01] [-9.41224447e-03 9.99955689e-01 -1.75089054e-04 -1.46612230e+00] [-4.16102782e-03 1.35928949e-04 9.99991334e-01 9.06410427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.782320587999997 meters 0.024556155859687546 Centerline is valid? [True, True] Translation: X:19.19, Y:-1.47, Z:0.09 [[ 9.99987717e-01 4.13719724e-03 2.72950592e-03 1.91939126e+01] [-4.13689643e-03 9.99991436e-01 -1.15841478e-04 -1.47197717e+00] [-2.72996181e-03 1.04548372e-04 9.99996268e-01 9.01670883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812320588 meters 0.026727499900295975 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.49, Z:0.09 [[ 9.99986942e-01 -4.96434550e-03 1.21301398e-03 1.92247248e+01] [ 4.96441170e-03 9.99987676e-01 -5.15732670e-05 -1.48673376e+00] [-1.21274300e-03 5.75944943e-05 9.99999263e-01 9.25326745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.842320588 meters 0.027995412713033956 Centerline is valid? [True, True] Translation: X:19.26, Y:-1.49, Z:0.09 [[ 9.99956880e-01 -9.06279694e-03 2.02594225e-03 1.92551958e+01] [ 9.06298943e-03 9.99958927e-01 -8.58521075e-05 -1.49432130e+00] [-2.02508097e-03 1.04209499e-04 9.99997944e-01 9.30478577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.872320588 meters 0.028582254623502907 Centerline is valid? [True, True] Translation: X:19.29, Y:-1.51, Z:0.09 [[ 9.99925485e-01 -1.16131992e-02 3.76277647e-03 1.92867416e+01] [ 1.16138840e-02 9.99932544e-01 -1.60205430e-04 -1.51262454e+00] [-3.76066214e-03 2.03893942e-04 9.99992908e-01 9.18415944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.902320588 meters 0.027672038671764054 Centerline is valid? [True, True] Translation: X:19.32, Y:-1.53, Z:0.09 [[ 9.99941470e-01 -1.03382886e-02 3.19013785e-03 1.93178119e+01] [ 1.03387766e-02 9.99946544e-01 -1.36530589e-04 -1.53001251e+00] [-3.18855583e-03 1.69504720e-04 9.99994902e-01 9.44621260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.932320588 meters 0.026392014146308453 Centerline is valid? [True, True] Translation: X:19.35, Y:-1.54, Z:0.10 [[ 9.99983471e-01 -5.20739871e-03 -2.43723706e-03 1.93485045e+01] [ 5.20766681e-03 9.99986435e-01 1.03667534e-04 -1.54164817e+00] [ 2.43666416e-03 -1.16358139e-04 9.99997025e-01 9.54727404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.962320588 meters 0.025584719142215034 Centerline is valid? [True, True] Translation: X:19.38, Y:-1.55, Z:0.09 [[ 9.99990278e-01 -1.38681838e-03 -4.18571932e-03 1.93765838e+01] [ 1.38757724e-03 9.99999021e-01 1.78397665e-04 -1.55261114e+00] [ 4.18546782e-03 -1.84203940e-04 9.99991224e-01 9.45285144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.992320588 meters 0.023365789354259238 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.58, Z:0.09 [[ 9.99967962e-01 7.84859750e-03 1.57299410e-03 1.94053512e+01] [-7.84850241e-03 9.99969198e-01 -6.66140682e-05 -1.57810398e+00] [-1.57346847e-03 5.42662860e-05 9.99998761e-01 9.17498519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022320588 meters 0.021731259650224957 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.59, Z:0.09 [[ 9.99857090e-01 1.59072667e-02 5.72341882e-03 1.94361012e+01] [-1.59061326e-02 9.99873460e-01 -2.43611989e-04 -1.58920354e+00] [-5.72656978e-03 1.52539716e-04 9.99983591e-01 9.47781105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.052320588 meters 0.020246665476167828 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.60, Z:0.10 [[ 9.99654523e-01 2.54798652e-02 6.45063427e-03 1.94678316e+01] [-2.54786202e-02 9.99675329e-01 -2.75118421e-04 -1.59614373e+00] [-6.45554992e-03 1.10670114e-04 9.99979157e-01 9.59193149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.082320587999998 meters 0.019856301993126175 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.60, Z:0.10 [[ 9.99512942e-01 3.07690398e-02 5.21016737e-03 1.95001341e+01] [-3.07682941e-02 9.99526519e-01 -2.23236331e-04 -1.60065605e+00] [-5.21456922e-03 6.28196404e-05 9.99986402e-01 9.55155598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112320588 meters 0.01920908192789219 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.60, Z:0.10 [[ 9.99080496e-01 4.28173032e-02 2.20033510e-03 1.95321305e+01] [-4.28171974e-02 9.99082919e-01 -9.51969870e-05 -1.60339525e+00] [-2.20239329e-03 8.97270808e-07 9.99997575e-01 9.52277553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.142320588 meters 0.019635764965309895 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.61, Z:0.10 [[ 9.98606604e-01 5.27672276e-02 6.86333753e-04 1.95637065e+01] [-5.27672196e-02 9.98606839e-01 -2.98026333e-05 -1.60601282e+00] [-6.86950182e-04 -6.45481743e-06 9.99999764e-01 9.65305360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.172320587999998 meters 0.019827161369335985 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.61, Z:0.10 [[ 9.98422484e-01 5.60908577e-02 2.52169297e-03 1.95945719e+01] [-5.60907617e-02 9.98425668e-01 -1.08816726e-04 -1.61054153e+00] [-2.52382661e-03 -3.27986133e-05 9.99996815e-01 9.88927325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202320588 meters 0.019662388089095706 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.61, Z:0.10 [[ 9.98524029e-01 5.43107855e-02 -3.19576720e-04 1.96266929e+01] [-5.43107840e-02 9.98524080e-01 1.31053120e-05 -1.60727560e+00] [ 3.19816810e-04 4.27049326e-06 9.99999949e-01 9.93657342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.232320588 meters 0.01950368506030991 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.60, Z:0.10 [[ 9.98597552e-01 5.29331013e-02 -1.00751098e-03 1.96569191e+01] [-5.29330844e-02 9.98598061e-01 4.34775591e-05 -1.60475991e+00] [ 1.00839992e-03 9.91407972e-06 9.99999492e-01 9.87261992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.262320587999998 meters 0.01939261597420385 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.60, Z:0.10 [[ 9.98714467e-01 5.06890156e-02 -1.91163470e-04 1.96878822e+01] [-5.06890150e-02 9.98714486e-01 8.24936026e-06 -1.59905290e+00] [ 1.91335878e-04 1.45113255e-06 9.99999982e-01 9.83253591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292320588 meters 0.0191911714015285 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.59, Z:0.10 [[ 9.98907815e-01 4.65802321e-02 3.66876659e-03 1.97181904e+01] [-4.65799659e-02 9.98914552e-01 -1.58025720e-04 -1.59270754e+00] [-3.67214521e-03 -1.30378961e-05 9.99993258e-01 9.71818437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.322320588 meters 0.019327109798904788 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.59, Z:0.10 [[ 9.99037108e-01 4.37487097e-02 3.30268601e-03 1.97501971e+01] [-4.37484743e-02 9.99042567e-01 -1.43535236e-04 -1.59068763e+00] [-3.30580339e-03 -1.09044725e-06 9.99994536e-01 9.70755249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.352320587999998 meters 0.019244417289781046 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.59, Z:0.10 [[ 9.99276610e-01 3.80133730e-02 1.11391752e-03 1.97820993e+01] [-3.80133420e-02 9.99277231e-01 -4.90069493e-05 -1.58632693e+00] [-1.11497533e-03 6.62777069e-06 9.99999378e-01 9.69326281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382320588 meters 0.019434405762497664 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.59, Z:0.09 [[ 9.99353902e-01 3.58165190e-02 2.99271227e-03 1.98132363e+01] [-3.58162892e-02 9.99358382e-01 -1.30378812e-04 -1.58699968e+00] [-2.99546181e-03 2.31067266e-05 9.99995513e-01 9.41752005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.412320588 meters 0.019471328774184966 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.59, Z:0.10 [[ 9.99298889e-01 3.68268262e-02 6.74650868e-03 1.98449671e+01] [-3.68256810e-02 9.99321661e-01 -2.93941024e-04 -1.58664395e+00] [-6.75275718e-03 4.52901620e-05 9.99977199e-01 9.59946698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.442320587999998 meters 0.019415086851674326 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.59, Z:0.10 [[ 9.99234574e-01 3.81611635e-02 8.60186793e-03 1.98768367e+01] [-3.81593393e-02 9.99271596e-01 -3.76161341e-04 -1.58565992e+00] [-8.60995705e-03 4.76318205e-05 9.99962932e-01 9.72093978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472320588 meters 0.019082061470760088 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.58, Z:0.10 [[ 9.99068545e-01 4.28736197e-02 4.88819863e-03 1.99093335e+01] [-4.28730823e-02 9.99080504e-01 -2.14702244e-04 -1.58461031e+00] [-4.89290902e-03 4.93011593e-06 9.99988030e-01 9.95545351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.502320588 meters 0.0193273496324478 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.59, Z:0.10 [[ 9.98946190e-01 4.58499898e-02 2.07060077e-03 1.99416012e+01] [-4.58498984e-02 9.98948336e-01 -9.16153956e-05 -1.58719790e+00] [-2.07262376e-03 -3.41798440e-06 9.99997852e-01 9.67655762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.532320587999997 meters 0.01931547032935061 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.59, Z:0.10 [[ 9.98977841e-01 4.48588151e-02 5.56419066e-03 1.99731131e+01] [-4.48581459e-02 9.98993337e-01 -2.45086320e-04 -1.58898676e+00] [-5.56958368e-03 -4.76347317e-06 9.99984490e-01 9.55509952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562320588 meters 0.019340022851116627 Centerline is valid? [True, True] Translation: X:20.01, Y:-1.59, Z:0.10 [[ 9.98992822e-01 4.42518692e-02 7.42391206e-03 2.00057325e+01] [-4.42506519e-02 9.99020406e-01 -3.28224110e-04 -1.59054752e+00] [-7.43116417e-03 -6.19418614e-07 9.99972389e-01 9.55762946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.592320588 meters 0.01935625717913867 Centerline is valid? [True, True] Translation: X:20.04, Y:-1.59, Z:0.10 [[ 9.98941499e-01 4.57540609e-02 4.73797907e-03 2.00375121e+01] [-4.57535778e-02 9.98952735e-01 -2.10346769e-04 -1.59355846e+00] [-4.74264136e-03 -6.65537686e-06 9.99988754e-01 9.64876604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.622320588 meters 0.019480056253551814 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.59, Z:0.10 [[ 9.98658405e-01 5.17595519e-02 1.52953665e-03 2.00700712e+01] [-5.17595076e-02 9.98659576e-01 -6.85617348e-05 -1.59215319e+00] [-1.53103515e-03 -1.06983111e-05 9.99998828e-01 9.77785574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.652320588 meters 0.01999422701726274 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.59, Z:0.10 [[ 9.98170951e-01 6.04345526e-02 1.55480388e-03 2.01008055e+01] [-6.04345181e-02 9.98172162e-01 -6.92313906e-05 -1.58870486e+00] [-1.55614591e-03 -2.48590600e-05 9.99998789e-01 9.75595439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682320588 meters 0.020402074917889243 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.59, Z:0.10 [[ 9.97879897e-01 6.50720677e-02 1.15613396e-03 2.01313606e+01] [-6.50720518e-02 9.97880567e-01 -5.13557858e-05 -1.58812354e+00] [-1.15702544e-03 -2.39851027e-05 9.99999330e-01 9.78452834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.712320588 meters 0.021512315217795567 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.59, Z:0.10 [[ 9.97333652e-01 7.29728358e-02 -7.43477135e-04 2.01609334e+01] [-7.29728312e-02 9.97333928e-01 3.33082288e-05 -1.58716058e+00] [ 7.43925568e-04 2.10342141e-05 9.99999723e-01 9.64545580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.742320588 meters 0.021443863852744372 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.57, Z:0.10 [[ 9.97384057e-01 7.20533938e-02 5.77506547e-03 2.01900733e+01] [-7.20531463e-02 9.97400762e-01 -2.51179834e-04 -1.56956790e+00] [-5.77815306e-03 -1.65588875e-04 9.99983293e-01 9.90916027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772320588 meters 0.0198510598597522 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.52, Z:0.09 [[ 9.98511727e-01 5.40699179e-02 7.12565418e-03 2.02219555e+01] [-5.40690683e-02 9.98537149e-01 -3.11959157e-04 -1.51663335e+00] [-7.13209802e-03 -7.37826066e-05 9.99974564e-01 9.07062627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.802320588 meters 0.020444675656006477 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.51, Z:0.09 [[ 9.98130091e-01 6.11008072e-02 1.73545522e-03 2.02522040e+01] [-6.11007673e-02 9.98131600e-01 -7.60603271e-05 -1.51301192e+00] [-1.73686004e-03 -3.01195444e-05 9.99998491e-01 8.88378262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.832320587999998 meters 0.021043709852472406 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.52, Z:0.09 [[ 9.97801140e-01 6.62705884e-02 1.04640290e-03 2.02811320e+01] [-6.62705796e-02 9.97801688e-01 -4.30652889e-05 -1.51585082e+00] [-1.04695654e-03 -2.63751324e-05 9.99999452e-01 8.84213199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862320588 meters 0.021043709852472406 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.52, Z:0.09 [[ 9.97835862e-01 6.57457070e-02 1.04644060e-03 2.03085285e+01] [-6.57456989e-02 9.97836410e-01 -4.21765380e-05 -1.51732437e+00] [-1.04694946e-03 -2.67137066e-05 9.99999452e-01 8.85598451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.892320588 meters 0.021730172124762036 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.51, Z:0.09 [[ 9.97284378e-01 7.35381116e-02 4.00203475e-03 2.03387787e+01] [-7.35380175e-02 9.97292400e-01 -1.70861973e-04 -1.50874870e+00] [-4.00376371e-03 -1.23903725e-04 9.99991977e-01 9.23488065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.922320587999998 meters 0.021601558118997843 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.50, Z:0.10 [[ 9.97252480e-01 7.39693003e-02 4.00433351e-03 2.03674535e+01] [-7.39692142e-02 9.97260511e-01 -1.69797351e-04 -1.50037310e+00] [-4.00592347e-03 -1.26866574e-04 9.99991968e-01 9.73712315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952320588 meters 0.021034070064481405 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.51, Z:0.10 [[ 9.97840152e-01 6.56437666e-02 2.43447463e-03 2.03965046e+01] [-6.56437166e-02 9.97843120e-01 -1.00503967e-04 -1.50889350e+00] [-2.43582122e-03 -5.95210691e-05 9.99997032e-01 9.57516285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.982320588 meters 0.020444973643140015 Centerline is valid? [True, True] Translation: X:20.42, Y:-1.51, Z:0.09 [[ 9.98291886e-01 5.82515243e-02 4.48000466e-03 2.04249915e+01] [-5.82512826e-02 9.98301935e-01 -1.84510596e-04 -1.51050530e+00] [-4.48314534e-03 -7.67705862e-05 9.99989948e-01 9.38134748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.012320587999998 meters 0.0195993716676453 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.50, Z:0.09 [[ 9.98893968e-01 4.59870482e-02 9.79958817e-03 2.04543463e+01] [-4.59853186e-02 9.98942035e-01 -4.01869419e-04 -1.49999107e+00] [-9.80770134e-03 -4.92122457e-05 9.99951902e-01 9.28018204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042320588 meters 0.019511218487422693 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.50, Z:0.10 [[ 9.99093818e-01 4.12597834e-02 1.04485735e-02 2.04862879e+01] [-4.12575114e-02 9.99148453e-01 -4.32989989e-04 -1.49673570e+00] [-1.04575411e-02 1.51548262e-06 9.99945318e-01 9.52357875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.072320588 meters 0.01935406081067339 Centerline is valid? [True, True] Translation: X:20.52, Y:-1.50, Z:0.10 [[ 9.99142088e-01 4.03074382e-02 9.50782439e-03 2.05183612e+01] [-4.03055016e-02 9.99187325e-01 -3.95288916e-04 -1.50211698e+00] [-9.51603070e-03 1.17321624e-05 9.99954721e-01 9.75062568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102320587999998 meters 0.019437870057818194 Centerline is valid? [True, True] Translation: X:20.55, Y:-1.50, Z:0.10 [[ 9.99235534e-01 3.88817789e-02 4.06877984e-03 2.05502697e+01] [-3.88814087e-02 9.99243818e-01 -1.70070373e-04 -1.50306938e+00] [-4.07231574e-03 1.17404683e-05 9.99991708e-01 9.53843339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132320588 meters 0.01946426249248281 Centerline is valid? [True, True] Translation: X:20.58, Y:-1.51, Z:0.09 [[ 9.99288162e-01 3.76427796e-02 2.48823576e-03 2.05800135e+01] [-3.76426396e-02 9.99291259e-01 -1.03109258e-04 -1.50526718e+00] [-2.49035357e-03 9.37209919e-06 9.99996899e-01 9.19883614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162320588 meters 0.019533988911355774 Centerline is valid? [True, True] Translation: X:20.61, Y:-1.51, Z:0.09 [[ 9.99311597e-01 3.70958878e-02 -4.76295618e-04 2.06083390e+01] [-3.70958816e-02 9.99311711e-01 2.19171307e-05 -1.51071640e+00] [ 4.76780824e-04 -4.23343702e-06 9.99999886e-01 9.22332978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.192320587999998 meters 0.01925836226319319 Centerline is valid? [True, True] Translation: X:20.64, Y:-1.51, Z:0.10 [[ 9.99287559e-01 3.77383912e-02 4.32841667e-04 2.06364682e+01] [-3.77383883e-02 9.99287653e-01 -1.49272463e-05 -1.50932968e+00] [-4.33096664e-04 -1.41813533e-06 9.99999906e-01 9.69521883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222320588 meters 0.019190218809866152 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.51, Z:0.10 [[ 9.99306326e-01 3.72334343e-02 -7.33448086e-04 2.06648329e+01] [-3.72334208e-02 9.99306595e-01 3.20110618e-05 -1.50744230e+00] [ 7.34131391e-04 -4.68007534e-06 9.99999731e-01 9.79981358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.252320588 meters 0.019360047910501263 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.51, Z:0.09 [[ 9.99316495e-01 3.69531016e-02 1.00515784e-03 2.06924237e+01] [-3.69530829e-02 9.99317001e-01 -3.71182965e-05 -1.50962008e+00] [-1.00584295e-03 -5.07549434e-08 9.99999494e-01 9.42654123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.282320587999997 meters 0.019509824303882844 Centerline is valid? [True, True] Translation: X:20.72, Y:-1.51, Z:0.09 [[ 9.99324334e-01 3.65828481e-02 3.54541863e-03 2.07210217e+01] [-3.65825949e-02 9.99330624e-01 -1.36245601e-04 -1.51271639e+00] [-3.54802966e-03 6.45293106e-06 9.99993706e-01 9.31381039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312320588 meters 0.019410943965283863 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.52, Z:0.10 [[ 9.99191452e-01 3.95726145e-02 7.10283828e-03 2.07502293e+01] [-3.95716467e-02 9.99216697e-01 -2.76795308e-04 -1.51748366e+00] [-7.10822813e-03 -4.49950206e-06 9.99974736e-01 9.52640740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.342320588 meters 0.019404024753703054 Centerline is valid? [True, True] Translation: X:20.78, Y:-1.52, Z:0.10 [[ 9.99071710e-01 4.23627293e-02 7.81776149e-03 2.07812661e+01] [-4.23616328e-02 9.99102296e-01 -3.05858569e-04 -1.51536179e+00] [-7.82370046e-03 -2.55984986e-05 9.99969394e-01 9.79870683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.372320588 meters 0.01952714137548362 Centerline is valid? [True, True] Translation: X:20.81, Y:-1.51, Z:0.10 [[ 9.98936530e-01 4.60237949e-02 2.76023897e-03 2.08123542e+01] [-4.60236711e-02 9.98940344e-01 -1.08380589e-04 -1.51104834e+00] [-2.76230215e-03 -1.87710009e-05 9.99996185e-01 9.62969140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.402320588 meters 0.01970937142473404 Centerline is valid? [True, True] Translation: X:20.84, Y:-1.51, Z:0.09 [[ 9.98809445e-01 4.87793454e-02 -5.18156121e-04 2.08398750e+01] [-4.87793402e-02 9.98809579e-01 2.26629991e-05 -1.51345653e+00] [ 5.18644784e-04 2.63929618e-06 9.99999866e-01 9.37249010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432320588 meters 0.020350482877852905 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.52, Z:0.09 [[ 9.98481686e-01 5.49912287e-02 -3.20753126e-03 2.08688312e+01] [-5.49911117e-02 9.98486836e-01 1.24705709e-04 -1.51757186e+00] [ 3.20953546e-03 5.18693429e-05 9.99994848e-01 9.27133451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.462320588 meters 0.020965434344241328 Centerline is valid? [True, True] Translation: X:20.90, Y:-1.51, Z:0.10 [[ 9.98162276e-01 6.05882275e-02 1.06632509e-03 2.08972605e+01] [-6.05882196e-02 9.98162845e-01 -3.97022659e-05 -1.51333785e+00] [-1.06677158e-03 -2.49774349e-05 9.99999431e-01 9.69367834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.492320588 meters 0.02140669721632891 Centerline is valid? [True, True] Translation: X:20.93, Y:-1.50, Z:0.10 [[ 9.97918954e-01 6.43841537e-02 3.52741560e-03 2.09258720e+01] [-6.43840868e-02 9.97925183e-01 -1.32639237e-04 -1.50473148e+00] [-3.52863673e-03 -9.47462235e-05 9.99993770e-01 1.00659217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522320588 meters 0.021642203523828295 Centerline is valid? [True, True] Translation: X:20.95, Y:-1.50, Z:0.10 [[ 9.97792150e-01 6.62545735e-02 4.59956162e-03 2.09545251e+01] [-6.62544948e-02 9.97802743e-01 -1.69648409e-04 -1.50090808e+00] [-4.60069518e-03 -1.35467780e-04 9.99989408e-01 1.01228860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.552320588 meters 0.021936799628864845 Centerline is valid? [True, True] Translation: X:20.98, Y:-1.49, Z:0.10 [[ 9.97730599e-01 6.69941914e-02 6.74012913e-03 2.09831624e+01] [-6.69940529e-02 9.97753344e-01 -2.46576538e-04 -1.49448746e+00] [-6.74150558e-03 -2.05531610e-04 9.99977255e-01 9.96735280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582320587999998 meters 0.021611754468363976 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.48, Z:0.10 [[ 9.97889864e-01 6.40264154e-02 1.07906509e-02 2.10111712e+01] [-6.40259361e-02 9.97948159e-01 -3.90211246e-04 -1.48443546e+00] [-1.07934940e-02 -3.01493679e-04 9.99941703e-01 1.00196401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612320588 meters 0.02122875216747776 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.48, Z:0.10 [[ 9.98036505e-01 6.08563403e-02 1.48202770e-02 2.10408071e+01] [-6.08550530e-02 9.98146469e-01 -5.38235043e-04 -1.47782139e+00] [-1.48255622e-02 -3.64710521e-04 9.99890029e-01 1.00518995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642320588 meters 0.020898312007192246 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.48, Z:0.10 [[ 9.98219226e-01 5.78255397e-02 1.46486911e-02 2.10717638e+01] [-5.78239324e-02 9.98326654e-01 -5.33599708e-04 -1.47795188e+00] [-1.46550345e-02 -3.14395439e-04 9.99892560e-01 1.00950604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.672320587999998 meters 0.020136920794207393 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.48, Z:0.10 [[ 9.98671232e-01 5.04197108e-02 1.06593904e-02 2.11038494e+01] [-5.04184241e-02 9.98728107e-01 -3.89575213e-04 -1.47613672e+00] [-1.06654750e-02 -1.48372105e-04 9.99943111e-01 1.00564074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702320588 meters 0.019570553252300473 Centerline is valid? [True, True] Translation: X:21.14, Y:-1.47, Z:0.10 [[ 9.98976021e-01 4.44490493e-02 8.43745756e-03 2.11350258e+01] [-4.44480297e-02 9.99011650e-01 -3.08414179e-04 -1.47270404e+00] [-8.44282712e-03 -6.69299954e-05 9.99964356e-01 9.91364185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.732320588 meters 0.01952372736170117 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.47, Z:0.10 [[ 9.99088681e-01 4.18094543e-02 8.58936998e-03 2.11649168e+01] [-4.18083091e-02 9.99125601e-01 -3.12922710e-04 -1.47152169e+00] [-8.59494257e-03 -4.64694975e-05 9.99963062e-01 9.83961626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762320587999998 meters 0.019355060973463647 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.47, Z:0.10 [[ 9.99271446e-01 3.75201483e-02 6.98684139e-03 2.11953036e+01] [-3.75192865e-02 9.99295871e-01 -2.54421314e-04 -1.46614216e+00] [-6.99146768e-03 -7.90534920e-06 9.99975559e-01 9.87153885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792320588 meters 0.019297417163445355 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.46, Z:0.10 [[ 9.99483654e-01 3.17362158e-02 5.02375711e-03 2.12252250e+01] [-3.17356999e-02 9.99496279e-01 -1.82407727e-04 -1.46247362e+00] [-5.02701547e-03 2.28810936e-05 9.99987364e-01 9.96397854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822320588 meters 0.020248526705511187 Centerline is valid? [True, True] Translation: X:21.25, Y:-1.47, Z:0.10 [[ 9.99687323e-01 2.36124696e-02 8.22839892e-03 2.12537658e+01] [-2.36108538e-02 9.99721182e-01 -2.93464585e-04 -1.46742795e+00] [-8.23303412e-03 9.90933014e-05 9.99966103e-01 1.01125560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.852320587999998 meters 0.02065783742200147 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.47, Z:0.10 [[ 9.99781246e-01 1.94086603e-02 7.79506990e-03 2.12857547e+01] [-1.94070537e-02 9.99811626e-01 -2.81698407e-04 -1.47068013e+00] [-7.79906889e-03 1.30357444e-04 9.99969578e-01 1.01788013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882320588 meters 0.02273499261243031 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.48, Z:0.10 [[ 9.99956316e-01 8.41352970e-03 4.07171906e-03 2.13172525e+01] [-8.41298693e-03 9.99964599e-01 -1.50411078e-04 -1.47558373e+00] [-4.07284041e-03 1.16149188e-04 9.99991699e-01 9.83131025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.912320588 meters 0.02501237114954591 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.49, Z:0.10 [[ 9.99995962e-01 -7.75349404e-04 2.73391383e-03 2.13479237e+01] [ 7.75625387e-04 9.99999694e-01 -9.98890903e-05 -1.48747277e+00] [-2.73383555e-03 1.02009180e-04 9.99996258e-01 9.66273809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.942320587999998 meters 0.02502508020927554 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.50, Z:0.10 [[ 9.99998938e-01 -1.44777734e-03 -1.65597660e-04 2.13795092e+01] [ 1.44777803e-03 9.99998952e-01 4.03479824e-06 -1.49786833e+00] [ 1.65591645e-04 -4.27454261e-06 9.99999986e-01 1.00256633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972320588 meters 0.024815206761881013 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.50, Z:0.10 [[ 9.99999355e-01 -5.74876479e-04 9.79701383e-04 2.14098247e+01] [ 5.74912167e-04 9.99999834e-01 -3.61452216e-05 -1.50410930e+00] [-9.79680442e-04 3.67084405e-05 9.99999519e-01 1.00676591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.002320588 meters 0.023467927143744644 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.52, Z:0.10 [[ 9.99978959e-01 5.28955580e-03 3.75531998e-03 2.14402074e+01] [-5.28907078e-03 9.99986003e-01 -1.39077201e-04 -1.52219643e+00] [-3.75600308e-03 1.19212121e-04 9.99992939e-01 9.96271911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.032320587999997 meters 0.02131574187823458 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.54, Z:0.10 [[ 9.99813253e-01 1.65909246e-02 9.90956598e-03 2.14712809e+01] [-1.65880913e-02 9.99862340e-01 -3.68044197e-04 -1.54228582e+00] [-9.91430803e-03 2.03594680e-04 9.99950831e-01 9.81840056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062320588 meters 0.019893697943122023 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.56, Z:0.10 [[ 9.99569386e-01 2.84494087e-02 7.18845025e-03 2.15027852e+01] [-2.84482161e-02 9.99595232e-01 -2.68113464e-04 -1.55508627e+00] [-7.19316827e-03 6.34994240e-05 9.99974127e-01 9.98697805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092320588 meters 0.01979639421808246 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.56, Z:0.10 [[ 9.99451360e-01 3.29001665e-02 3.81542627e-03 2.15352943e+01] [-3.28998580e-02 9.99458643e-01 -1.43612935e-04 -1.55977654e+00] [-3.81808566e-03 1.80071600e-05 9.99992711e-01 9.90335397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.122320587999997 meters 0.019630042676692737 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.57, Z:0.10 [[ 9.99224256e-01 3.92818240e-02 2.79728084e-03 2.15652661e+01] [-3.92816851e-02 9.99228171e-01 -1.04600731e-04 -1.56798639e+00] [-2.79923072e-03 -5.36231721e-06 9.99996082e-01 9.87041188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.152320588 meters 0.019833869379490308 Centerline is valid? [True, True] Translation: X:21.59, Y:-1.58, Z:0.10 [[ 9.99170530e-01 3.99130556e-02 8.07470739e-03 2.15949507e+01] [-3.99119257e-02 9.99203156e-01 -3.01087070e-04 -1.57965436e+00] [-8.08029042e-03 -2.14397945e-05 9.99967354e-01 9.97363201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182320588 meters 0.019764445705746293 Centerline is valid? [True, True] Translation: X:21.63, Y:-1.59, Z:0.10 [[ 9.99162712e-01 3.98922786e-02 9.08192535e-03 2.16267263e+01] [-3.98908282e-02 9.99203986e-01 -3.40867633e-04 -1.58552224e+00] [-9.08829400e-03 -2.17032951e-05 9.99958700e-01 1.00303628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.212320588 meters 0.019811877859342145 Centerline is valid? [True, True] Translation: X:21.66, Y:-1.59, Z:0.10 [[ 9.99148769e-01 4.02642464e-02 8.97367971e-03 2.16590556e+01] [-4.02628347e-02 9.99189066e-01 -3.37986529e-04 -1.58572643e+00] [-8.98001142e-03 -2.36069587e-05 9.99959679e-01 1.00406890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242320588 meters 0.019880635658341785 Centerline is valid? [True, True] Translation: X:21.69, Y:-1.58, Z:0.10 [[ 9.99140960e-01 4.09595178e-02 6.29755270e-03 2.16917890e+01] [-4.09588298e-02 9.99160807e-01 -2.38231561e-04 -1.58208253e+00] [-6.30202569e-03 -1.99134789e-05 9.99980142e-01 9.91974679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272320588 meters 0.019792365944332976 Centerline is valid? [True, True] Translation: X:21.72, Y:-1.59, Z:0.10 [[ 9.99156995e-01 4.09599921e-02 2.75287839e-03 2.17232010e+01] [-4.09598600e-02 9.99160787e-01 -1.04356271e-04 -1.58704116e+00] [-2.75484257e-03 -8.48921520e-06 9.99996205e-01 1.00957861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302320588 meters 0.01991132895436502 Centerline is valid? [True, True] Translation: X:21.75, Y:-1.59, Z:0.10 [[ 9.99138767e-01 4.14073199e-02 2.67552430e-03 2.17524747e+01] [-4.14071990e-02 9.99142349e-01 -1.00595068e-04 -1.58799355e+00] [-2.67739501e-03 -1.02775354e-05 9.99996416e-01 1.03672728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.332320587999998 meters 0.019775063063323373 Centerline is valid? [True, True] Translation: X:21.78, Y:-1.59, Z:0.11 [[ 9.99140501e-01 4.13640938e-02 2.69650776e-03 2.17825264e+01] [-4.13639713e-02 9.99144140e-01 -1.01207402e-04 -1.58598685e+00] [-2.69838628e-03 -1.04178555e-05 9.99996359e-01 1.05185706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362320588 meters 0.019780597184779692 Centerline is valid? [True, True] Translation: X:21.81, Y:-1.59, Z:0.10 [[ 9.99206574e-01 3.98273432e-02 -7.38211125e-05 2.18124622e+01] [-3.98273431e-02 9.99206577e-01 3.10607261e-06 -1.58695884e+00] [ 7.38862477e-05 -1.63509396e-07 9.99999997e-01 1.03056159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.392320588 meters 0.019875709087736025 Centerline is valid? [True, True] Translation: X:21.84, Y:-1.59, Z:0.10 [[ 9.99276003e-01 3.80316048e-02 -1.03315446e-03 2.18401749e+01] [-3.80315828e-02 9.99276537e-01 4.09456961e-05 -1.59417733e+00] [ 1.03396424e-03 -1.62355229e-06 9.99999465e-01 9.68148138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422320587999998 meters 0.01984625727435221 Centerline is valid? [True, True] Translation: X:21.87, Y:-1.60, Z:0.10 [[ 9.99328308e-01 3.66343339e-02 -9.26935724e-04 2.18683273e+01] [-3.66343158e-02 9.99328737e-01 3.65434932e-05 -1.60099580e+00] [ 9.27652253e-04 -2.56129122e-06 9.99999570e-01 9.72653198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452320588 meters 0.019775148350050335 Centerline is valid? [True, True] Translation: X:21.90, Y:-1.61, Z:0.10 [[ 9.99285352e-01 3.77936514e-02 6.52722316e-04 2.18955890e+01] [-3.77936458e-02 9.99285565e-01 -2.08303482e-05 -1.61106645e+00] [-6.53043243e-04 -3.85329427e-06 9.99999787e-01 1.03910541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482320588 meters 0.01980067823093689 Centerline is valid? [True, True] Translation: X:21.92, Y:-1.61, Z:0.11 [[ 9.99083924e-01 4.24262539e-02 5.59687532e-03 2.19245251e+01] [-4.24258182e-02 9.99099600e-01 -1.96599282e-04 -1.61082698e+00] [-5.60017686e-03 -4.10328325e-05 9.99984318e-01 1.08266030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.512320587999998 meters 0.020361667568325765 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.62, Z:0.10 [[ 9.98760391e-01 4.92242890e-02 7.39264691e-03 2.19556349e+01] [-4.92236864e-02 9.98787745e-01 -2.63552963e-04 -1.61690908e+00] [-7.39665834e-03 -1.00667073e-04 9.99972639e-01 1.01352545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542320588 meters 0.020440869273697104 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.62, Z:0.10 [[ 9.98707265e-01 5.02866625e-02 7.41962322e-03 2.19878822e+01] [-5.02860750e-02 9.98734820e-01 -2.65834168e-04 -1.62276939e+00] [-7.42360397e-03 -1.07613215e-04 9.99972439e-01 9.86327632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.572320588 meters 0.020378097133803424 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.63, Z:0.10 [[ 9.98743427e-01 4.94890465e-02 7.89950063e-03 2.20200181e+01] [-4.94883477e-02 9.98774661e-01 -2.84031842e-04 -1.63353356e+00] [-7.90387752e-03 -1.07258298e-04 9.99968758e-01 1.00937157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602320587999998 meters 0.020499989855190488 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.64, Z:0.11 [[ 9.98711859e-01 5.04230808e-02 5.66887068e-03 2.20519450e+01] [-5.04227306e-02 9.98727944e-01 -2.04765591e-04 -1.64146880e+00] [-5.67198447e-03 -8.13381152e-05 9.99983911e-01 1.07596857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632320588 meters 0.020746181959154574 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.63, Z:0.11 [[ 9.98529673e-01 5.37519578e-02 7.01568683e-03 2.20833553e+01] [-5.37515038e-02 9.98554311e-01 -2.53389601e-04 -1.63479919e+00] [-7.01916452e-03 -1.24086682e-04 9.99975358e-01 1.07507532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662320588 meters 0.021158903668319573 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.63, Z:0.11 [[ 9.98329889e-01 5.75344520e-02 5.21730267e-03 2.21149422e+01] [-5.75342503e-02 9.98343515e-01 -1.88863914e-04 -1.62804229e+00] [-5.21952647e-03 -1.11625108e-04 9.99986372e-01 1.06081404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.692320587999998 meters 0.02242971319343468 Centerline is valid? [True, True] Translation: X:22.15, Y:-1.62, Z:0.10 [[ 9.97701780e-01 6.77064803e-02 2.64396334e-03 2.21458476e+01] [-6.77064646e-02 9.97705280e-01 -9.55418920e-05 -1.62045216e+00] [-2.64436499e-03 -8.36910945e-05 9.99996500e-01 1.04360355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722320588 meters 0.023013429022165154 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.62, Z:0.11 [[ 9.97480898e-01 7.08544070e-02 3.39291305e-03 2.21749863e+01] [-7.08544124e-02 9.97486661e-01 -1.18757142e-04 -1.62066087e+00] [-3.39279997e-03 -1.21944880e-04 9.99994237e-01 1.09169299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.752320588 meters 0.023013429022165154 Centerline is valid? [True, True] Translation: X:22.20, Y:-1.62, Z:0.11 [[ 9.97512944e-01 7.04018100e-02 3.39296670e-03 2.22032593e+01] [-7.04018180e-02 9.97518707e-01 -1.17229055e-04 -1.62193117e+00] [-3.39280089e-03 -1.21933525e-04 9.99994237e-01 1.09312122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782320587999997 meters 0.022766871688581783 Centerline is valid? [True, True] Translation: X:22.23, Y:-1.62, Z:0.11 [[ 9.97592160e-01 6.92654463e-02 3.49012119e-03 2.22321412e+01] [-6.92654531e-02 9.97598257e-01 -1.19064260e-04 -1.61960057e+00] [-3.48998586e-03 -1.22967254e-04 9.99993902e-01 1.11243465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812320588 meters 0.021913475620506585 Centerline is valid? [True, True] Translation: X:22.26, Y:-1.61, Z:0.11 [[ 9.98025264e-01 6.25268697e-02 5.99688291e-03 2.22612820e+01] [-6.25267534e-02 9.98043267e-01 -2.07067829e-04 -1.60665953e+00] [-5.99809591e-03 -1.68306694e-04 9.99981997e-01 1.06773703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842320588 meters 0.02121393367259273 Centerline is valid? [True, True] Translation: X:22.29, Y:-1.59, Z:0.10 [[ 9.98554081e-01 5.29472669e-02 9.29161463e-03 2.22909854e+01] [-5.29466213e-02 9.98597294e-01 -3.15628088e-04 -1.59464534e+00] [-9.29529287e-03 -1.76787885e-04 9.99956782e-01 1.03055569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.872320587999997 meters 0.02042676612278086 Centerline is valid? [True, True] Translation: X:22.32, Y:-1.58, Z:0.11 [[ 9.98891775e-01 4.66190740e-02 6.47180589e-03 2.23227888e+01] [-4.66186132e-02 9.98912737e-01 -2.22129927e-04 -1.58050603e+00] [-6.47512482e-03 -7.98228582e-05 9.99979033e-01 1.05159493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902320588 meters 0.020220023027105107 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.58, Z:0.11 [[ 9.99041291e-01 4.35440774e-02 4.51801082e-03 2.23538011e+01] [-4.35438224e-02 9.99051506e-01 -1.54837098e-04 -1.57665820e+00] [-4.52046775e-03 -4.20428061e-05 9.99989782e-01 1.06971222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932320588 meters 0.019895611118337306 Centerline is valid? [True, True] Translation: X:22.38, Y:-1.58, Z:0.11 [[ 9.99349758e-01 3.54343911e-02 6.66817869e-03 2.23828195e+01] [-3.54336913e-02 9.99372005e-01 -2.23094400e-04 -1.57619958e+00] [-6.67189632e-03 -1.33288511e-05 9.99977743e-01 1.06862358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962320588 meters 0.02025318493405159 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.57, Z:0.10 [[ 9.99626587e-01 2.60898553e-02 8.12435806e-03 2.24145291e+01] [-2.60884777e-02 9.99659600e-01 -2.75507438e-04 -1.57432070e+00] [-8.12878047e-03 6.34524265e-05 9.99966959e-01 1.04321738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.992320588 meters 0.020760521898871138 Centerline is valid? [True, True] Translation: X:22.45, Y:-1.57, Z:0.10 [[ 9.99759288e-01 2.05095298e-02 7.79261625e-03 2.24464568e+01] [-2.05080826e-02 9.99789652e-01 -2.65579454e-04 -1.57493475e+00] [-7.79642400e-03 1.05703908e-04 9.99969602e-01 1.01997399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022320588 meters 0.022371532319624004 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.58, Z:0.10 [[ 9.99887159e-01 1.11439829e-02 1.00737539e-02 2.24783998e+01] [-1.11410787e-02 9.99937877e-01 -3.44366962e-04 -1.58070987e+00] [-1.00769657e-02 2.32095619e-04 9.99949199e-01 1.02139667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.052320588 meters 0.02317618930167809 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.58, Z:0.11 [[ 9.99947916e-01 6.19376342e-03 8.11184967e-03 2.25105094e+01] [-6.19167606e-03 9.99980792e-01 -2.82410353e-04 -1.58352826e+00] [-8.11344304e-03 2.32169699e-04 9.99967059e-01 1.07126226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.082320587999998 meters 0.022836278053299033 Centerline is valid? [True, True] Translation: X:22.54, Y:-1.58, Z:0.11 [[ 9.99955737e-01 7.22878551e-03 6.02231278e-03 2.25430254e+01] [-7.22765531e-03 9.99973858e-01 -2.09412239e-04 -1.58398280e+00] [-6.02366914e-03 1.65875769e-04 9.99981844e-01 1.07686095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112320588 meters 0.02198022646081641 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.59, Z:0.10 [[ 9.99914061e-01 1.20419925e-02 5.18283513e-03 2.25750269e+01] [-1.20412163e-02 9.99927486e-01 -1.80957233e-04 -1.59003517e+00] [-5.18463838e-03 1.18534043e-04 9.99986553e-01 1.04481162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.142320588 meters 0.02171527203294733 Centerline is valid? [True, True] Translation: X:22.61, Y:-1.60, Z:0.10 [[ 9.99846428e-01 1.47492946e-02 9.46461031e-03 2.26070067e+01] [-1.47468207e-02 9.99891205e-01 -3.31118054e-04 -1.59888463e+00] [-9.46846436e-03 1.91494292e-04 9.99955155e-01 1.04927856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.172320587999998 meters 0.021714065125693467 Centerline is valid? [True, True] Translation: X:22.64, Y:-1.60, Z:0.11 [[ 9.99852462e-01 1.48393078e-02 8.65150435e-03 2.26387317e+01] [-1.48372343e-02 9.99889876e-01 -3.03804836e-04 -1.60245379e+00] [-8.65505987e-03 1.75395616e-04 9.99962529e-01 1.05653881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202320588 meters 0.02178183090513109 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.61, Z:0.11 [[ 9.99867251e-01 1.47545432e-02 6.91258418e-03 2.26708701e+01] [-1.47532106e-02 9.99891136e-01 -2.43735038e-04 -1.60740153e+00] [-6.91542784e-03 1.41719872e-04 9.99976078e-01 1.05632090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.232320588 meters 0.02190598381212199 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.62, Z:0.10 [[ 9.99908414e-01 1.32135250e-02 2.92696234e-03 2.27024337e+01] [-1.32132773e-02 9.99912695e-01 -1.03930760e-04 -1.62385981e+00] [-2.92808009e-03 6.52464764e-05 9.99995711e-01 1.04408632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.262320587999998 meters 0.022206150435539106 Centerline is valid? [True, True] Translation: X:22.73, Y:-1.63, Z:0.10 [[ 9.99930406e-01 1.13885159e-02 3.07990867e-03 2.27335038e+01] [-1.13882335e-02 9.99935146e-01 -1.09204600e-04 -1.63214529e+00] [-3.08095260e-03 7.41222809e-05 9.99995251e-01 1.04279651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292320588 meters 0.022317350398006433 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.64, Z:0.11 [[ 9.99937727e-01 1.04955619e-02 3.79276093e-03 2.27656904e+01] [-1.04951245e-02 9.99944916e-01 -1.35197831e-04 -1.63645657e+00] [-3.79397098e-03 9.53839134e-05 9.99992798e-01 1.06780873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.322320588 meters 0.021979488970994575 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.64, Z:0.11 [[ 9.99914335e-01 1.20585902e-02 5.09055140e-03 2.27976020e+01] [-1.20578204e-02 9.99927285e-01 -1.81886907e-04 -1.63596766e+00] [-5.09237454e-03 1.20490371e-04 9.99987027e-01 1.07419434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.352320587999998 meters 0.021618911996504366 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.64, Z:0.11 [[ 9.99848366e-01 1.58306823e-02 7.25499548e-03 2.28296127e+01] [-1.58292132e-02 9.99874676e-01 -2.59869240e-04 -1.63757461e+00] [-7.25820016e-03 1.44988964e-04 9.99973648e-01 1.05435384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382320588 meters 0.020502631679377055 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.65, Z:0.10 [[ 9.99650282e-01 2.57582155e-02 5.98570843e-03 2.28611913e+01] [-2.57573881e-02 9.99668200e-01 -2.15283927e-04 -1.64686771e+00] [-5.98926770e-03 6.10324229e-05 9.99982062e-01 1.02814457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.412320588 meters 0.020232381543811892 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.65, Z:0.10 [[ 9.99494012e-01 3.15671459e-02 3.90335207e-03 2.28930470e+01] [-3.15668354e-02 9.99501633e-01 -1.41134167e-04 -1.65271306e+00] [-3.90586198e-03 1.78462826e-05 9.99992372e-01 1.02554030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442320587999998 meters 0.020086971138553844 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.66, Z:0.10 [[ 9.99352231e-01 3.58550722e-02 3.08750344e-03 2.29238606e+01] [-3.58548984e-02 9.99357000e-01 -1.11648631e-04 -1.66012467e+00] [-3.08952135e-03 8.74186524e-07 9.99995227e-01 1.04377189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472320588 meters 0.019971546813454453 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.66, Z:0.11 [[ 9.99355275e-01 3.58633777e-02 1.68877031e-03 2.29547754e+01] [-3.58633252e-02 9.99356702e-01 -6.13317497e-05 -1.66385643e+00] [-1.68988349e-03 7.27288821e-07 9.99998572e-01 1.06515735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502320588 meters 0.019911718518114394 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.67, Z:0.11 [[ 9.99332013e-01 3.64668932e-02 2.38591253e-03 2.29849923e+01] [-3.64667914e-02 9.99334862e-01 -8.61808102e-05 -1.66829689e+00] [-2.38746831e-03 -8.83331851e-07 9.99997150e-01 1.07006511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.532320587999997 meters 0.020143809922726866 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.67, Z:0.11 [[ 9.99319556e-01 3.68088945e-02 2.35148068e-03 2.30150474e+01] [-3.68087966e-02 9.99322323e-01 -8.49371080e-05 -1.67183584e+00] [-2.35301358e-03 -1.67586086e-06 9.99997232e-01 1.06029021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562320588 meters 0.020173275419776218 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.67, Z:0.11 [[ 9.99236485e-01 3.88220524e-02 4.39261497e-03 2.30455505e+01] [-3.88217300e-02 9.99246140e-01 -1.58664290e-04 -1.67179700e+00] [-4.39546323e-03 -1.19857651e-05 9.99990340e-01 1.05353351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592320588 meters 0.02015943345829281 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.67, Z:0.11 [[ 9.98983969e-01 4.40351316e-02 9.58835948e-03 2.30771416e+01] [-4.40338262e-02 9.99029980e-01 -3.47309524e-04 -1.67133931e+00] [-9.59435240e-03 -7.52555084e-05 9.99953970e-01 1.07351644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622320587999997 meters 0.020497022429415694 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.67, Z:0.11 [[ 9.98802018e-01 4.77454803e-02 1.07190720e-02 2.31096302e+01] [-4.77440443e-02 9.98859527e-01 -3.89962886e-04 -1.67460946e+00] [-1.07254661e-02 -1.22276131e-04 9.99942473e-01 1.08554853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.652320588 meters 0.020522353030857386 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.68, Z:0.11 [[ 9.98660260e-01 5.07234075e-02 1.02381959e-02 2.31413449e+01] [-5.07222396e-02 9.98712729e-01 -3.73864092e-04 -1.67786399e+00] [-1.02439802e-02 -1.45941013e-04 9.99947518e-01 1.10228762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682320588 meters 0.021271250832854426 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.68, Z:0.11 [[ 9.98333614e-01 5.72079509e-02 7.56604906e-03 2.31730616e+01] [-5.72074934e-02 9.98362272e-01 -2.77045040e-04 -1.67870002e+00] [-7.56950711e-03 -1.56251326e-04 9.99971339e-01 1.10227808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.712320588 meters 0.021511873417767974 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.68, Z:0.11 [[ 9.98164139e-01 6.00596580e-02 7.82233945e-03 2.32054019e+01] [-6.00592473e-02 9.98194773e-01 -2.87614803e-04 -1.67804947e+00] [-7.82549239e-03 -1.82717038e-04 9.99969364e-01 1.08737555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742320588 meters 0.021599142926752746 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.67, Z:0.11 [[ 9.98181410e-01 5.99423112e-02 6.38689513e-03 2.32381924e+01] [-5.99420287e-02 9.98201832e-01 -2.35817950e-04 -1.67480147e+00] [-6.38954589e-03 -1.47454357e-04 9.99979576e-01 1.07912482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772320588 meters 0.0211762392703006 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.67, Z:0.11 [[ 9.98330189e-01 5.75834530e-02 4.58036183e-03 2.32700677e+01] [-5.75832807e-02 9.98340692e-01 -1.69593320e-04 -1.67385524e+00] [-4.58252737e-03 -9.44421301e-05 9.99989496e-01 1.07981479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.802320588 meters 0.02097285110723146 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.67, Z:0.11 [[ 9.98513019e-01 5.44460095e-02 2.71706498e-03 2.33003825e+01] [-5.44459381e-02 9.98516715e-01 -1.00304567e-04 -1.67261141e+00] [-2.71849598e-03 -4.77777362e-05 9.99996304e-01 1.08593225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.832320587999998 meters 0.020502923442513855 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.67, Z:0.11 [[ 9.98834810e-01 4.81399521e-02 3.40098594e-03 2.33300665e+01] [-4.81398056e-02 9.98840600e-01 -1.24983636e-04 -1.67201161e+00] [-3.40305954e-03 -3.88847952e-05 9.99994209e-01 1.05933686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862320588 meters 0.020338136057149868 Centerline is valid? [True, True] Translation: X:23.36, Y:-1.67, Z:0.11 [[ 9.98956121e-01 4.53715981e-02 5.29966237e-03 2.33608771e+01] [-4.53712005e-02 9.98970178e-01 -1.95287718e-04 -1.67337597e+00] [-5.30306517e-03 -4.53681822e-05 9.99985938e-01 1.05301256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.892320588 meters 0.020162061342586753 Centerline is valid? [True, True] Translation: X:23.39, Y:-1.67, Z:0.11 [[ 9.99146867e-01 4.04387650e-02 8.38119894e-03 2.33919057e+01] [-4.04375896e-02 9.99182018e-01 -3.09729183e-04 -1.67265003e+00] [-8.38686833e-03 -2.94505397e-05 9.99964829e-01 1.05131081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.922320587999998 meters 0.01999004113939201 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.67, Z:0.11 [[ 9.99195544e-01 3.92380895e-02 8.28475452e-03 2.34243881e+01] [-3.92368878e-02 9.99229889e-01 -3.07595957e-04 -1.67098539e+00] [-8.29044382e-03 -1.77194743e-05 9.99965634e-01 1.06536066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952320588 meters 0.02005887476412728 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.67, Z:0.11 [[ 9.99255876e-01 3.78005945e-02 7.66878567e-03 2.34569066e+01] [-3.77995143e-02 9.99285302e-01 -2.85792553e-04 -1.66971192e+00] [-7.67410793e-03 -4.29648612e-06 9.99970554e-01 1.07608159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.982320588 meters 0.020032479333021033 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.68, Z:0.11 [[ 9.99459325e-01 3.26398343e-02 3.96208660e-03 2.34890221e+01] [-3.26395020e-02 9.99467178e-01 -1.48510981e-04 -1.67627169e+00] [-3.96482289e-03 1.91101514e-05 9.99992140e-01 1.08497045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.012320587999998 meters 0.020416844806082024 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.69, Z:0.11 [[ 9.99674629e-01 2.52488273e-02 3.62384381e-03 2.35202079e+01] [-2.52484999e-02 9.99681197e-01 -1.36067415e-04 -1.68969856e+00] [-3.62612406e-03 4.45265223e-05 9.99993425e-01 1.09093422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042320588 meters 0.02062173544538005 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.69, Z:0.11 [[ 9.99746414e-01 2.22180736e-02 3.66941419e-03 2.35523494e+01] [-2.22177152e-02 9.99753147e-01 -1.38407341e-04 -1.69341390e+00] [-3.67158352e-03 5.68462430e-05 9.99993258e-01 1.09914836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.072320588 meters 0.02099643765056782 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.70, Z:0.11 [[ 9.99799140e-01 1.95778390e-02 4.28815191e-03 2.35845452e+01] [-1.95773235e-02 9.99808333e-01 -1.62173931e-04 -1.69552837e+00] [-4.29050503e-03 7.81908198e-05 9.99990793e-01 1.10607540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.102320587999998 meters 0.02107246104707324 Centerline is valid? [True, True] Translation: X:23.62, Y:-1.70, Z:0.11 [[ 9.99827945e-01 1.79737167e-02 4.58541131e-03 2.36169135e+01] [-1.79731078e-02 9.99838456e-01 -1.73954384e-04 -1.69952705e+00] [-4.58779717e-03 9.15103619e-05 9.99989472e-01 1.09719506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132320588 meters 0.021423057836851903 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.71, Z:0.11 [[ 9.99827408e-01 1.70472774e-02 7.38544751e-03 2.36488278e+01] [-1.70456687e-02 9.99854673e-01 -2.80723527e-04 -1.71284861e+00] [-7.38915977e-03 1.54785185e-04 9.99972688e-01 1.09217574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.162320588 meters 0.021662488619519082 Centerline is valid? [True, True] Translation: X:23.68, Y:-1.72, Z:0.11 [[ 9.99811263e-01 1.58162986e-02 1.12820016e-02 2.36802415e+01] [-1.58124538e-02 9.99874883e-01 -4.29910281e-04 -1.72479337e+00] [-1.12873896e-02 2.51433011e-04 9.99936264e-01 1.07318654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.192320587999998 meters 0.022110490457050616 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.73, Z:0.10 [[ 9.99838816e-01 1.37665904e-02 1.15249202e-02 2.37124568e+01] [-1.37624256e-02 9.99905196e-01 -4.40605143e-04 -1.73080070e+00] [-1.15298933e-02 2.81923267e-04 9.99933489e-01 1.04205116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222320588 meters 0.02247670510898645 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.74, Z:0.10 [[ 9.99892191e-01 1.15387728e-02 9.08094779e-03 2.37447341e+01] [-1.15360838e-02 9.99933396e-01 -3.48440218e-04 -1.73854674e+00] [-9.08436353e-03 2.43644079e-04 9.99958707e-01 1.01869940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252320588 meters 0.02304228994067555 Centerline is valid? [True, True] Translation: X:23.78, Y:-1.75, Z:0.10 [[ 9.99939460e-01 8.77796775e-03 6.63504150e-03 2.37770019e+01] [-8.77646489e-03 9.99961453e-01 -2.55586877e-04 -1.74743205e+00] [-6.63702928e-03 1.97339195e-04 9.99977955e-01 1.01619114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.282320587999997 meters 0.023952809961013934 Centerline is valid? [True, True] Translation: X:23.81, Y:-1.76, Z:0.11 [[ 9.99989656e-01 3.39053475e-03 3.03176225e-03 2.38085527e+01] [-3.39019408e-03 9.99994246e-01 -1.17497853e-04 -1.76098987e+00] [-3.03214319e-03 1.07218375e-04 9.99995397e-01 1.06428972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312320588 meters 0.02394174451280674 Centerline is valid? [True, True] Translation: X:23.84, Y:-1.77, Z:0.11 [[ 9.99979236e-01 3.56441917e-03 5.36871918e-03 2.38402645e+01] [-3.56335235e-03 9.99993630e-01 -2.08262438e-04 -1.77288700e+00] [-5.36942731e-03 1.89127476e-04 9.99985567e-01 1.06689052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342320588 meters 0.023595843429656 Centerline is valid? [True, True] Translation: X:23.87, Y:-1.78, Z:0.11 [[ 9.99953765e-01 5.61266097e-03 7.80808966e-03 2.38721103e+01] [-5.61046140e-03 9.99984215e-01 -3.03579377e-04 -1.77928454e+00] [-7.80967030e-03 2.59758356e-04 9.99969470e-01 1.06310584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.372320587999997 meters 0.023085008608199446 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.78, Z:0.11 [[ 9.99930519e-01 8.06868107e-03 8.59375539e-03 2.39040093e+01] [-8.06609845e-03 9.99967412e-01 -3.35140101e-04 -1.78348437e+00] [-8.59617948e-03 2.65798738e-04 9.99963017e-01 1.05635203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.402320588 meters 0.022728316268590218 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.79, Z:0.11 [[ 9.99921325e-01 1.09975567e-02 6.03297359e-03 2.39357420e+01] [-1.09963314e-02 9.99939511e-01 -2.36235308e-04 -1.78620606e+00] [-6.03520667e-03 1.69876146e-04 9.99981774e-01 1.05481135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432320588 meters 0.02128547776399164 Centerline is valid? [True, True] Translation: X:23.97, Y:-1.80, Z:0.10 [[ 9.99796094e-01 2.01815855e-02 6.87861095e-04 2.39669682e+01] [-2.01815714e-02 9.99796331e-01 -2.74880510e-05 -1.79653007e+00] [-6.88275752e-04 1.36003282e-05 9.99999763e-01 1.04924480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.462320588 meters 0.02082163300210967 Centerline is valid? [True, True] Translation: X:24.00, Y:-1.81, Z:0.11 [[ 9.99571154e-01 2.82815068e-02 7.59369110e-03 2.39972382e+01] [-2.82800574e-02 9.99599995e-01 -2.98197339e-04 -1.81441708e+00] [-7.59908705e-03 8.33194380e-05 9.99971123e-01 1.05568057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.492320588 meters 0.02057894110068609 Centerline is valid? [True, True] Translation: X:24.03, Y:-1.82, Z:0.11 [[ 9.99400486e-01 3.30588955e-02 1.02848382e-02 2.40298488e+01] [-3.30564625e-02 9.99453403e-01 -4.06513080e-04 -1.81932192e+00] [-1.02926554e-02 6.62890006e-05 9.99947027e-01 1.08500988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522320588 meters 0.020355640112090775 Centerline is valid? [True, True] Translation: X:24.06, Y:-1.82, Z:0.11 [[ 9.99240704e-01 3.77390248e-02 9.68403919e-03 2.40617969e+01] [-3.77370775e-02 9.99287629e-01 -3.83797617e-04 -1.81929785e+00] [-9.69162471e-03 1.80588634e-05 9.99953035e-01 1.10638487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.552320588 meters 0.020197190896050942 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.82, Z:0.11 [[ 9.99045429e-01 4.29356201e-02 8.04758505e-03 2.40936223e+01] [-4.29344342e-02 9.99077841e-01 -3.20148934e-04 -1.81840623e+00] [-8.05390969e-03 -2.56751814e-05 9.99967566e-01 1.10877439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.582320587999998 meters 0.020932225613549616 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.82, Z:0.11 [[ 9.98592245e-01 5.28237991e-02 4.81390790e-03 2.41254551e+01] [-5.28234851e-02 9.98603847e-01 -1.92427121e-04 -1.82401424e+00] [-4.81735168e-03 -6.21311619e-05 9.99988395e-01 1.06573552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612320588 meters 0.02141924425113445 Centerline is valid? [True, True] Translation: X:24.16, Y:-1.83, Z:0.11 [[ 9.98378528e-01 5.66803576e-02 5.25849919e-03 2.41574413e+01] [-5.66800333e-02 9.98392372e-01 -2.10810402e-04 -1.82913360e+00] [-5.26199429e-03 -8.75833294e-05 9.99986152e-01 1.05596253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.642320588 meters 0.02206959122089239 Centerline is valid? [True, True] Translation: X:24.19, Y:-1.83, Z:0.11 [[ 9.98029944e-01 6.23433106e-02 7.03869648e-03 2.41891798e+01] [-6.23428681e-02 9.98054752e-01 -2.82475866e-04 -1.82919627e+00] [-7.04261495e-03 -1.56893154e-04 9.99975188e-01 1.06524671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.672320587999998 meters 0.02206959122089239 Centerline is valid? [True, True] Translation: X:24.22, Y:-1.83, Z:0.11 [[ 9.98017772e-01 6.25378629e-02 7.03862172e-03 2.42216620e+01] [-6.25374121e-02 9.98042580e-01 -2.84336383e-04 -1.83044785e+00] [-7.04262597e-03 -1.56404423e-04 9.99975188e-01 1.06688533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702320588 meters 0.02241489973653183 Centerline is valid? [True, True] Translation: X:24.25, Y:-1.83, Z:0.11 [[ 9.97798957e-01 6.59536710e-02 6.88151627e-03 2.42538768e+01] [-6.59533173e-02 9.97822671e-01 -2.78564508e-04 -1.82938270e+00] [-6.88490530e-03 -1.75907451e-04 9.99976283e-01 1.07164755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.732320588 meters 0.02319371547138339 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.83, Z:0.11 [[ 9.97477287e-01 7.05522709e-02 7.83829396e-03 2.42857023e+01] [-7.05519499e-02 9.97508056e-01 -3.17794207e-04 -1.82771600e+00] [-7.84118247e-03 -2.36014419e-04 9.99969230e-01 1.08868567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.762320587999998 meters 0.02310764403086808 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.83, Z:0.11 [[ 9.97431664e-01 7.09104757e-02 1.00886588e-02 2.43181870e+01] [-7.09099492e-02 9.97482637e-01 -4.10329978e-04 -1.82608454e+00] [-1.00923587e-02 -3.06110171e-04 9.99949024e-01 1.09692051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792320588 meters 0.0230255147311808 Centerline is valid? [True, True] Translation: X:24.35, Y:-1.82, Z:0.11 [[ 9.97510839e-01 6.95884895e-02 1.13828132e-02 2.43504200e+01] [-6.95877176e-02 9.97575728e-01 -4.64339787e-04 -1.82389266e+00] [-1.13875309e-02 -3.28920021e-04 9.99935106e-01 1.09789435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.822320588 meters 0.02254572645967941 Centerline is valid? [True, True] Translation: X:24.38, Y:-1.82, Z:0.11 [[ 9.97730057e-01 6.70529704e-02 6.21548644e-03 2.43831678e+01] [-6.70526800e-02 9.97749404e-01 -2.55337633e-04 -1.82141150e+00] [-6.21861904e-03 -1.62006992e-04 9.99980651e-01 1.09194255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.852320587999998 meters 0.022154022486912686 Centerline is valid? [True, True] Translation: X:24.42, Y:-1.82, Z:0.11 [[ 9.97883774e-01 6.49529130e-02 3.01525158e-03 2.44153601e+01] [-6.49528333e-02 9.97888327e-01 -1.24451776e-04 -1.82137425e+00] [-3.01696786e-03 -7.16607258e-05 9.99995446e-01 1.08735390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882320588 meters 0.02188850838064946 Centerline is valid? [True, True] Translation: X:24.45, Y:-1.82, Z:0.11 [[ 9.98029933e-01 6.27257040e-02 -1.31867862e-03 2.44476685e+01] [-6.27256879e-02 9.98030804e-01 5.36545496e-05 -1.82045873e+00] [ 1.31944740e-03 2.91661771e-05 9.99999129e-01 1.08838870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.912320588 meters 0.021588955062386055 Centerline is valid? [True, True] Translation: X:24.48, Y:-1.82, Z:0.11 [[ 9.98154698e-01 6.06608053e-02 -2.73241791e-03 2.44788183e+01] [-6.06607248e-02 9.98158436e-01 1.12391370e-04 -1.81887768e+00] [ 2.73420374e-03 5.35664776e-05 9.99996261e-01 1.09710763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.942320587999998 meters 0.02114613546490854 Centerline is valid? [True, True] Translation: X:24.51, Y:-1.82, Z:0.11 [[ 9.98337055e-01 5.74491416e-02 4.76671754e-03 2.45090069e+01] [-5.74488573e-02 9.98348431e-01 -1.96641761e-04 -1.81591437e+00] [-4.77014188e-03 -7.75277195e-05 9.99988620e-01 1.12324381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972320588 meters 0.020952859357459507 Centerline is valid? [True, True] Translation: X:24.54, Y:-1.82, Z:0.11 [[ 9.98442215e-01 5.52994462e-02 7.42396164e-03 2.45415775e+01] [-5.52986850e-02 9.98469810e-01 -3.07928276e-04 -1.81598012e+00] [-7.42962983e-03 -1.03086726e-04 9.99972395e-01 1.13806837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002320588 meters 0.02077217749584961 Centerline is valid? [True, True] Translation: X:24.57, Y:-1.82, Z:0.11 [[ 9.98570695e-01 5.28768973e-02 7.78462971e-03 2.45739441e+01] [-5.28759787e-02 9.98601034e-01 -3.23904595e-04 -1.81546162e+00] [-7.79086635e-03 -8.81782779e-05 9.99969647e-01 1.14673685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.032320587999997 meters 0.020707706456843916 Centerline is valid? [True, True] Translation: X:24.61, Y:-1.81, Z:0.11 [[ 9.98660109e-01 5.13700008e-02 6.25382254e-03 2.46063572e+01] [-5.13693723e-02 9.98679688e-01 -2.61185302e-04 -1.81405802e+00] [-6.25898264e-03 -6.04195964e-05 9.99980411e-01 1.12869245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062320588 meters 0.020518256956494285 Centerline is valid? [True, True] Translation: X:24.64, Y:-1.81, Z:0.11 [[ 9.98753632e-01 4.97182096e-02 4.39118487e-03 2.46383524e+01] [-4.97178802e-02 9.98763284e-01 -1.84195903e-04 -1.81324124e+00] [-4.39491211e-03 -3.43540763e-05 9.99990342e-01 1.08535248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092320588 meters 0.020554670562333115 Centerline is valid? [True, True] Translation: X:24.67, Y:-1.82, Z:0.11 [[ 9.98745160e-01 4.96428729e-02 6.60984288e-03 2.46705767e+01] [-4.96421214e-02 9.98767031e-01 -2.77825083e-04 -1.81649971e+00] [-6.61548519e-03 -5.06501656e-05 9.99978116e-01 1.08030871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.122320587999997 meters 0.02058288371730614 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.82, Z:0.11 [[ 9.98718479e-01 4.99361560e-02 8.23288646e-03 2.47023596e+01] [-4.99349922e-02 9.98752410e-01 -3.46985286e-04 -1.81999409e+00] [-8.23994230e-03 -6.45685039e-05 9.99966049e-01 1.10137219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.152320588 meters 0.020491619841187 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.82, Z:0.11 [[ 9.98700055e-01 5.01059191e-02 9.35935819e-03 2.47347119e+01] [-5.01044115e-02 9.98743907e-01 -3.95637855e-04 -1.82243528e+00] [-9.36742577e-03 -7.38215869e-05 9.99956122e-01 1.12620151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182320588 meters 0.02047223815537883 Centerline is valid? [True, True] Translation: X:24.77, Y:-1.82, Z:0.12 [[ 9.98757542e-01 4.94732930e-02 5.98037749e-03 2.47667396e+01] [-4.94726598e-02 9.98775446e-01 -2.53865360e-04 -1.82229189e+00] [-5.98561375e-03 -4.23152379e-05 9.99982085e-01 1.15302787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.212320588 meters 0.02055039522784833 Centerline is valid? [True, True] Translation: X:24.80, Y:-1.82, Z:0.11 [[ 9.98686294e-01 5.09580756e-02 5.38145669e-03 2.47996181e+01] [-5.09575762e-02 9.98700792e-01 -2.29957744e-04 -1.82294161e+00] [-5.38618327e-03 -4.45703426e-05 9.99985493e-01 1.14174853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.242320588 meters 0.020836547888385678 Centerline is valid? [True, True] Translation: X:24.83, Y:-1.82, Z:0.11 [[ 9.98538199e-01 5.36255057e-02 6.76542492e-03 2.48318489e+01] [-5.36247756e-02 9.98561115e-01 -2.89390770e-04 -1.82368706e+00] [-6.77120897e-03 -7.38266547e-05 9.99977072e-01 1.12969345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272320588 meters 0.021020453171063908 Centerline is valid? [True, True] Translation: X:24.86, Y:-1.82, Z:0.11 [[ 9.98451839e-01 5.51454263e-02 7.27376908e-03 2.48640940e+01] [-5.51446160e-02 9.98478329e-01 -3.12061148e-04 -1.82414953e+00] [-7.27990955e-03 -8.95311764e-05 9.99973497e-01 1.13444045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.302320588 meters 0.021088135463367075 Centerline is valid? [True, True] Translation: X:24.90, Y:-1.82, Z:0.11 [[ 9.98316706e-01 5.76404310e-02 6.42919720e-03 2.48967298e+01] [-5.76398436e-02 9.98337404e-01 -2.76772023e-04 -1.82360900e+00] [-6.43446130e-03 -9.42717867e-05 9.99979294e-01 1.14379877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.332320587999998 meters 0.021168921847801187 Centerline is valid? [True, True] Translation: X:24.93, Y:-1.82, Z:0.12 [[ 9.98158184e-01 6.03720335e-02 5.95468438e-03 2.49289963e+01] [-6.03715732e-02 9.98175940e-01 -2.57190280e-04 -1.82182972e+00] [-5.95934978e-03 -1.02777081e-04 9.99982238e-01 1.15707412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362320588 meters 0.021784243172626484 Centerline is valid? [True, True] Translation: X:24.96, Y:-1.82, Z:0.12 [[ 9.97851557e-01 6.53958853e-02 3.95588531e-03 2.49610915e+01] [-6.53957186e-02 9.97859394e-01 -1.71609381e-04 -1.81706346e+00] [-3.95863987e-03 -8.74572746e-05 9.99992161e-01 1.16624016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.392320588 meters 0.02180838279451006 Centerline is valid? [True, True] Translation: X:24.99, Y:-1.82, Z:0.12 [[ 9.97756670e-01 6.67796043e-02 4.70228129e-03 2.49934334e+01] [-6.67793818e-02 9.97767745e-01 -2.04480139e-04 -1.81757642e+00] [-4.70543970e-03 -1.09994015e-04 9.99988923e-01 1.17292208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.422320587999998 meters 0.021764597771859785 Centerline is valid? [True, True] Translation: X:25.03, Y:-1.82, Z:0.12 [[ 9.97773489e-01 6.64957734e-02 5.13576808e-03 2.50253511e+01] [-6.64955011e-02 9.97786700e-01 -2.23944240e-04 -1.81944678e+00] [-5.13929243e-03 -1.18059846e-04 9.99986787e-01 1.17994663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452320588 meters 0.021651574966211957 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.82, Z:0.12 [[ 9.97876902e-01 6.46439481e-02 7.92774973e-03 2.50572351e+01] [-6.46432353e-02 9.97908379e-01 -3.46388564e-04 -1.82162944e+00] [-7.93355980e-03 -1.66822244e-04 9.99968515e-01 1.17918596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.482320588 meters 0.02088555899348737 Centerline is valid? [True, True] Translation: X:25.09, Y:-1.82, Z:0.12 [[ 9.98375142e-01 5.63324723e-02 8.58655564e-03 2.50894984e+01] [-5.63313092e-02 9.98412060e-01 -3.77444152e-04 -1.81955921e+00] [-8.59418307e-03 -1.06861062e-04 9.99963064e-01 1.15994423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.512320587999998 meters 0.020716018150922978 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.82, Z:0.12 [[ 9.98613897e-01 5.22784641e-02 6.10295151e-03 2.51219599e+01] [-5.22777963e-02 9.98632545e-01 -2.69005358e-04 -1.81627942e+00] [-6.10866919e-03 -5.04163674e-05 9.99981341e-01 1.15225170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542320588 meters 0.02041533436915469 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.81, Z:0.11 [[ 9.98779951e-01 4.92004986e-02 4.23335201e-03 2.51539098e+01] [-4.92001463e-02 9.98788922e-01 -1.87375588e-04 -1.81367186e+00] [-4.23744406e-03 -2.11345576e-05 9.99991022e-01 1.13881972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.572320588 meters 0.020258824429089745 Centerline is valid? [True, True] Translation: X:25.19, Y:-1.81, Z:0.12 [[ 9.99084984e-01 4.27604903e-02 8.56988136e-04 2.51866523e+01] [-4.27604730e-02 9.99085352e-01 -3.86024426e-05 -1.81026368e+00] [-8.57854953e-04 1.92190275e-06 9.99999632e-01 1.15166043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.602320587999998 meters 0.020325429356043725 Centerline is valid? [True, True] Translation: X:25.22, Y:-1.81, Z:0.12 [[ 9.99201354e-01 3.98788129e-02 2.51696209e-03 2.52178866e+01] [-3.98786577e-02 9.99204524e-01 -1.11846967e-04 -1.80905095e+00] [-2.51942023e-03 1.13845713e-05 9.99996826e-01 1.16496665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632320588 meters 0.02025029142412592 Centerline is valid? [True, True] Translation: X:25.25, Y:-1.81, Z:0.12 [[ 9.99228502e-01 3.90149816e-02 4.49792559e-03 2.52495602e+01] [-3.90144769e-02 9.99238625e-01 -1.99913278e-04 -1.80762339e+00] [-4.50230060e-03 2.42748315e-05 9.99989864e-01 1.17169621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662320588 meters 0.020272472988447365 Centerline is valid? [True, True] Translation: X:25.28, Y:-1.81, Z:0.11 [[ 9.99199876e-01 3.91725838e-02 8.06950628e-03 2.52819304e+01] [-3.91709555e-02 9.99232459e-01 -3.59791423e-04 -1.80809463e+00] [-8.07740656e-03 4.34132741e-05 9.99967376e-01 1.14934466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.692320587999998 meters 0.02038213772539375 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.81, Z:0.11 [[ 9.99202659e-01 3.93541587e-02 6.73020038e-03 2.53143655e+01] [-3.93530233e-02 9.99225324e-01 -3.01091229e-04 -1.81236611e+00] [-6.73683585e-03 3.59974244e-05 9.99977307e-01 1.13471614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722320588 meters 0.02034683448606788 Centerline is valid? [True, True] Translation: X:25.35, Y:-1.82, Z:0.11 [[ 9.99192066e-01 3.99848543e-02 4.05305475e-03 2.53462346e+01] [-3.99844444e-02 9.99200286e-01 -1.82129962e-04 -1.81647660e+00] [-4.05709590e-03 1.99236712e-05 9.99991770e-01 1.13812569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752320588 meters 0.020295641638326842 Centerline is valid? [True, True] Translation: X:25.38, Y:-1.82, Z:0.12 [[ 9.99157960e-01 4.09030938e-02 3.21072298e-03 2.53782903e+01] [-4.09028394e-02 9.99163118e-01 -1.44855745e-04 -1.81561696e+00] [-3.21396103e-03 1.34060847e-05 9.99994835e-01 1.15124149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782320587999997 meters 0.020190347948274366 Centerline is valid? [True, True] Translation: X:25.41, Y:-1.82, Z:0.12 [[ 9.99100395e-01 4.22830792e-02 3.24673546e-03 2.54105129e+01] [-4.22828251e-02 9.99105671e-01 -1.46899452e-04 -1.81567219e+00] [-3.25004318e-03 9.48615268e-06 9.99994719e-01 1.15844635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812320588 meters 0.020136182928708033 Centerline is valid? [True, True] Translation: X:25.44, Y:-1.82, Z:0.12 [[ 9.99047173e-01 4.36067440e-02 1.78837962e-03 2.54414761e+01] [-4.36066684e-02 9.99048774e-01 -8.12328477e-05 -1.81717902e+00] [-1.79022077e-03 3.17016976e-06 9.99998398e-01 1.15964231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842320588 meters 0.020206927140167263 Centerline is valid? [True, True] Translation: X:25.47, Y:-1.82, Z:0.11 [[ 9.99025818e-01 4.41278742e-02 -3.81667713e-04 2.54726670e+01] [-4.41278709e-02 9.99025891e-01 1.69106688e-05 -1.82088495e+00] [ 3.82042159e-04 -5.20111390e-08 9.99999927e-01 1.14957519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.872320587999997 meters 0.02038084761347219 Centerline is valid? [True, True] Translation: X:25.50, Y:-1.83, Z:0.11 [[ 9.99053216e-01 4.34993836e-02 6.89770109e-04 2.55031322e+01] [-4.34993724e-02 9.99053454e-01 -3.11827618e-05 -1.82711593e+00] [-6.90473640e-04 1.14867154e-06 9.99999762e-01 1.13700023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902320588 meters 0.020402646514219403 Centerline is valid? [True, True] Translation: X:25.53, Y:-1.83, Z:0.11 [[ 9.99093481e-01 4.24656610e-02 2.98046417e-03 2.55344908e+01] [-4.24654464e-02 9.99097927e-01 -1.35274612e-04 -1.82760087e+00] [-2.98352010e-03 8.58524116e-06 9.99995549e-01 1.14560257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932320588 meters 0.020423594055479947 Centerline is valid? [True, True] Translation: X:25.57, Y:-1.83, Z:0.12 [[ 9.99105247e-01 4.18869653e-02 5.84696471e-03 2.55668757e+01] [-4.18861249e-02 9.99122356e-01 -2.66171188e-04 -1.82661684e+00] [-5.85298225e-03 2.10263370e-05 9.99982871e-01 1.15056374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962320588 meters 0.020431869857906033 Centerline is valid? [True, True] Translation: X:25.60, Y:-1.83, Z:0.11 [[ 9.98967915e-01 4.44131848e-02 9.51698447e-03 2.55990704e+01] [-4.44110647e-02 9.99013248e-01 -4.34088951e-04 -1.82530353e+00] [-9.52687284e-03 1.09815210e-05 9.99954618e-01 1.12754992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.992320588 meters 0.020537102706658743 Centerline is valid? [True, True] Translation: X:25.63, Y:-1.83, Z:0.11 [[ 9.98878830e-01 4.65457620e-02 8.63565863e-03 2.56309038e+01] [-4.65440857e-02 9.98916159e-01 -3.95090227e-04 -1.82790983e+00] [-8.64468872e-03 -7.29157223e-06 9.99962634e-01 1.12252355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022320588 meters 0.02048300273431016 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.83, Z:0.11 [[ 9.98745002e-01 4.96934118e-02 6.24383703e-03 2.56627295e+01] [-4.96925883e-02 9.98764519e-01 -2.87062454e-04 -1.83073475e+00] [-6.25038800e-03 -2.35702314e-05 9.99980466e-01 1.12159626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.052320588 meters 0.020578369035403287 Centerline is valid? [True, True] Translation: X:25.69, Y:-1.83, Z:0.11 [[ 9.98626037e-01 5.22945244e-02 3.36472685e-03 2.56944124e+01] [-5.22942977e-02 9.98631705e-01 -1.55379703e-04 -1.83313083e+00] [-3.36824842e-03 -2.07898110e-05 9.99994327e-01 1.12955353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.082320587999998 meters 0.020531733785284455 Centerline is valid? [True, True] Translation: X:25.73, Y:-1.84, Z:0.12 [[ 9.98530676e-01 5.41433232e-02 2.23378718e-03 2.57262785e+01] [-5.41432267e-02 9.98533174e-01 -1.03689373e-04 -1.83501273e+00] [-2.23612469e-03 -1.74074260e-05 9.99997500e-01 1.15074654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112320588 meters 0.020615447760823198 Centerline is valid? [True, True] Translation: X:25.76, Y:-1.84, Z:0.12 [[ 9.98496977e-01 5.46951685e-02 3.49658439e-03 2.57576379e+01] [-5.46949372e-02 9.98503098e-01 -1.61812907e-04 -1.83747531e+00] [-3.50020073e-03 -2.96757652e-05 9.99993874e-01 1.16899076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.142320588 meters 0.020548749095656255 Centerline is valid? [True, True] Translation: X:25.79, Y:-1.84, Z:0.12 [[ 9.98453280e-01 5.53866516e-02 4.83379773e-03 2.57898559e+01] [-5.53862134e-02 9.98464980e-01 -2.24570694e-04 -1.83982545e+00] [-4.83881597e-03 -4.35024063e-05 9.99988292e-01 1.18171803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.172320587999998 meters 0.02069512991635583 Centerline is valid? [True, True] Translation: X:25.82, Y:-1.84, Z:0.12 [[ 9.98386710e-01 5.63783092e-02 6.74272471e-03 2.58220242e+01] [-5.63774749e-02 9.98409476e-01 -3.13900948e-04 -1.84013777e+00] [-6.74969745e-03 -6.67432584e-05 9.99977218e-01 1.18482868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202320588 meters 0.020916647208252256 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.83, Z:0.12 [[ 9.98315492e-01 5.73391784e-02 8.85419530e-03 2.58542980e+01] [-5.73377688e-02 9.98354751e-01 -4.13177070e-04 -1.83115351e+00] [-8.86331918e-03 -9.51987332e-05 9.99960715e-01 1.17040205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.232320588 meters 0.020956809490930848 Centerline is valid? [True, True] Translation: X:25.89, Y:-1.83, Z:0.12 [[ 9.98238543e-01 5.86537330e-02 8.91908265e-03 2.58864879e+01] [-5.86523446e-02 9.98278382e-01 -4.17387388e-04 -1.82847972e+00] [-8.92820873e-03 -1.06472931e-04 9.99960137e-01 1.16330308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.262320587999998 meters 0.020911082334760068 Centerline is valid? [True, True] Translation: X:25.92, Y:-1.83, Z:0.12 [[ 9.98181539e-01 5.98686715e-02 7.02544796e-03 2.59186184e+01] [-5.98678324e-02 9.98206258e-01 -3.29862781e-04 -1.82875095e+00] [-7.03259457e-03 -9.13354028e-05 9.99975267e-01 1.16480965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292320588 meters 0.020916111907933497 Centerline is valid? [True, True] Translation: X:25.95, Y:-1.83, Z:0.12 [[ 9.98061517e-01 6.19684996e-02 5.75447951e-03 2.59507377e+01] [-6.19679663e-02 9.98078102e-01 -2.71099614e-04 -1.83132761e+00] [-5.76021962e-03 -8.60192999e-05 9.99983406e-01 1.16745678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.322320588 meters 0.02125783074918323 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.83, Z:0.12 [[ 9.97878150e-01 6.50787678e-02 1.98802586e-03 2.59823862e+01] [-6.50787094e-02 9.97880129e-01 -9.41320660e-05 -1.83275192e+00] [-1.98993750e-03 -3.54458254e-05 9.99998019e-01 1.18166793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.352320587999998 meters 0.021310538289481044 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.83, Z:0.12 [[ 9.97824664e-01 6.59199781e-02 7.04185574e-04 2.60132033e+01] [-6.59199711e-02 9.97824913e-01 -3.31624134e-05 -1.83195642e+00] [-7.04839975e-04 -1.33296186e-05 9.99999752e-01 1.18834997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382320588 meters 0.021451501695826703 Centerline is valid? [True, True] Translation: X:26.04, Y:-1.83, Z:0.12 [[ 9.97787296e-01 6.64772507e-02 1.13458909e-03 2.60442592e+01] [-6.64772329e-02 9.97787941e-01 -5.34315296e-05 -1.83048003e+00] [-1.13563129e-03 -2.21110415e-05 9.99999355e-01 1.18576367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412320588 meters 0.02135558068712408 Centerline is valid? [True, True] Translation: X:26.08, Y:-1.83, Z:0.12 [[ 9.97809503e-01 6.60919906e-02 2.83621240e-03 2.60750098e+01] [-6.60918779e-02 9.97813533e-01 -1.33566565e-04 -1.82993279e+00] [-2.83883880e-03 -5.41766159e-05 9.99995969e-01 1.18937302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.442320587999998 meters 0.021330920291797565 Centerline is valid? [True, True] Translation: X:26.11, Y:-1.83, Z:0.12 [[ 9.97766006e-01 6.63395429e-02 7.87796876e-03 2.61065130e+01] [-6.63386738e-02 9.97797095e-01 -3.71861361e-04 -1.83121567e+00] [-7.88528345e-03 -1.51583375e-04 9.99968899e-01 1.18300674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472320588 meters 0.02141604657837568 Centerline is valid? [True, True] Translation: X:26.14, Y:-1.83, Z:0.12 [[ 9.97702167e-01 6.72329508e-02 8.37357082e-03 2.61381907e+01] [-6.72319921e-02 9.97737291e-01 -3.96250053e-04 -1.83225765e+00] [-8.38126493e-03 -1.67632311e-04 9.99964863e-01 1.18898279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502320588 meters 0.021502655611370682 Centerline is valid? [True, True] Translation: X:26.17, Y:-1.83, Z:0.12 [[ 9.97654455e-01 6.78452300e-02 9.08916770e-03 2.61708668e+01] [-6.78441137e-02 9.97695840e-01 -4.31446897e-04 -1.83088230e+00] [-9.09749643e-03 -1.86211608e-04 9.99958600e-01 1.19193179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.532320587999997 meters 0.02122540315576776 Centerline is valid? [True, True] Translation: X:26.20, Y:-1.82, Z:0.12 [[ 9.97791781e-01 6.57449724e-02 9.44244525e-03 2.62030241e+01] [-6.57436620e-02 9.97836444e-01 -4.49446572e-04 -1.82415408e+00] [-9.45156485e-03 -1.72326833e-04 9.99955318e-01 1.20021077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562320588 meters 0.02122540315576776 Centerline is valid? [True, True] Translation: X:26.23, Y:-1.83, Z:0.12 [[ 9.97783013e-01 6.58779131e-02 9.44238525e-03 2.62346737e+01] [-6.58765967e-02 9.97827676e-01 -4.50706285e-04 -1.82562745e+00] [-9.45156492e-03 -1.72325130e-04 9.99955318e-01 1.20180741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592320588 meters 0.021114310312342482 Centerline is valid? [True, True] Translation: X:26.27, Y:-1.83, Z:0.12 [[ 9.97889107e-01 6.44464531e-02 7.99906020e-03 2.62669647e+01] [-6.44454530e-02 9.97921158e-01 -3.82987118e-04 -1.82638608e+00] [-8.00711358e-03 -1.33324385e-04 9.99967934e-01 1.20380260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.622320587999997 meters 0.020987852180724353 Centerline is valid? [True, True] Translation: X:26.30, Y:-1.83, Z:0.12 [[ 9.97979135e-01 6.32471784e-02 6.11886853e-03 2.62991522e+01] [-6.32465647e-02 9.97997889e-01 -2.93938745e-04 -1.82991978e+00] [-6.12520867e-03 -9.36526794e-05 9.99981236e-01 1.20599075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.652320588 meters 0.020749576002751284 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.83, Z:0.12 [[ 9.98159956e-01 6.00345848e-02 8.51763767e-03 2.63315062e+01] [-6.00332710e-02 9.98196292e-01 -4.10068749e-04 -1.83366905e+00] [-8.52689265e-03 -1.02027446e-04 9.99963640e-01 1.19629908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682320588 meters 0.02029837573346173 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.83, Z:0.12 [[ 9.98765869e-01 4.80617710e-02 1.25222211e-02 2.63635338e+01] [-4.80579721e-02 9.98844365e-01 -6.04272319e-04 -1.83220215e+00] [-1.25367924e-02 1.73401212e-06 9.99921411e-01 1.21151234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.712320587999997 meters 0.020589821819652986 Centerline is valid? [True, True] Translation: X:26.40, Y:-1.83, Z:0.12 [[ 9.99048128e-01 4.08060005e-02 1.54177973e-02 2.63951644e+01] [-4.07993590e-02 9.99167082e-01 -7.45188620e-04 -1.83265415e+00] [-1.54353637e-02 1.15443047e-04 9.99880861e-01 1.20437451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.742320588 meters 0.02105588926597259 Centerline is valid? [True, True] Translation: X:26.43, Y:-1.84, Z:0.12 [[ 9.99273571e-01 3.51715935e-02 1.46727551e-02 2.64267189e+01] [-3.51649407e-02 9.99381269e-01 -7.11242161e-04 -1.83722415e+00] [-1.46886921e-02 1.94758933e-04 9.99892096e-01 1.20299060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772320588 meters 0.021589306230122902 Centerline is valid? [True, True] Translation: X:26.46, Y:-1.84, Z:0.12 [[ 9.99422128e-01 3.07932151e-02 1.43940136e-02 2.64588536e+01] [-3.07863319e-02 9.99525744e-01 -6.99593350e-04 -1.84315203e+00] [-1.44087298e-02 2.56050196e-04 9.99896156e-01 1.17562329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.802320588 meters 0.02195294980473228 Centerline is valid? [True, True] Translation: X:26.49, Y:-1.85, Z:0.12 [[ 9.99590563e-01 2.71417620e-02 9.05709316e-03 2.64908926e+01] [-2.71388745e-02 9.99631575e-01 -4.41580459e-04 -1.84696377e+00] [-9.06574158e-03 1.95600344e-04 9.99958886e-01 1.16281131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.832320587999998 meters 0.021817674401116937 Centerline is valid? [True, True] Translation: X:26.52, Y:-1.85, Z:0.12 [[ 9.99607806e-01 2.76189920e-02 4.62885807e-03 2.65228541e+01] [-2.76182387e-02 9.99618518e-01 -2.26594251e-04 -1.84675438e+00] [-4.63335055e-03 9.86644744e-05 9.99989261e-01 1.16352821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862320588 meters 0.021616073930379336 Centerline is valid? [True, True] Translation: X:26.55, Y:-1.85, Z:0.12 [[ 9.99568614e-01 2.93696403e-02 1.04468525e-04 2.65545458e+01] [-2.93696399e-02 9.99568619e-01 -5.75719899e-06 -1.85489558e+00] [-1.04592546e-04 2.68651245e-06 9.99999995e-01 1.15765568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.892320588 meters 0.021639887449051272 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.86, Z:0.12 [[ 9.99577367e-01 2.89782334e-02 2.31279397e-03 2.65845890e+01] [-2.89780490e-02 9.99580042e-01 -1.13190575e-04 -1.86335468e+00] [-2.31510276e-03 4.61224803e-05 9.99997319e-01 1.17499734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.922320587999998 meters 0.02174119683790653 Centerline is valid? [True, True] Translation: X:26.62, Y:-1.87, Z:0.12 [[ 9.99588579e-01 2.82031404e-02 5.22072608e-03 2.66156943e+01] [-2.82021869e-02 9.99602206e-01 -2.56166313e-04 -1.86954912e+00] [-5.22587400e-03 1.08825028e-04 9.99986339e-01 1.19476750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952320588 meters 0.02204079852918552 Centerline is valid? [True, True] Translation: X:26.65, Y:-1.87, Z:0.12 [[ 9.99620192e-01 2.69133234e-02 5.92823954e-03 2.66480782e+01] [-2.69120652e-02 9.99637762e-01 -2.91924058e-04 -1.87278421e+00] [-5.93394876e-03 1.32272014e-04 9.99982385e-01 1.20869691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.982320588 meters 0.022608567287087288 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.88, Z:0.12 [[ 9.99712951e-01 2.35068274e-02 4.63090999e-03 2.66797958e+01] [-2.35060197e-02 9.99723669e-01 -2.28760673e-04 -1.87865588e+00] [-4.63500776e-03 1.19840746e-04 9.99989251e-01 1.17425421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.012320587999998 meters 0.02271838501009313 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.88, Z:0.12 [[ 9.99715691e-01 2.31045410e-02 5.89208920e-03 2.67113371e+01] [-2.31032232e-02 9.99733042e-01 -2.91633926e-04 -1.88464455e+00] [-5.89725433e-03 1.55424760e-04 9.99982599e-01 1.15034379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042320588 meters 0.022626492994958145 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.89, Z:0.11 [[ 9.99669088e-01 2.39667705e-02 9.34385414e-03 2.67430295e+01] [-2.39634864e-02 9.99712727e-01 -4.63295919e-04 -1.89133469e+00] [-9.35227361e-03 2.39231288e-04 9.99956238e-01 1.14794564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.072320588 meters 0.022599728074122926 Centerline is valid? [True, True] Translation: X:26.78, Y:-1.90, Z:0.12 [[ 9.99622142e-01 2.47451740e-02 1.19686696e-02 2.67750479e+01] [-2.47398249e-02 9.99693747e-01 -5.94801727e-04 -1.89738383e+00] [-1.19797227e-02 2.98474186e-04 9.99928196e-01 1.15568912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.102320587999998 meters 0.022239582239389523 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.91, Z:0.12 [[ 9.99597306e-01 2.68651931e-02 9.13716456e-03 2.68062987e+01] [-2.68621520e-02 9.99639044e-01 -4.55406060e-04 -1.90808320e+00] [-9.14610101e-03 2.09778767e-04 9.99958152e-01 1.17603036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132320588 meters 0.02179046005129694 Centerline is valid? [True, True] Translation: X:26.84, Y:-1.92, Z:0.12 [[ 9.99565336e-01 2.89968746e-02 5.32177820e-03 2.68382529e+01] [-2.89958664e-02 9.99579496e-01 -2.66526765e-04 -1.91683604e+00] [-5.32726882e-03 1.12101345e-04 9.99985804e-01 1.17241637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162320588 meters 0.02156100302456047 Centerline is valid? [True, True] Translation: X:26.87, Y:-1.92, Z:0.12 [[ 9.99452296e-01 3.28356563e-02 4.11441696e-03 2.68696956e+01] [-3.28350838e-02 9.99460762e-01 -2.06633482e-04 -1.92469187e+00] [-4.11898326e-03 7.14230826e-05 9.99991514e-01 1.16897760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.192320587999998 meters 0.020817591379630827 Centerline is valid? [True, True] Translation: X:26.90, Y:-1.93, Z:0.12 [[ 9.99048082e-01 4.25710856e-02 9.52014234e-03 2.69015092e+01] [-4.25684585e-02 9.99093438e-01 -4.78515533e-04 -1.93084642e+00] [-9.53188267e-03 7.28022416e-05 9.99954568e-01 1.19331187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222320588 meters 0.020659735929809592 Centerline is valid? [True, True] Translation: X:26.93, Y:-1.93, Z:0.12 [[ 9.98808764e-01 4.72726843e-02 1.20973333e-02 2.69332257e+01] [-4.72687692e-02 9.98882021e-01 -6.09513622e-04 -1.93344514e+00] [-1.21126221e-02 3.69614898e-05 9.99926639e-01 1.20727156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252320588 meters 0.020523626923613196 Centerline is valid? [True, True] Translation: X:26.97, Y:-1.94, Z:0.12 [[ 9.98579379e-01 5.18875474e-02 1.21205286e-02 2.69660827e+01] [-5.18839230e-02 9.98652934e-01 -6.13495045e-04 -1.93712863e+00] [-1.21360342e-02 -1.62370720e-05 9.99926355e-01 1.21246607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.282320587999997 meters 0.02100126487990169 Centerline is valid? [True, True] Translation: X:27.00, Y:-1.95, Z:0.12 [[ 9.98252614e-01 5.76355006e-02 1.30333319e-02 2.69980266e+01] [-5.76317819e-02 9.98337689e-01 -6.61042940e-04 -1.94695231e+00] [-1.30497660e-02 -9.12462999e-05 9.99914844e-01 1.17491706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312320588 meters 0.021264381546147144 Centerline is valid? [True, True] Translation: X:27.03, Y:-1.95, Z:0.12 [[ 9.98171863e-01 5.84004786e-02 1.55664791e-02 2.70301277e+01] [-5.83952360e-02 9.98293228e-01 -7.91493349e-04 -1.95057046e+00] [-1.55861343e-02 -1.18961829e-04 9.99878522e-01 1.15469454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342320588 meters 0.021322254094983964 Centerline is valid? [True, True] Translation: X:27.06, Y:-1.95, Z:0.12 [[ 9.98086741e-01 5.91875004e-02 1.78800883e-02 2.70625972e+01] [-5.91806690e-02 9.98246872e-01 -9.11413231e-04 -1.95091647e+00] [-1.79026865e-02 -1.48486127e-04 9.99839723e-01 1.15738316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.372320587999997 meters 0.021115761066402044 Centerline is valid? [True, True] Translation: X:27.10, Y:-1.95, Z:0.12 [[ 9.97879353e-01 6.32013993e-02 1.55685776e-02 2.70954700e+01] [-6.31965480e-02 9.98000777e-01 -8.03869791e-04 -1.94721362e+00] [-1.55882582e-02 -1.81715294e-04 9.99878479e-01 1.18335978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.402320588 meters 0.02122416442643679 Centerline is valid? [True, True] Translation: X:27.13, Y:-1.95, Z:0.12 [[ 9.97845114e-01 6.43170927e-02 1.29784488e-02 2.71279572e+01] [-6.43138057e-02 9.97929499e-01 -6.70899802e-04 -1.95130056e+00] [-1.29947272e-02 -1.65239345e-04 9.99915551e-01 1.17612818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432320588 meters 0.02133061960047224 Centerline is valid? [True, True] Translation: X:27.16, Y:-1.96, Z:0.12 [[ 9.97820548e-01 6.53226082e-02 9.33331722e-03 2.71601499e+01] [-6.53209400e-02 9.97864190e-01 -4.83780785e-04 -1.95807117e+00] [-9.34498485e-03 -1.26934647e-04 9.99956327e-01 1.17772976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.462320587999997 meters 0.02140971325386898 Centerline is valid? [True, True] Translation: X:27.19, Y:-1.97, Z:0.12 [[ 9.97875993e-01 6.47478451e-02 7.15672738e-03 2.71917537e+01] [-6.47468416e-02 9.97901653e-01 -3.72071666e-04 -1.96598976e+00] [-7.16580092e-03 -9.20941106e-05 9.99974321e-01 1.17791121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.492320588 meters 0.021368385926755492 Centerline is valid? [True, True] Translation: X:27.23, Y:-1.97, Z:0.12 [[ 9.97840525e-01 6.52749033e-02 7.31253358e-03 2.72251892e+01] [-6.52738565e-02 9.97867315e-01 -3.81969203e-04 -1.96737466e+00] [-7.32187125e-03 -9.61729177e-05 9.99973190e-01 1.18947966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522320588 meters 0.021447568174284212 Centerline is valid? [True, True] Translation: X:27.26, Y:-1.97, Z:0.12 [[ 9.97741284e-01 6.66399380e-02 8.45273268e-03 2.72573621e+01] [-6.66385831e-02 9.97777081e-01 -4.42149844e-04 -1.96928202e+00] [-8.46340778e-03 -1.22126976e-04 9.99964177e-01 1.19979597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.552320588 meters 0.022109264017211954 Centerline is valid? [True, True] Translation: X:27.29, Y:-1.97, Z:0.12 [[ 9.97444682e-01 7.09632829e-02 8.26548625e-03 2.72895633e+01] [-7.09621265e-02 9.97478916e-01 -4.33463267e-04 -1.97212383e+00] [-8.27540824e-03 -1.54180851e-04 9.99965746e-01 1.20009321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.582320587999998 meters 0.02225359706842082 Centerline is valid? [True, True] Translation: X:27.32, Y:-1.97, Z:0.12 [[ 9.97267891e-01 7.32312184e-02 9.69239419e-03 2.73220434e+01] [-7.32297243e-02 9.97314969e-01 -5.09430755e-04 -1.97204194e+00] [-9.70367605e-03 -2.01732420e-04 9.99952898e-01 1.18687351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612320588 meters 0.022339847800068435 Centerline is valid? [True, True] Translation: X:27.35, Y:-1.97, Z:0.12 [[ 9.97089417e-01 7.53770907e-02 1.14450053e-02 2.73537636e+01] [-7.53751391e-02 9.97155066e-01 -6.02379582e-04 -1.97186530e+00] [-1.14578506e-02 -2.62042560e-04 9.99934322e-01 1.18458945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642320588 meters 0.022806956072996425 Centerline is valid? [True, True] Translation: X:27.39, Y:-1.97, Z:0.12 [[ 9.96868636e-01 7.80268364e-02 1.28349602e-02 2.73854056e+01] [-7.80245116e-02 9.96951207e-01 -6.82538217e-04 -1.97431350e+00] [-1.28490853e-02 -3.21040556e-04 9.99917396e-01 1.18062518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.672320587999998 meters 0.023064328048048085 Centerline is valid? [True, True] Translation: X:27.42, Y:-1.98, Z:0.12 [[ 9.96813779e-01 7.90842777e-02 1.03906764e-02 2.74174331e+01] [-7.90828088e-02 9.96867897e-01 -5.52817800e-04 -1.97882636e+00] [-1.04018509e-02 -2.70667475e-04 9.99945863e-01 1.20839688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702320588 meters 0.022893581828418174 Centerline is valid? [True, True] Translation: X:27.45, Y:-1.98, Z:0.12 [[ 9.96958429e-01 7.75383910e-02 7.85423092e-03 2.74501728e+01] [-7.75374827e-02 9.96989349e-01 -4.20543915e-04 -1.97818319e+00] [-7.86319287e-03 -1.89732493e-04 9.99969067e-01 1.20672583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.732320588 meters 0.022560417422990996 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.98, Z:0.12 [[ 9.97136831e-01 7.54218427e-02 5.44844629e-03 2.74826920e+01] [-7.54213713e-02 9.97151709e-01 -2.92220931e-04 -1.97593664e+00] [-5.45496737e-03 -1.19545038e-04 9.99985114e-01 1.19472297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762320587999998 meters 0.022522500757923357 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.98, Z:0.12 [[ 9.97230680e-01 7.42329756e-02 4.52065768e-03 2.75146944e+01] [-7.42326357e-02 9.97240922e-01 -2.43166806e-04 -1.97571240e+00] [-4.52623583e-03 -9.30869353e-05 9.99989752e-01 1.16892437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792320588 meters 0.022190460475438087 Centerline is valid? [True, True] Translation: X:27.55, Y:-1.98, Z:0.12 [[ 9.97406997e-01 7.17927807e-02 5.00787414e-03 2.75467697e+01] [-7.17923299e-02 9.97419565e-01 -2.69963170e-04 -1.97816912e+00] [-5.01433305e-03 -9.02637977e-05 9.99987424e-01 1.18309884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822320588 meters 0.021915798977225794 Centerline is valid? [True, True] Translation: X:27.58, Y:-1.98, Z:0.12 [[ 9.97481528e-01 7.05560283e-02 7.24217807e-03 2.75801659e+01] [-7.05550421e-02 9.97507811e-01 -3.91892378e-04 -1.97706748e+00] [-7.25177957e-03 -1.20066772e-04 9.99973698e-01 1.20362946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.852320587999998 meters 0.02179763007339714 Centerline is valid? [True, True] Translation: X:27.61, Y:-1.97, Z:0.12 [[ 9.97512209e-01 7.01289449e-02 7.16414080e-03 2.76122827e+01] [-7.01279642e-02 9.97537928e-01 -3.88308792e-04 -1.97422332e+00] [-7.17373386e-03 -1.15063849e-04 9.99974262e-01 1.22213058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882320588 meters 0.02173892103413402 Centerline is valid? [True, True] Translation: X:27.64, Y:-1.97, Z:0.12 [[ 9.97555373e-01 6.95092168e-02 7.19352822e-03 2.76447689e+01] [-6.95082022e-02 9.97581303e-01 -3.91259151e-04 -1.97161770e+00] [-7.20332537e-03 -1.09706546e-04 9.99974050e-01 1.21282443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912320588 meters 0.0218086809408668 Centerline is valid? [True, True] Translation: X:27.68, Y:-1.97, Z:0.12 [[ 9.97533354e-01 7.01595346e-02 2.20176146e-03 2.76766326e+01] [-7.01594395e-02 9.97535783e-01 -1.20476396e-04 -1.97460281e+00] [-2.20478841e-03 -3.42951270e-05 9.99997569e-01 1.19947187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942320587999998 meters 0.02190442488778841 Centerline is valid? [True, True] Translation: X:27.71, Y:-1.98, Z:0.12 [[ 9.97511207e-01 7.04938801e-02 1.41613522e-03 2.77092999e+01] [-7.04938405e-02 9.97512212e-01 -7.79041480e-05 -1.97518410e+00] [-1.41810394e-03 -2.21185495e-05 9.99998994e-01 1.20494045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972320588 meters 0.021936239944118828 Centerline is valid? [True, True] Translation: X:27.74, Y:-1.97, Z:0.12 [[ 9.97452723e-01 7.12949258e-02 2.25815191e-03 2.77417999e+01] [-7.12948274e-02 9.97455278e-01 -1.24130319e-04 -1.97181824e+00] [-2.26125540e-03 -3.71804258e-05 9.99997443e-01 1.21770334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002320588 meters 0.021796571935726823 Centerline is valid? [True, True] Translation: X:27.77, Y:-1.97, Z:0.12 [[ 9.97445532e-01 7.12984865e-02 4.35150827e-03 2.77738042e+01] [-7.12981214e-02 9.97455022e-01 -2.39163134e-04 -1.96766183e+00] [-4.35748575e-03 -7.17021654e-05 9.99990504e-01 1.21857477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.032320587999997 meters 0.021726323947324933 Centerline is valid? [True, True] Translation: X:27.81, Y:-1.97, Z:0.12 [[ 9.97673757e-01 6.77859412e-02 7.22079754e-03 2.78062900e+01] [-6.77848402e-02 9.97699883e-01 -3.97381276e-04 -1.97101950e+00] [-7.23112573e-03 -9.30037362e-05 9.99973851e-01 1.22375632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062320588 meters 0.021681995450549177 Centerline is valid? [True, True] Translation: X:27.84, Y:-1.98, Z:0.12 [[ 9.97839949e-01 6.49575510e-02 9.79554579e-03 2.78393853e+01] [-6.49553680e-02 9.97888023e-01 -5.41175117e-04 -1.97692455e+00] [-9.81001124e-03 -9.62671311e-05 9.99951876e-01 1.21626388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092320588 meters 0.021540107774868172 Centerline is valid? [True, True] Translation: X:27.87, Y:-1.98, Z:0.12 [[ 9.98145547e-01 6.00843233e-02 9.76423458e-03 2.78715853e+01] [-6.00819114e-02 9.98193304e-01 -5.40419393e-04 -1.97844510e+00] [-9.77906431e-03 -4.72366665e-05 9.99952183e-01 1.22381790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122320587999997 meters 0.02138299507202291 Centerline is valid? [True, True] Translation: X:27.90, Y:-1.97, Z:0.12 [[ 9.98709648e-01 5.02777474e-02 7.15452703e-03 2.79045224e+01] [-5.02761924e-02 9.98735274e-01 -3.97148350e-04 -1.97258096e+00] [-7.16544624e-03 3.69335108e-05 9.99974327e-01 1.23917988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.152320588 meters 0.02173807559406284 Centerline is valid? [True, True] Translation: X:27.94, Y:-1.97, Z:0.12 [[ 9.98952812e-01 4.53234098e-02 6.25042866e-03 2.79369653e+01] [-4.53221203e-02 9.98972364e-01 -3.47869582e-04 -1.97396456e+00] [-6.25977213e-03 6.42226169e-05 9.99980405e-01 1.24306933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182320588 meters 0.022154087015180565 Centerline is valid? [True, True] Translation: X:27.97, Y:-1.98, Z:0.12 [[ 9.99174543e-01 4.01227346e-02 6.35599534e-03 2.79685174e+01] [-4.01212908e-02 9.99194754e-01 -3.54556536e-04 -1.97859710e+00] [-6.36510298e-03 9.92531270e-05 9.99979738e-01 1.23977192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.212320587999997 meters 0.023170267426763952 Centerline is valid? [True, True] Translation: X:28.00, Y:-1.99, Z:0.12 [[ 9.99411687e-01 3.29690253e-02 9.45112154e-03 2.80003102e+01] [-3.29655045e-02 9.99456351e-01 -5.28112558e-04 -1.98633352e+00] [-9.46339480e-03 2.16240873e-04 9.99955198e-01 1.21953121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242320588 meters 0.02324757579956112 Centerline is valid? [True, True] Translation: X:28.03, Y:-1.99, Z:0.12 [[ 9.99417644e-01 3.19665307e-02 1.19378840e-02 2.80326306e+01] [-3.19608257e-02 9.99488899e-01 -6.68414841e-04 -1.99117947e+00] [-1.19531495e-02 2.86480955e-04 9.99928518e-01 1.22094042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272320588 meters 0.023370113994227417 Centerline is valid? [True, True] Translation: X:28.06, Y:-2.00, Z:0.12 [[ 9.99372390e-01 3.24266379e-02 1.42597301e-02 2.80645563e+01] [-3.24185202e-02 9.99474061e-01 -8.00117932e-04 -1.99678686e+00] [-1.42781755e-02 3.37336419e-04 9.99898005e-01 1.22685574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302320588 meters 0.02315520880275079 Centerline is valid? [True, True] Translation: X:28.10, Y:-2.00, Z:0.12 [[ 9.99299582e-01 3.40520286e-02 1.55178628e-02 2.80965304e+01] [-3.40425811e-02 9.99420002e-01 -8.72639695e-04 -2.00227234e+00] [-1.55385776e-02 3.43760381e-04 9.99879210e-01 1.23418832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.332320587999998 meters 0.02246731770138558 Centerline is valid? [True, True] Translation: X:28.13, Y:-2.01, Z:0.12 [[ 9.99175300e-01 3.90257535e-02 1.12120449e-02 2.81278431e+01] [-3.90211280e-02 9.99238186e-01 -6.31091768e-04 -2.00771696e+00] [-1.12281322e-02 1.93064668e-04 9.99936944e-01 1.23114666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362320588 meters 0.02235478686364321 Centerline is valid? [True, True] Translation: X:28.16, Y:-2.01, Z:0.12 [[ 9.99144524e-01 4.06318652e-02 7.69880107e-03 2.81601770e+01] [-4.06297210e-02 9.99174177e-01 -4.34773573e-04 -2.01145961e+00] [-7.71010889e-03 1.21601495e-04 9.99970269e-01 1.23759483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.392320588 meters 0.022234537032561345 Centerline is valid? [True, True] Translation: X:28.19, Y:-2.02, Z:0.12 [[ 9.99089970e-01 4.22114025e-02 6.11792671e-03 2.81924395e+01] [-4.22100723e-02 9.99108698e-01 -3.46440371e-04 -2.01745192e+00] [-6.12709752e-03 8.78869716e-05 9.99981225e-01 1.23436140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422320587999998 meters 0.02244842224518927 Centerline is valid? [True, True] Translation: X:28.22, Y:-2.03, Z:0.12 [[ 9.99112755e-01 4.12857537e-02 8.31802330e-03 2.82241638e+01] [-4.12832555e-02 9.99147372e-01 -4.71896949e-04 -2.03017449e+00] [-8.33041374e-03 1.28083180e-04 9.99965293e-01 1.22312571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452320588 meters 0.022637932269631598 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.04, Z:0.12 [[ 9.99162227e-01 3.97529608e-02 9.72348587e-03 2.82559217e+01] [-3.97494629e-02 9.99209525e-01 -5.52797732e-04 -2.03683157e+00] [-9.73777504e-03 1.65831272e-04 9.99952573e-01 1.22841532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482320588 meters 0.022637932269631598 Centerline is valid? [True, True] Translation: X:28.29, Y:-2.04, Z:0.12 [[ 9.99154254e-01 3.99528972e-02 9.72335548e-03 2.82883731e+01] [-3.99493865e-02 9.99201550e-01 -5.55088727e-04 -2.03862545e+00] [-9.73776927e-03 1.66177176e-04 9.99952573e-01 1.23005385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.512320587999998 meters 0.02295452265651884 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.04, Z:0.12 [[ 9.99222051e-01 3.77309014e-02 1.14748476e-02 2.83200257e+01] [-3.77258541e-02 9.99287911e-01 -6.56074591e-04 -2.04333084e+00] [-1.14914308e-02 2.22665772e-04 9.99933947e-01 1.21821240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542320588 meters 0.022965015454547807 Centerline is valid? [True, True] Translation: X:28.35, Y:-2.05, Z:0.12 [[ 9.99265833e-01 3.61954015e-02 1.25573611e-02 2.83522418e+01] [-3.61892162e-02 9.99344697e-01 -7.19516959e-04 -2.04756187e+00] [-1.25751754e-02 2.64547657e-04 9.99920894e-01 1.21963349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572320588 meters 0.023274950046159867 Centerline is valid? [True, True] Translation: X:28.38, Y:-2.06, Z:0.12 [[ 9.99366452e-01 3.43527382e-02 9.30507447e-03 2.83836276e+01] [-3.43492493e-02 9.99409747e-01 -5.34548813e-04 -2.05608268e+00] [-9.31794534e-03 2.14587827e-04 9.99956564e-01 1.22598739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602320587999998 meters 0.022966105401278556 Centerline is valid? [True, True] Translation: X:28.42, Y:-2.06, Z:0.12 [[ 9.99344986e-01 3.54782707e-02 7.13383259e-03 2.84158180e+01] [-3.54762409e-02 9.99370436e-01 -4.10916169e-04 -2.06201380e+00] [-7.14391998e-03 1.57565450e-04 9.99974469e-01 1.23198189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632320588 meters 0.022041949943769772 Centerline is valid? [True, True] Translation: X:28.45, Y:-2.07, Z:0.12 [[ 9.99006825e-01 4.44186893e-02 3.51321735e-03 2.84473748e+01] [-4.44182494e-02 9.99013002e-01 -2.03181495e-04 -2.06902856e+00] [-3.51877487e-03 4.69287363e-05 9.99993808e-01 1.23606478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662320588 meters 0.021692520428012944 Centerline is valid? [True, True] Translation: X:28.48, Y:-2.07, Z:0.12 [[ 9.98652842e-01 5.17839169e-02 3.30554634e-03 2.84796585e+01] [-5.17835660e-02 9.98658313e-01 -1.91681671e-04 -2.07236410e+00] [-3.31103736e-03 2.02504689e-05 9.99994518e-01 1.22486204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.692320587999998 meters 0.02170251907095771 Centerline is valid? [True, True] Translation: X:28.51, Y:-2.08, Z:0.12 [[ 9.98145518e-01 6.08171575e-02 2.60735642e-03 2.85119764e+01] [-6.08169688e-02 9.98148923e-01 -1.51696859e-04 -2.07717547e+00] [-2.61175578e-03 -7.15597420e-06 9.99996589e-01 1.22680941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722320588 meters 0.022083812645170352 Centerline is valid? [True, True] Translation: X:28.54, Y:-2.08, Z:0.12 [[ 9.97526292e-01 7.01632656e-02 4.29096821e-03 2.85440250e+01] [-7.01628402e-02 9.97535520e-01 -2.49765339e-04 -2.08173001e+00] [-4.29791756e-03 -5.19190243e-05 9.99990763e-01 1.23084931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752320588 meters 0.02432955287177985 Centerline is valid? [True, True] Translation: X:28.57, Y:-2.09, Z:0.12 [[ 9.96175569e-01 8.68734831e-02 9.33990245e-03 2.85741441e+01] [-8.68722105e-02 9.96219316e-01 -5.42635503e-04 -2.08595940e+00] [-9.35173186e-03 -2.70817741e-04 9.99956235e-01 1.24747362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782320587999997 meters 0.025214766140839964 Centerline is valid? [True, True] Translation: X:28.61, Y:-2.09, Z:0.13 [[ 9.95690077e-01 9.23655570e-02 8.35913136e-03 2.86061537e+01] [-9.23647179e-02 9.95725123e-01 -4.87196497e-04 -2.08724060e+00] [-8.36839728e-03 -2.86992092e-04 9.99964943e-01 1.25447333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812320588 meters 0.026027922693296502 Centerline is valid? [True, True] Translation: X:28.64, Y:-2.09, Z:0.13 [[ 9.95385810e-01 9.57114475e-02 6.81233644e-03 2.86383453e+01] [-9.57109619e-02 9.95409088e-01 -3.98012844e-04 -2.08821958e+00] [-6.81915599e-03 -2.55838935e-04 9.99976717e-01 1.25436413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842320588 meters 0.02616560637318807 Centerline is valid? [True, True] Translation: X:28.67, Y:-2.09, Z:0.13 [[ 9.95242198e-01 9.73201513e-02 4.66424601e-03 2.86701901e+01] [-9.73199252e-02 9.95253112e-01 -2.75950203e-04 -2.08615572e+00] [-4.66896087e-03 -1.79286787e-04 9.99989084e-01 1.25476448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.872320587999997 meters 0.025884902294858826 Centerline is valid? [True, True] Translation: X:28.70, Y:-2.08, Z:0.13 [[ 9.95255912e-01 9.70697556e-02 6.56746511e-03 2.87034311e+01] [-9.70693062e-02 9.95277549e-01 -3.87894366e-04 -2.07604627e+00] [-6.57410339e-03 -2.51445121e-04 9.99978359e-01 1.25686930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.902320588 meters 0.025398477439462212 Centerline is valid? [True, True] Translation: X:28.74, Y:-2.07, Z:0.13 [[ 9.95415170e-01 9.53578769e-02 7.45084121e-03 2.87362502e+01] [-9.53572470e-02 9.95443018e-01 -4.40552951e-04 -2.07290989e+00] [-7.45889806e-03 -2.71958615e-04 9.99972145e-01 1.26854351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932320588 meters 0.025089981917267804 Centerline is valid? [True, True] Translation: X:28.77, Y:-2.07, Z:0.13 [[ 9.95613676e-01 9.33395943e-02 6.41309093e-03 2.87688571e+01] [-9.33390801e-02 9.95634306e-01 -3.80093898e-04 -2.07257363e+00] [-6.42057115e-03 -2.20165325e-04 9.99979364e-01 1.26312670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962320587999997 meters 0.02459720914484026 Centerline is valid? [True, True] Translation: X:28.80, Y:-2.07, Z:0.13 [[ 9.95979617e-01 8.93499642e-02 6.41769541e-03 2.88009021e+01] [-8.93493612e-02 9.96000274e-01 -3.81181806e-04 -2.07088292e+00] [-6.42608497e-03 -1.93767676e-04 9.99979334e-01 1.25081742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.992320588 meters 0.024215369050785012 Centerline is valid? [True, True] Translation: X:28.83, Y:-2.07, Z:0.13 [[ 9.96061371e-01 8.81681763e-02 9.38711051e-03 2.88338247e+01] [-8.81668166e-02 9.96105566e-01 -5.59381369e-04 -2.06881952e+00] [-9.39987267e-03 -2.70453478e-04 9.99955784e-01 1.25075733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022320588 meters 0.02390306752603493 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.07, Z:0.13 [[ 9.96146841e-01 8.68971829e-02 1.18469831e-02 2.88668804e+01] [-8.68949032e-02 9.96217233e-01 -7.08012275e-04 -2.06674283e+00] [-1.18636929e-02 -3.24158254e-04 9.99929571e-01 1.26685592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.052320588 meters 0.023626178347577704 Centerline is valid? [True, True] Translation: X:28.90, Y:-2.07, Z:0.13 [[ 9.96310986e-01 8.48167086e-02 1.30592819e-02 2.88995705e+01] [-8.48137358e-02 9.96396517e-01 -7.82294074e-04 -2.06732256e+00] [-1.30785746e-02 -3.28198303e-04 9.99914418e-01 1.27876555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.082320587999998 meters 0.022653259941905476 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.07, Z:0.13 [[ 9.96983187e-01 7.68031311e-02 1.12162066e-02 2.89312347e+01] [-7.68004141e-02 9.97046259e-01 -6.73394965e-04 -2.07113241e+00] [-1.12347957e-02 -1.90045855e-04 9.99936870e-01 1.27465155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112320588 meters 0.02226035573701772 Centerline is valid? [True, True] Translation: X:28.96, Y:-2.07, Z:0.13 [[ 9.97331017e-01 7.23032128e-02 1.01532425e-02 2.89636735e+01] [-7.23007388e-02 9.97382690e-01 -6.10982235e-04 -2.07230896e+00] [-1.01708442e-02 -1.24735397e-04 9.99948268e-01 1.26466353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.142320588 meters 0.02197142091449603 Centerline is valid? [True, True] Translation: X:29.00, Y:-2.07, Z:0.13 [[ 9.97603675e-01 6.86388486e-02 8.69572228e-03 2.89956259e+01] [-6.86368838e-02 9.97641570e-01 -5.24526753e-04 -2.07235771e+00] [-8.71121694e-03 -7.35774634e-05 9.99962054e-01 1.26066367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.172320587999998 meters 0.02172578905528892 Centerline is valid? [True, True] Translation: X:29.03, Y:-2.07, Z:0.13 [[ 9.97903905e-01 6.41994769e-02 8.13782060e-03 2.90282460e+01] [-6.41975991e-02 9.97937085e-01 -4.92031257e-04 -2.07264586e+00] [-8.15262111e-03 -3.14286316e-05 9.99966766e-01 1.25391766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202320588 meters 0.021413127778615128 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.08, Z:0.13 [[ 9.98291337e-01 5.82930642e-02 4.04053032e-03 2.90600697e+01] [-5.82925492e-02 9.98299513e-01 -2.45206338e-04 -2.07664094e+00] [-4.04795328e-03 9.25455045e-06 9.99991807e-01 1.26487371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232320588 meters 0.021426308724704274 Centerline is valid? [True, True] Translation: X:29.09, Y:-2.08, Z:0.13 [[ 9.98300176e-01 5.81320150e-02 4.17464350e-03 2.90926458e+01] [-5.81314588e-02 9.98308904e-01 -2.54532412e-04 -2.08082248e+00] [-4.18238026e-03 1.14216350e-05 9.99991254e-01 1.26956868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.262320587999998 meters 0.021408692579154055 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.08, Z:0.13 [[ 9.98271228e-01 5.85453061e-02 5.19641116e-03 2.91253834e+01] [-5.85444458e-02 9.98284752e-01 -3.17649331e-04 -2.08435937e+00] [-5.20609491e-03 1.28791762e-05 9.99986448e-01 1.28375678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292320588 meters 0.021353459095659073 Centerline is valid? [True, True] Translation: X:29.16, Y:-2.09, Z:0.13 [[ 9.98257039e-01 5.87143272e-02 5.95925798e-03 2.91582091e+01] [-5.87131923e-02 9.98274826e-01 -3.65352543e-04 -2.08740848e+00] [-5.97042865e-03 1.48286884e-05 9.99982177e-01 1.30342840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322320588 meters 0.021330540557115002 Centerline is valid? [True, True] Translation: X:29.19, Y:-2.09, Z:0.13 [[ 9.98312599e-01 5.76654231e-02 6.83036705e-03 2.91906098e+01] [-5.76639047e-02 9.98335965e-01 -4.19199320e-04 -2.09250517e+00] [-6.84317439e-03 2.46263279e-05 9.99976585e-01 1.29433991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.352320587999998 meters 0.021486793777640505 Centerline is valid? [True, True] Translation: X:29.22, Y:-2.10, Z:0.13 [[ 9.98413111e-01 5.57421572e-02 8.00451812e-03 2.92222607e+01] [-5.57400022e-02 9.98445196e-01 -4.92226583e-04 -2.09780817e+00] [-8.01951044e-03 4.52736161e-05 9.99967842e-01 1.28627285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382320588 meters 0.021894419691057296 Centerline is valid? [True, True] Translation: X:29.25, Y:-2.10, Z:0.13 [[ 9.98663365e-01 5.05424396e-02 1.08140779e-02 2.92544934e+01] [-5.05381884e-02 9.98721907e-01 -6.66201193e-04 -2.10414790e+00] [-1.08339280e-02 1.18786818e-04 9.99941304e-01 1.27431881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412320588 meters 0.022006929750279344 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.11, Z:0.13 [[ 9.98721094e-01 4.98395445e-02 8.49681474e-03 2.92866252e+01] [-4.98368837e-02 9.98757233e-01 -5.24728499e-04 -2.10924275e+00] [-8.51240741e-03 1.00602654e-04 9.99963764e-01 1.26628372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.442320587999998 meters 0.021955915540036435 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.12, Z:0.13 [[ 9.98765859e-01 4.95090061e-02 3.95194725e-03 2.93181822e+01] [-4.95084244e-02 9.98773676e-01 -2.44949812e-04 -2.11538112e+00] [-3.95922810e-03 4.89928279e-05 9.99992161e-01 1.25891617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472320588 meters 0.021968588942618435 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.12, Z:0.13 [[ 9.98761367e-01 4.97520756e-02 -6.80577629e-04 2.93497361e+01] [-4.97520589e-02 9.98761599e-01 4.14858674e-05 -2.12160598e+00] [ 6.81798809e-04 -7.57434333e-06 9.99999768e-01 1.26313337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502320588 meters 0.021679023983289355 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.13, Z:0.13 [[ 9.98644749e-01 5.20079136e-02 -1.96034437e-03 2.93813120e+01] [-5.20077762e-02 9.98646673e-01 1.21016765e-04 -2.12628505e+00] [ 1.96398522e-03 -1.88996049e-05 9.99998071e-01 1.26745131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.532320587999997 meters 0.021509290564848318 Centerline is valid? [True, True] Translation: X:29.41, Y:-2.13, Z:0.13 [[ 9.98504061e-01 5.46416988e-02 1.98099584e-03 2.94132209e+01] [-5.46415604e-02 9.98506026e-01 -1.23945102e-04 -2.13058359e+00] [-1.98480886e-03 1.55149833e-05 9.99998030e-01 1.27386257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562320588 meters 0.021366950143139184 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.14, Z:0.13 [[ 9.98251502e-01 5.87531317e-02 6.48131004e-03 2.94444466e+01] [-5.87517442e-02 9.98272542e-01 -4.04433969e-04 -2.13822094e+00] [-6.49387561e-03 2.29385475e-05 9.99978914e-01 1.28625109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592320588 meters 0.0216484267345732 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.15, Z:0.13 [[ 9.97721236e-01 6.68015315e-02 9.48102226e-03 2.94752208e+01] [-6.67988966e-02 9.97766282e-01 -5.94662400e-04 -2.15374790e+00] [-9.49956869e-03 -4.00145205e-05 9.99954877e-01 1.30005355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.622320587999997 meters 0.02181163407988128 Centerline is valid? [True, True] Translation: X:29.51, Y:-2.16, Z:0.13 [[ 9.97440553e-01 7.12294599e-02 6.22147089e-03 2.95075289e+01] [-7.12284075e-02 9.97459955e-01 -3.90851851e-04 -2.15814679e+00] [-6.23350824e-03 -5.32939770e-05 9.99980570e-01 1.30291937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.652320588 meters 0.022141519491139537 Centerline is valid? [True, True] Translation: X:29.54, Y:-2.16, Z:0.13 [[ 9.97073233e-01 7.62850361e-02 5.05582224e-03 2.95391305e+01] [-7.62843870e-02 9.97086049e-01 -3.21401276e-04 -2.16031701e+00] [-5.06560793e-03 -6.52196912e-05 9.99987168e-01 1.28498236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682320588 meters 0.023323222518833273 Centerline is valid? [True, True] Translation: X:29.57, Y:-2.17, Z:0.13 [[ 9.96370577e-01 8.49504960e-02 5.39319531e-03 2.95704563e+01] [-8.49498727e-02 9.96385167e-01 -3.44951705e-04 -2.16894649e+00] [-5.40300362e-03 -1.14451525e-04 9.99985397e-01 1.26017095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.712320587999997 meters 0.023841889979914405 Centerline is valid? [True, True] Translation: X:29.60, Y:-2.17, Z:0.13 [[ 9.96003311e-01 8.90596108e-02 6.76678433e-03 2.96020594e+01] [-8.90587323e-02 9.96026283e-01 -4.31645551e-04 -2.17390816e+00] [-6.77833723e-03 -1.72720836e-04 9.99977012e-01 1.28194747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.742320588 meters 0.024073902664659228 Centerline is valid? [True, True] Translation: X:29.63, Y:-2.17, Z:0.13 [[ 9.95692370e-01 9.21961418e-02 9.82725657e-03 2.96338602e+01] [-9.21943904e-02 9.95740827e-01 -6.32048665e-04 -2.17371586e+00] [-9.84367304e-03 -2.76691896e-04 9.99951512e-01 1.29891278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772320588 meters 0.02477023233860217 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.17, Z:0.13 [[ 9.95300712e-01 9.61793559e-02 1.12260885e-02 2.96656796e+01] [-9.61772748e-02 9.95363956e-01 -7.26355064e-04 -2.17151574e+00] [-1.12439042e-02 -3.56752887e-04 9.99936722e-01 1.31517635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.802320587999997 meters 0.025476212539759638 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.17, Z:0.13 [[ 9.94918546e-01 9.99150639e-02 1.24123825e-02 2.96978275e+01] [-9.99127457e-02 9.94995874e-01 -8.08279589e-04 -2.17053017e+00] [-1.24310287e-02 -4.35982866e-04 9.99922637e-01 1.32133984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.832320587999998 meters 0.02642217638319535 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.18, Z:0.13 [[ 9.94469999e-01 1.04440579e-01 1.10266686e-02 2.97295444e+01] [-1.04439026e-01 9.94531032e-01 -7.18117781e-04 -2.17578313e+00] [-1.10413647e-02 -4.37467938e-04 9.99938947e-01 1.31455306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862320588 meters 0.026428373150441657 Centerline is valid? [True, True] Translation: X:29.76, Y:-2.18, Z:0.13 [[ 9.94392178e-01 1.05332780e-01 9.44470414e-03 2.97629533e+01] [-1.05331619e-01 9.94436958e-01 -6.21654594e-04 -2.17728068e+00] [-9.45764346e-03 -3.76657513e-04 9.99955205e-01 1.31739296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.892320588 meters 0.026480746120221967 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.17, Z:0.13 [[ 9.94302955e-01 1.06226444e-01 8.80771928e-03 2.97966088e+01] [-1.06225429e-01 9.94341901e-01 -5.84276495e-04 -2.17491232e+00] [-8.81994995e-03 -3.54655917e-04 9.99961041e-01 1.30859401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.922320587999998 meters 0.026648642501856206 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.16, Z:0.13 [[ 9.94195973e-01 1.07301633e-01 7.79268474e-03 2.98302696e+01] [-1.07300840e-01 9.94226462e-01 -5.21059043e-04 -2.15984553e+00] [-7.80360387e-03 -3.18126814e-04 9.99969501e-01 1.28825951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952320588 meters 0.026629190835813416 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.15, Z:0.13 [[ 9.94041819e-01 1.08766055e-01 7.12790776e-03 2.98626305e+01] [-1.08765408e-01 9.94067330e-01 -4.79534132e-04 -2.15363335e+00] [-7.13777727e-03 -2.98592813e-04 9.99974481e-01 1.29030275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982320588 meters 0.02709426780082701 Centerline is valid? [True, True] Translation: X:29.90, Y:-2.15, Z:0.13 [[ 9.93780397e-01 1.11205957e-01 5.81009411e-03 2.98950355e+01] [-1.11205571e-01 9.93797348e-01 -3.90460789e-04 -2.15081611e+00] [-5.81747769e-03 -2.58082558e-04 9.99983045e-01 1.29961997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.012320587999998 meters 0.02730016551296229 Centerline is valid? [True, True] Translation: X:29.93, Y:-2.15, Z:0.13 [[ 9.93610457e-01 1.12825722e-01 2.93533583e-03 2.99275542e+01] [-1.12825629e-01 9.93614784e-01 -1.97931185e-04 -2.14796306e+00] [-2.93892481e-03 -1.34514616e-04 9.99995672e-01 1.32687711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042320588 meters 0.02689545492674417 Centerline is valid? [True, True] Translation: X:29.96, Y:-2.15, Z:0.13 [[ 9.93800132e-01 1.11135651e-01 3.18822877e-03 2.99599483e+01] [-1.11135531e-01 9.93805236e-01 -2.15322400e-04 -2.14893392e+00] [-3.19240844e-03 -1.40338068e-04 9.99994894e-01 1.34717603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072320588 meters 0.026439283305103103 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.15, Z:0.14 [[ 9.94032888e-01 1.08908496e-01 6.12838487e-03 2.99922681e+01] [-1.08908010e-01 9.94051746e-01 -4.14081096e-04 -2.15026697e+00] [-6.13702863e-03 -2.55819971e-04 9.99981136e-01 1.35315276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.102320587999998 meters 0.025208863554657176 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.14, Z:0.13 [[ 9.94642399e-01 1.02753627e-01 1.13221470e-02 3.00241723e+01] [-1.02751569e-01 9.94706756e-01 -7.64887849e-04 -2.14467439e+00] [-1.13408111e-02 -4.02578481e-04 9.99935610e-01 1.34308676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132320588 meters 0.024677194193371596 Centerline is valid? [True, True] Translation: X:30.06, Y:-2.14, Z:0.13 [[ 9.94948737e-01 9.97562544e-02 1.12116374e-02 3.00565474e+01] [-9.97539694e-02 9.95011840e-01 -7.64238056e-04 -2.13852968e+00] [-1.12319495e-02 -3.58027644e-04 9.99936856e-01 1.31810365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162320588 meters 0.024059313258435865 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.13, Z:0.13 [[ 9.95255514e-01 9.68188781e-02 9.62117519e-03 3.00898066e+01] [-9.68170543e-02 9.95301978e-01 -6.56239084e-04 -2.13162363e+00] [-9.63951103e-03 -2.78368274e-04 9.99953500e-01 1.28869995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.192320587999998 meters 0.023411280515747174 Centerline is valid? [True, True] Translation: X:30.12, Y:-2.13, Z:0.13 [[ 9.95571189e-01 9.38398288e-02 5.66513882e-03 3.01222407e+01] [-9.38391431e-02 9.95587297e-01 -3.87311047e-04 -2.12719999e+00] [-5.67648545e-03 -1.46016054e-04 9.99983878e-01 1.28434827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222320588 meters 0.02309177127477102 Centerline is valid? [True, True] Translation: X:30.15, Y:-2.13, Z:0.13 [[ 9.95623934e-01 9.33018793e-02 5.26709627e-03 3.01543941e+01] [-9.33012751e-02 9.95637857e-01 -3.60830463e-04 -2.13085015e+00] [-5.27778660e-03 -1.32175354e-04 9.99986064e-01 1.32416866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252320588 meters 0.02291490782487405 Centerline is valid? [True, True] Translation: X:30.19, Y:-2.13, Z:0.14 [[ 9.95641494e-01 9.29432499e-02 7.71799422e-03 3.01861246e+01] [-9.29419367e-02 9.95671390e-01 -5.29425958e-04 -2.13324403e+00] [-7.73379260e-03 -1.90206878e-04 9.99970076e-01 1.37982360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.282320587999997 meters 0.022674503599903608 Centerline is valid? [True, True] Translation: X:30.22, Y:-2.13, Z:0.14 [[ 9.95865327e-01 9.04468955e-02 8.46229766e-03 3.02186173e+01] [-9.04452178e-02 9.95901262e-01 -5.81527009e-04 -2.13274852e+00] [-8.48021023e-03 -1.86251770e-04 9.99964025e-01 1.40392812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312320588 meters 0.02178839536304979 Centerline is valid? [True, True] Translation: X:30.25, Y:-2.13, Z:0.14 [[ 9.96514678e-01 8.30332047e-02 7.99896877e-03 3.02516261e+01] [-8.30314513e-02 9.96546775e-01 -5.51626326e-04 -2.12704921e+00] [-8.01714983e-03 -1.14462255e-04 9.99967856e-01 1.37051363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342320588 meters 0.021668896488405483 Centerline is valid? [True, True] Translation: X:30.28, Y:-2.13, Z:0.13 [[ 9.96854724e-01 7.86572919e-02 9.67936730e-03 3.02843479e+01] [-7.86545105e-02 9.96901711e-01 -6.68287783e-04 -2.12660787e+00] [-9.70194353e-03 -9.51400635e-05 9.99952931e-01 1.33321241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.372320587999997 meters 0.021668896488405483 Centerline is valid? [True, True] Translation: X:30.32, Y:-2.13, Z:0.13 [[ 9.96838913e-01 7.88574297e-02 9.67920964e-03 3.03167781e+01] [-7.88546356e-02 9.96885900e-01 -6.70569371e-04 -2.12879327e+00] [-9.70194698e-03 -9.48009052e-05 9.99952931e-01 1.33485089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.402320588 meters 0.021446199475022847 Centerline is valid? [True, True] Translation: X:30.35, Y:-2.13, Z:0.13 [[ 9.97174849e-01 7.42590999e-02 1.13095855e-02 3.03493876e+01] [-7.42549778e-02 9.97238980e-01 -7.84533955e-04 -2.12864865e+00] [-1.13366183e-02 -5.74754937e-05 9.99935737e-01 1.31109871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432320588 meters 0.021421160301454124 Centerline is valid? [True, True] Translation: X:30.38, Y:-2.13, Z:0.13 [[ 9.97657410e-01 6.71050434e-02 1.32892817e-02 3.03815045e+01] [-6.70986944e-02 9.97745916e-01 -9.23550742e-04 -2.13031448e+00] [-1.33213014e-02 2.96937908e-05 9.99911267e-01 1.32005407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.462320587999997 meters 0.021538267026105232 Centerline is valid? [True, True] Translation: X:30.41, Y:-2.13, Z:0.13 [[ 9.97791966e-01 6.52055286e-02 1.26265896e-02 3.04139252e+01] [-6.51996081e-02 9.97871853e-01 -8.80398596e-04 -2.13489164e+00] [-1.26571252e-02 5.52059536e-05 9.99919894e-01 1.32320148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.492320588 meters 0.021376680703463456 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.14, Z:0.13 [[ 9.97943921e-01 6.33483566e-02 9.74254411e-03 3.04455318e+01] [-6.33447319e-02 9.97991474e-01 -6.80485760e-04 -2.13837836e+00] [-9.76608361e-03 6.19477823e-05 9.99952309e-01 1.33496542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522320588 meters 0.021352998636839034 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.14, Z:0.14 [[ 9.98124035e-01 6.11983691e-02 1.78055565e-03 3.04774740e+01] [-6.11982432e-02 9.98125623e-01 -1.25159700e-04 -2.13861580e+00] [-1.78487779e-03 1.59580265e-05 9.99998407e-01 1.35545883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.552320587999997 meters 0.021215564661307227 Centerline is valid? [True, True] Translation: X:30.51, Y:-2.14, Z:0.14 [[ 9.98154126e-01 6.07208627e-02 1.14810036e-03 3.05096594e+01] [-6.07208096e-02 9.98154786e-01 -8.10954057e-05 -2.14042374e+00] [-1.15090605e-03 1.12321306e-05 9.99999338e-01 1.35151760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.582320587999998 meters 0.021284006048219405 Centerline is valid? [True, True] Translation: X:30.54, Y:-2.14, Z:0.14 [[ 9.98133570e-01 6.10500076e-02 1.50787081e-03 3.05419005e+01] [-6.10499163e-02 9.98134709e-01 -1.06494566e-04 -2.14441994e+00] [-1.51155969e-03 1.42404149e-05 9.99998857e-01 1.36723251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612320588 meters 0.02120791728717812 Centerline is valid? [True, True] Translation: X:30.57, Y:-2.15, Z:0.14 [[ 9.97993624e-01 6.32619981e-02 2.57811718e-03 3.05741961e+01] [-6.32617392e-02 9.97996954e-01 -1.81957110e-04 -2.14971853e+00] [-2.58446407e-03 1.84958588e-05 9.99996660e-01 1.37051945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.642320588 meters 0.021204910627509482 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.16, Z:0.14 [[ 9.97486334e-01 7.06368792e-02 5.60759568e-03 3.06058128e+01] [-7.06357678e-02 9.97502096e-01 -3.96245503e-04 -2.15640644e+00] [-5.62157799e-03 -8.47351667e-07 9.99984199e-01 1.35722651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.672320587999998 meters 0.02142582498218469 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.16, Z:0.13 [[ 9.97168984e-01 7.48288563e-02 7.39326471e-03 3.06375203e+01] [-7.48270359e-02 9.97196391e-01 -5.22919718e-04 -2.15882853e+00] [-7.41166637e-03 -3.17767598e-05 9.99972533e-01 1.33453024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702320588 meters 0.021423698246693327 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.16, Z:0.13 [[ 9.97024336e-01 7.67767035e-02 6.91463053e-03 3.06705173e+01] [-7.67751456e-02 9.97048312e-01 -4.90857836e-04 -2.16030753e+00] [-6.93190714e-03 -4.14745573e-05 9.99975973e-01 1.32896469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732320588 meters 0.021552938081047034 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.16, Z:0.13 [[ 9.96927378e-01 7.80983629e-02 6.03720961e-03 3.07033422e+01] [-7.80971911e-02 9.96945657e-01 -4.29951806e-04 -2.16263881e+00] [-6.05234844e-03 -4.28583864e-05 9.99981683e-01 1.30711105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.762320587999998 meters 0.021446990382231697 Centerline is valid? [True, True] Translation: X:30.74, Y:-2.17, Z:0.13 [[ 9.97061075e-01 7.65680296e-02 2.55932045e-03 3.07351304e+01] [-7.65678108e-02 9.97064359e-01 -1.83541347e-04 -2.16736633e+00] [-2.56586061e-03 -1.29596319e-05 9.99996708e-01 1.32542948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792320588 meters 0.021466178566092915 Centerline is valid? [True, True] Translation: X:30.77, Y:-2.17, Z:0.13 [[ 9.97104580e-01 7.59865139e-02 2.91655806e-03 3.07670306e+01] [-7.59862277e-02 9.97108845e-01 -2.08959780e-04 -2.17242421e+00] [-2.92400396e-03 -1.32634908e-05 9.99995725e-01 1.34801559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822320588 meters 0.02157021084437196 Centerline is valid? [True, True] Translation: X:30.80, Y:-2.18, Z:0.14 [[ 9.97169060e-01 7.51016770e-02 3.68828304e-03 3.07993735e+01] [-7.51012121e-02 9.97175881e-01 -2.64567719e-04 -2.17638898e+00] [-3.69773637e-03 -1.31757834e-05 9.99993163e-01 1.37020839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.852320587999998 meters 0.021654597044773013 Centerline is valid? [True, True] Translation: X:30.83, Y:-2.18, Z:0.14 [[ 9.96949421e-01 7.74426084e-02 9.72085372e-03 3.08317173e+01] [-7.74394886e-02 9.96996810e-01 -6.97492195e-04 -2.17906758e+00] [-9.74567577e-03 -5.74135014e-05 9.99952508e-01 1.38439149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882320588 meters 0.021718286982545687 Centerline is valid? [True, True] Translation: X:30.86, Y:-2.18, Z:0.14 [[ 9.96653316e-01 8.07390888e-02 1.27815324e-02 3.08637371e+01] [-8.07339472e-02 9.96735264e-01 -9.18575963e-04 -2.18042355e+00] [-1.28139690e-02 -1.16401780e-04 9.99917891e-01 1.38052360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912320588 meters 0.02229675426826819 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.18, Z:0.14 [[ 9.96142101e-01 8.62619890e-02 1.61178343e-02 3.08953644e+01] [-8.62544022e-02 9.96272461e-01 -1.16658036e-03 -2.18186771e+00] [-1.61583860e-02 -2.28154359e-04 9.99869419e-01 1.36107280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.942320587999998 meters 0.02287495619955906 Centerline is valid? [True, True] Translation: X:30.93, Y:-2.18, Z:0.13 [[ 9.95620922e-01 9.16279702e-02 1.85282024e-02 3.09272591e+01] [-9.16187247e-02 9.95793246e-01 -1.34901115e-03 -2.18265920e+00] [-1.85738660e-02 -3.54426557e-04 9.99827428e-01 1.34099193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972320588 meters 0.024168816945767405 Centerline is valid? [True, True] Translation: X:30.96, Y:-2.18, Z:0.13 [[ 9.94576754e-01 1.02758726e-01 1.60537859e-02 3.09589568e+01] [-1.02753123e-01 9.94706195e-01 -1.17567858e-03 -2.18180794e+00] [-1.60896115e-02 -4.80274051e-04 9.99870438e-01 1.33965198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002320588 meters 0.024736585528179644 Centerline is valid? [True, True] Translation: X:30.99, Y:-2.18, Z:0.13 [[ 9.94116315e-01 1.07633332e-01 1.21580821e-02 3.09912304e+01] [-1.07630409e-01 9.94190571e-01 -8.96366068e-04 -2.18262935e+00] [-1.21839294e-02 -4.17487219e-04 9.99925686e-01 1.34840423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.032320587999997 meters 0.02493804940307862 Centerline is valid? [True, True] Translation: X:31.02, Y:-2.18, Z:0.14 [[ 9.93809453e-01 1.10839683e-01 7.57200562e-03 3.10234935e+01] [-1.10838638e-01 9.93838258e-01 -5.58863472e-04 -2.18418599e+00] [-7.58729313e-03 -2.83866987e-04 9.99971176e-01 1.37655021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062320588 meters 0.025533532078140717 Centerline is valid? [True, True] Translation: X:31.06, Y:-2.19, Z:0.14 [[ 9.93583938e-01 1.13030958e-01 3.86785081e-03 3.10556130e+01] [-1.13030699e-01 9.93591455e-01 -2.86206053e-04 -2.18807336e+00] [-3.87541366e-03 -1.52816144e-04 9.99992479e-01 1.38965061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092320588 meters 0.025685807244465564 Centerline is valid? [True, True] Translation: X:31.09, Y:-2.19, Z:0.14 [[ 9.93449279e-01 1.14096748e-01 6.36098360e-03 3.10873660e+01] [-1.14096059e-01 9.93469610e-01 -4.72248943e-04 -2.18878968e+00] [-6.37332596e-03 -2.56607791e-04 9.99979657e-01 1.40049251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.122320587999997 meters 0.02589572056168462 Centerline is valid? [True, True] Translation: X:31.12, Y:-2.19, Z:0.14 [[ 9.93404304e-01 1.14170434e-01 1.06302017e-02 3.11200251e+01] [-1.14168514e-01 9.93461085e-01 -7.89256462e-04 -2.18905271e+00] [-1.06508014e-02 -4.29583564e-04 9.99943186e-01 1.39003067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.152320588 meters 0.02672836002785898 Centerline is valid? [True, True] Translation: X:31.15, Y:-2.18, Z:0.14 [[ 9.93035503e-01 1.17030721e-01 1.35757294e-02 3.11528972e+01] [-1.17027836e-01 9.93128122e-01 -1.00946816e-03 -2.18438032e+00] [-1.36005774e-02 -5.86300505e-04 9.99907336e-01 1.38594969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182320588 meters 0.027110008139814835 Centerline is valid? [True, True] Translation: X:31.19, Y:-2.18, Z:0.14 [[ 9.92744307e-01 1.19577231e-01 1.26501878e-02 3.11856642e+01] [-1.19574912e-01 9.92824734e-01 -9.42239170e-04 -2.18192558e+00] [-1.26720897e-02 -5.77242525e-04 9.99919539e-01 1.38437998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.212320587999997 meters 0.027800653368774873 Centerline is valid? [True, True] Translation: X:31.22, Y:-2.18, Z:0.14 [[ 9.92378114e-01 1.22947285e-01 8.34532902e-03 3.12179800e+01] [-1.22946384e-01 9.92413119e-01 -6.22826553e-04 -2.17978914e+00] [-8.35858884e-03 -4.07948590e-04 9.99964983e-01 1.38988393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.242320588 meters 0.027904210017724827 Centerline is valid? [True, True] Translation: X:31.25, Y:-2.18, Z:0.14 [[ 9.92220555e-01 1.24395318e-01 4.91671345e-03 3.12502279e+01] [-1.24395019e-01 9.92232707e-01 -3.67795433e-04 -2.17751602e+00] [-4.92427593e-03 -2.46680475e-04 9.99987845e-01 1.39220460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272320588 meters 0.027035630671985843 Centerline is valid? [True, True] Translation: X:31.28, Y:-2.17, Z:0.14 [[ 9.92359046e-01 1.23308491e-01 4.30589843e-03 3.12830234e+01] [-1.23308248e-01 9.92368365e-01 -3.23000362e-04 -2.17093762e+00] [-4.31286607e-03 -2.10420460e-04 9.99990677e-01 1.40391615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.302320587999997 meters 0.026697418790192797 Centerline is valid? [True, True] Translation: X:31.32, Y:-2.17, Z:0.14 [[ 9.92690530e-01 1.20460842e-01 7.39579309e-03 3.13152286e+01] [-1.20460043e-01 9.92718021e-01 -5.55017351e-04 -2.17041586e+00] [-7.40879494e-03 -3.39937085e-04 9.99972497e-01 1.42553325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.332320587999998 meters 0.02552019414919136 Centerline is valid? [True, True] Translation: X:31.35, Y:-2.17, Z:0.14 [[ 9.93160290e-01 1.16153192e-01 1.18774925e-02 3.13479606e+01] [-1.16150804e-01 9.93231188e-01 -8.92983465e-04 -2.17018103e+00] [-1.19008189e-02 -4.92704589e-04 9.99929061e-01 1.43953669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362320588 meters 0.02444158332422566 Centerline is valid? [True, True] Translation: X:31.38, Y:-2.17, Z:0.14 [[ 9.93764225e-01 1.10737556e-01 1.30330133e-02 3.13800956e+01] [-1.10734197e-01 9.93849573e-01 -9.81293548e-04 -2.16960952e+00] [-1.30615208e-02 -4.68025851e-04 9.99914585e-01 1.44469635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392320588 meters 0.02287528762047256 Centerline is valid? [True, True] Translation: X:31.41, Y:-2.17, Z:0.14 [[ 9.94950928e-01 9.96874378e-02 1.16218032e-02 3.14114271e+01] [-9.96840115e-02 9.95018760e-01 -8.75157689e-04 -2.16581805e+00] [-1.16511544e-02 -2.87769012e-04 9.99932082e-01 1.39069721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.422320587999998 meters 0.022406564238811284 Centerline is valid? [True, True] Translation: X:31.44, Y:-2.16, Z:0.14 [[ 9.95341261e-01 9.58080158e-02 1.07980238e-02 3.14440719e+01] [-9.58048092e-02 9.95399806e-01 -8.15037434e-04 -2.16456102e+00] [-1.08264379e-02 -2.23262220e-04 9.99941367e-01 1.36007607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452320588 meters 0.022124693957235743 Centerline is valid? [True, True] Translation: X:31.48, Y:-2.16, Z:0.14 [[ 9.95540240e-01 9.38825848e-02 9.25694512e-03 3.14769129e+01] [-9.38801282e-02 9.95583262e-01 -7.00519255e-04 -2.16359838e+00] [-9.28182618e-03 -1.71648087e-04 9.99956908e-01 1.35495802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482320588 meters 0.021838243149646965 Centerline is valid? [True, True] Translation: X:31.51, Y:-2.16, Z:0.14 [[ 9.95773590e-01 9.15715257e-02 7.04361786e-03 3.15093527e+01] [-9.15700387e-02 9.95798495e-01 -5.34005444e-04 -2.16115078e+00] [-7.06292376e-03 -1.13235841e-04 9.99975051e-01 1.38521887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.512320587999998 meters 0.021631039134979747 Centerline is valid? [True, True] Translation: X:31.54, Y:-2.16, Z:0.14 [[ 9.95907363e-01 9.02467042e-02 4.90477967e-03 3.15417086e+01] [-9.02459628e-02 9.95919438e-01 -3.72720546e-04 -2.16195357e+00] [-4.91840221e-03 -7.14414276e-05 9.99987902e-01 1.40525920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542320588 meters 0.021455765473694936 Centerline is valid? [True, True] Translation: X:31.57, Y:-2.16, Z:0.14 [[ 9.96096188e-01 8.80994903e-02 5.55548674e-03 3.15743158e+01] [-8.80985021e-02 9.96111678e-01 -4.22836781e-04 -2.16265963e+00] [-5.57113693e-03 -6.82439545e-05 9.99984479e-01 1.40475523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572320588 meters 0.021315017089843763 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.16, Z:0.14 [[ 9.96369193e-01 8.45357811e-02 1.01061323e-02 3.16059336e+01] [-8.45323243e-02 9.96420440e-01 -7.69492993e-04 -2.16466812e+00] [-1.01350065e-02 -8.75957425e-05 9.99948636e-01 1.40803752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602320587999998 meters 0.02128898163423002 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.17, Z:0.14 [[ 9.96336325e-01 8.47737963e-02 1.12840958e-02 3.16381787e+01] [-8.47694836e-02 9.96400218e-01 -8.60801390e-04 -2.16722969e+00] [-1.13164489e-02 -9.88992817e-05 9.99935962e-01 1.41186031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.632320588 meters 0.021403685537733797 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.17, Z:0.14 [[ 9.96306143e-01 8.48721043e-02 1.30688511e-02 3.16702798e+01] [-8.48663062e-02 9.96391847e-01 -9.98596928e-04 -2.16697471e+00] [-1.31064497e-02 -1.14196862e-04 9.99914100e-01 1.41276563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662320588 meters 0.021347352241016016 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.16, Z:0.14 [[ 9.96221012e-01 8.62106269e-02 1.05556786e-02 3.17034368e+01] [-8.62069033e-02 9.96276928e-01 -8.08097652e-04 -2.15852783e+00] [-1.05860456e-02 -1.04928501e-04 9.99943961e-01 1.39624433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.692320587999998 meters 0.021277181731819354 Centerline is valid? [True, True] Translation: X:31.74, Y:-2.16, Z:0.14 [[ 9.96226700e-01 8.62395084e-02 9.75242235e-03 3.17358576e+01] [-8.62363181e-02 9.96274429e-01 -7.47958432e-04 -2.15762671e+00] [-9.78059258e-03 -9.58768362e-05 9.99952164e-01 1.38102064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722320588 meters 0.021106257456159124 Centerline is valid? [True, True] Translation: X:31.77, Y:-2.16, Z:0.14 [[ 9.96304696e-01 8.53487329e-02 9.62007405e-03 3.17682080e+01] [-8.53455746e-02 9.96351136e-01 -7.39107485e-04 -2.16210213e+00] [-9.64805359e-03 -8.46544882e-05 9.99953453e-01 1.37881963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752320588 meters 0.021155107027212003 Centerline is valid? [True, True] Translation: X:31.80, Y:-2.17, Z:0.14 [[ 9.96385299e-01 8.43203994e-02 1.03153536e-02 3.17999889e+01] [-8.43166989e-02 9.96438691e-01 -7.93874409e-04 -2.16944242e+00] [-1.03455572e-02 -7.87517719e-05 9.99946480e-01 1.38507448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782320587999997 meters 0.02108068847244648 Centerline is valid? [True, True] Translation: X:31.83, Y:-2.18, Z:0.14 [[ 9.96843996e-01 7.87629678e-02 9.92181422e-03 3.18313265e+01] [-7.87592552e-02 9.96893372e-01 -7.64964487e-04 -2.17755880e+00] [-9.95124170e-03 -1.88844417e-05 9.99950485e-01 1.39800292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812320588 meters 0.021124731048886073 Centerline is valid? [True, True] Translation: X:31.86, Y:-2.18, Z:0.14 [[ 9.97164942e-01 7.46120876e-02 9.75263553e-03 3.18639835e+01] [-7.46082793e-02 9.97212633e-01 -7.54239334e-04 -2.17929988e+00] [-9.78172673e-03 2.44736666e-05 9.99952157e-01 1.38962517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842320588 meters 0.021106614805697047 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.18, Z:0.14 [[ 9.97416423e-01 7.11829417e-02 9.66790104e-03 3.18959880e+01] [-7.11790288e-02 9.97463275e-01 -7.48659941e-04 -2.18085117e+00] [-9.69666805e-03 5.85739141e-05 9.99952984e-01 1.37939964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.872320587999997 meters 0.0210621925102768 Centerline is valid? [True, True] Translation: X:31.93, Y:-2.18, Z:0.14 [[ 9.97510947e-01 6.96546479e-02 1.09608372e-02 3.19279196e+01] [-6.96495055e-02 9.97571162e-01 -8.50645487e-04 -2.18339412e+00] [-1.09934665e-02 8.51112924e-05 9.99939566e-01 1.38630383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902320588 meters 0.02107428224952775 Centerline is valid? [True, True] Translation: X:31.96, Y:-2.18, Z:0.14 [[ 9.97433083e-01 7.02433398e-02 1.38966757e-02 3.19603866e+01] [-7.02351100e-02 9.97529881e-01 -1.07998093e-03 -2.18344705e+00] [-1.39382107e-02 1.01174160e-04 9.99902853e-01 1.40889923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932320588 meters 0.020913681474793947 Centerline is valid? [True, True] Translation: X:31.99, Y:-2.19, Z:0.14 [[ 9.97289758e-01 7.21706784e-02 1.43014598e-02 3.19928547e+01] [-7.21621154e-02 9.97392293e-01 -1.11456005e-03 -2.18598014e+00] [-1.43446044e-02 7.95157266e-05 9.99897108e-01 1.41730546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962320587999997 meters 0.020834936582985235 Centerline is valid? [True, True] Translation: X:32.02, Y:-2.19, Z:0.14 [[ 9.97189246e-01 7.36920409e-02 1.35311260e-02 3.20247830e+01] [-7.36844951e-02 9.97281044e-01 -1.05603525e-03 -2.19133099e+00] [-1.35721569e-02 5.60328055e-05 9.99907892e-01 1.40700067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.992320588 meters 0.021021721114814276 Centerline is valid? [True, True] Translation: X:32.06, Y:-2.20, Z:0.14 [[ 9.97147288e-01 7.44906939e-02 1.21828926e-02 3.20569343e+01] [-7.44845944e-02 9.97221708e-01 -9.54270263e-04 -2.19945475e+00] [-1.22201292e-02 4.41101912e-05 9.99925330e-01 1.38329840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022320588 meters 0.0211421618345429 Centerline is valid? [True, True] Translation: X:32.09, Y:-2.21, Z:0.13 [[ 9.97320785e-01 7.20459274e-02 1.26742439e-02 3.20884921e+01] [-7.20391142e-02 9.97401313e-01 -9.93878663e-04 -2.21434527e+00] [-1.27129124e-02 7.81745474e-05 9.99919185e-01 1.33834487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.052320587999997 meters 0.02110193583169796 Centerline is valid? [True, True] Translation: X:32.12, Y:-2.22, Z:0.13 [[ 9.97412564e-01 7.06442824e-02 1.33252612e-02 3.21202482e+01] [-7.06366032e-02 9.97501566e-01 -1.04664869e-03 -2.22187673e+00] [-1.33659087e-02 1.02689365e-04 9.99910667e-01 1.34695896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082320587999998 meters 0.021321730529782125 Centerline is valid? [True, True] Translation: X:32.15, Y:-2.23, Z:0.14 [[ 9.97504681e-01 6.89966140e-02 1.49625657e-02 3.21517096e+01] [-6.89867178e-02 9.97616884e-01 -1.17714724e-03 -2.22728580e+00] [-1.50081273e-02 1.41991584e-04 9.99887362e-01 1.36493996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112320588 meters 0.021233884132907298 Centerline is valid? [True, True] Translation: X:32.18, Y:-2.23, Z:0.14 [[ 9.97561800e-01 6.77196784e-02 1.68671513e-02 3.21838248e+01] [-6.77068836e-02 9.97704371e-01 -1.32912180e-03 -2.23033606e+00] [-1.69184383e-02 1.83858887e-04 9.99856856e-01 1.38500172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142320588 meters 0.021199964205477078 Centerline is valid? [True, True] Translation: X:32.22, Y:-2.23, Z:0.14 [[ 9.97549321e-01 6.85538881e-02 1.39899062e-02 3.22164462e+01] [-6.85451411e-02 9.97647405e-01 -1.10433962e-03 -2.23097570e+00] [-1.40327004e-02 1.42693146e-04 9.99901527e-01 1.41637125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.172320587999998 meters 0.02088821562349108 Centerline is valid? [True, True] Translation: X:32.25, Y:-2.24, Z:0.14 [[ 9.97320583e-01 7.17802839e-02 1.41154591e-02 3.22481818e+01] [-7.17716759e-02 9.97420463e-01 -1.11610715e-03 -2.23503034e+00] [-1.41591622e-02 1.00026477e-04 9.99899749e-01 1.40930088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202320588 meters 0.020870710974377416 Centerline is valid? [True, True] Translation: X:32.28, Y:-2.24, Z:0.14 [[ 9.96941023e-01 7.68582163e-02 1.41919351e-02 3.22799719e+01] [-7.68500018e-02 9.97042032e-01 -1.12406747e-03 -2.24218766e+00] [-1.42363496e-02 2.99787358e-05 9.99898658e-01 1.39328670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232320588 meters 0.020976629621602426 Centerline is valid? [True, True] Translation: X:32.31, Y:-2.26, Z:0.14 [[ 9.96112770e-01 8.69761946e-02 1.39459960e-02 3.23112735e+01] [-8.69692268e-02 9.96210384e-01 -1.10646471e-03 -2.25711460e+00] [-1.39893821e-02 -1.10708865e-04 9.99902138e-01 1.36986200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262320587999998 meters 0.021263841518959027 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.26, Z:0.14 [[ 9.95760470e-01 9.09315282e-02 1.38760063e-02 3.23425861e+01] [-9.09249881e-02 9.95857134e-01 -1.10278103e-03 -2.26457809e+00] [-1.39187974e-02 -1.63569952e-04 9.99903115e-01 1.37554693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292320588 meters 0.021263841518959027 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.27, Z:0.14 [[ 9.95742055e-01 9.11330008e-02 1.38757555e-02 3.23749971e+01] [-9.11264363e-02 9.95838717e-01 -1.10593417e-03 -2.26710256e+00] [-1.39188016e-02 -1.63222984e-04 9.99903115e-01 1.37718560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322320588 meters 0.021670278579988784 Centerline is valid? [True, True] Translation: X:32.41, Y:-2.27, Z:0.14 [[ 9.95463863e-01 9.39296330e-02 1.51301775e-02 3.24066827e+01] [-9.39221265e-02 9.95578815e-01 -1.20751139e-03 -2.27376475e+00] [-1.51767053e-02 -2.19024496e-04 9.99884803e-01 1.38694905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.352320587999998 meters 0.021863940806067707 Centerline is valid? [True, True] Translation: X:32.44, Y:-2.28, Z:0.14 [[ 9.95330500e-01 9.50849876e-02 1.66145072e-02 3.24384269e+01] [-9.50760610e-02 9.95469125e-01 -1.32812457e-03 -2.27945460e+00] [-1.66655137e-02 -2.57719015e-04 9.99861087e-01 1.39487692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382320588 meters 0.021871398382360442 Centerline is valid? [True, True] Translation: X:32.47, Y:-2.28, Z:0.14 [[ 9.95159073e-01 9.69721023e-02 1.59634101e-02 3.24716867e+01] [-9.69639377e-02 9.95287064e-01 -1.28647773e-03 -2.28338052e+00] [-1.60129280e-02 -2.67625113e-04 9.99871749e-01 1.40354598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412320588 meters 0.02204483461889369 Centerline is valid? [True, True] Translation: X:32.50, Y:-2.29, Z:0.14 [[ 9.94967931e-01 9.93218168e-02 1.31906092e-02 3.25038015e+01] [-9.93163654e-02 9.95055333e-01 -1.06930922e-03 -2.28641394e+00] [-1.32315917e-02 -2.46114980e-04 9.99912428e-01 1.39203038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.442320587999998 meters 0.022372348715290313 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.29, Z:0.14 [[ 9.94729774e-01 1.02016653e-01 1.02605339e-02 3.25367570e+01] [-1.02013485e-01 9.94782667e-01 -8.33008601e-04 -2.29016058e+00] [-1.02919820e-02 -2.18094365e-04 9.99947012e-01 1.38048256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472320588 meters 0.022975119211275926 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.29, Z:0.14 [[ 9.94292997e-01 1.06334852e-01 8.62180643e-03 3.25682199e+01] [-1.06332773e-01 9.94330353e-01 -7.00464815e-04 -2.29329832e+00] [-8.64740765e-03 -2.20313322e-04 9.99962586e-01 1.38080333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502320588 meters 0.024553485437046465 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.29, Z:0.14 [[ 9.93224880e-01 1.15931193e-01 8.01846832e-03 3.25999719e+01] [-1.15929704e-01 9.93257207e-01 -6.51823273e-04 -2.29129079e+00] [-8.03996810e-03 -2.82171566e-04 9.99967639e-01 1.41246770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.532320587999997 meters 0.024970173263119965 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.29, Z:0.14 [[ 9.92832417e-01 1.19132978e-01 9.54598077e-03 3.26319108e+01] [-1.19131006e-01 9.92878240e-01 -7.76997207e-04 -2.28923882e+00] [-9.57056258e-03 -3.65794278e-04 9.99954134e-01 1.41396131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562320588 meters 0.025268834665960457 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.29, Z:0.14 [[ 9.92590903e-01 1.21131358e-01 9.51278424e-03 3.26636514e+01] [-1.21129483e-01 9.92636413e-01 -7.75198842e-04 -2.28953206e+00] [-9.53663691e-03 -3.82823316e-04 9.99954452e-01 1.41169251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592320588 meters 0.025405204226190484 Centerline is valid? [True, True] Translation: X:32.70, Y:-2.29, Z:0.14 [[ 9.92641915e-01 1.20622659e-01 1.05926044e-02 3.26957177e+01] [-1.20620290e-01 9.92698342e-01 -8.64633705e-04 -2.29189797e+00] [-1.06195553e-02 -4.19411356e-04 9.99943523e-01 1.40494740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.622320587999997 meters 0.025128755836762037 Centerline is valid? [True, True] Translation: X:32.73, Y:-2.29, Z:0.14 [[ 9.92774911e-01 1.19400108e-01 1.18991763e-02 3.27282888e+01] [-1.19397013e-01 9.92846114e-01 -9.72699593e-04 -2.29266088e+00] [-1.19301914e-02 -4.55054363e-04 9.99928729e-01 1.41578786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.652320588 meters 0.024449840438325668 Centerline is valid? [True, True] Translation: X:32.76, Y:-2.28, Z:0.14 [[ 9.93096138e-01 1.16366248e-01 1.47971788e-02 3.27618042e+01] [-1.16361100e-01 9.93206236e-01 -1.21131942e-03 -2.28070563e+00] [-1.48376070e-02 -5.18859378e-04 9.99889782e-01 1.42395787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682320588 meters 0.02404990713669233 Centerline is valid? [True, True] Translation: X:32.79, Y:-2.27, Z:0.14 [[ 9.93268099e-01 1.14874447e-01 1.49112154e-02 3.27943769e+01] [-1.14869023e-01 9.93379894e-01 -1.22255087e-03 -2.27475141e+00] [-1.49529414e-02 -4.98515964e-04 9.99888074e-01 1.41594331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.712320587999997 meters 0.023720339436586284 Centerline is valid? [True, True] Translation: X:32.83, Y:-2.27, Z:0.14 [[ 9.93478081e-01 1.13256073e-01 1.32047051e-02 3.28266895e+01] [-1.13251654e-01 9.93565744e-01 -1.08440678e-03 -2.27174395e+00] [-1.32425583e-02 -4.18120318e-04 9.99912226e-01 1.41093650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.742320588 meters 0.023321182066350057 Centerline is valid? [True, True] Translation: X:32.86, Y:-2.27, Z:0.14 [[ 9.93804143e-01 1.10454837e-01 1.23715323e-02 3.28587050e+01] [-1.10450720e-01 9.93881081e-01 -1.01762171e-03 -2.27017756e+00] [-1.24082331e-02 -3.55127978e-04 9.99922952e-01 1.40136655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772320588 meters 0.022150765784310415 Centerline is valid? [True, True] Translation: X:32.89, Y:-2.26, Z:0.14 [[ 9.94592512e-01 1.03273493e-01 1.09690459e-02 3.28905579e+01] [-1.03269815e-01 9.94652970e-01 -9.02745619e-04 -2.26404140e+00] [-1.10036237e-02 -2.34907300e-04 9.99939431e-01 1.41501306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802320587999997 meters 0.021628362095517002 Centerline is valid? [True, True] Translation: X:32.92, Y:-2.26, Z:0.14 [[ 9.94992990e-01 9.93245031e-02 1.11172118e-02 3.29232373e+01] [-9.93204427e-02 9.95055077e-01 -9.18116388e-04 -2.26037249e+00] [-1.11534295e-02 -1.90647024e-04 9.99937780e-01 1.42676321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.832320587999998 meters 0.021519274435324982 Centerline is valid? [True, True] Translation: X:32.96, Y:-2.26, Z:0.14 [[ 9.95515241e-01 9.37454062e-02 1.26965915e-02 3.29562578e+01] [-9.37396337e-02 9.95596192e-01 -1.05031062e-03 -2.25720919e+00] [-1.27391399e-02 -1.44573605e-04 9.99918843e-01 1.42393092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862320588 meters 0.021052498205968946 Centerline is valid? [True, True] Translation: X:32.99, Y:-2.26, Z:0.14 [[ 9.96033347e-01 8.79741553e-02 1.33461488e-02 3.29890013e+01] [-8.79672377e-02 9.96122755e-01 -1.10561797e-03 -2.25544603e+00] [-1.33916683e-02 -7.27914750e-05 9.99910325e-01 1.41832705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892320588 meters 0.021209355390764142 Centerline is valid? [True, True] Translation: X:33.02, Y:-2.25, Z:0.14 [[ 9.96985995e-01 7.65617317e-02 1.25389851e-02 3.30212125e+01] [-7.65547005e-02 9.97064840e-01 -1.04047832e-03 -2.25409464e+00] [-1.25818419e-02 7.74240704e-05 9.99920842e-01 1.40234246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.922320587999998 meters 0.021326550675115588 Centerline is valid? [True, True] Translation: X:33.05, Y:-2.26, Z:0.14 [[ 9.97359274e-01 7.19554488e-02 9.84340720e-03 3.30541409e+01] [-7.19508676e-02 9.97407841e-01 -8.19200649e-04 -2.25534600e+00] [-9.87683747e-03 1.08795676e-04 9.99951217e-01 1.41090625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952320588 meters 0.02177364070776535 Centerline is valid? [True, True] Translation: X:33.09, Y:-2.26, Z:0.14 [[ 9.97704686e-01 6.71057344e-02 9.06533053e-03 3.30867172e+01] [-6.71016404e-02 9.97745859e-01 -7.55364231e-04 -2.25658460e+00] [-9.09558527e-03 1.45331884e-04 9.99958624e-01 1.40686205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982320588 meters 0.02287007708608624 Centerline is valid? [True, True] Translation: X:33.12, Y:-2.26, Z:0.14 [[ 9.98100721e-01 6.04107862e-02 1.20617859e-02 3.31185258e+01] [-6.04030333e-02 9.98173562e-01 -1.00636084e-03 -2.25906260e+00] [-1.21005508e-02 2.75881027e-04 9.99926748e-01 1.39624990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012320588 meters 0.023029087677178168 Centerline is valid? [True, True] Translation: X:33.15, Y:-2.26, Z:0.14 [[ 9.98135270e-01 5.96746573e-02 1.28420070e-02 3.31504734e+01] [-5.96657880e-02 9.98217833e-01 -1.07301432e-03 -2.26311942e+00] [-1.28831521e-02 3.04784973e-04 9.99916962e-01 1.40127185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.042320588 meters 0.02325972001774836 Centerline is valid? [True, True] Translation: X:33.18, Y:-2.27, Z:0.14 [[ 9.98177895e-01 5.88510110e-02 1.33209645e-02 3.31829792e+01] [-5.88413721e-02 9.98266723e-01 -1.11469942e-03 -2.26546109e+00] [-1.33634768e-02 3.28844489e-04 9.99910651e-01 1.40214707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.072320588000004 meters 0.023141588506152125 Centerline is valid? [True, True] Translation: X:33.22, Y:-2.27, Z:0.14 [[ 9.98215452e-01 5.87962035e-02 1.04363563e-02 3.32155056e+01] [-5.87902692e-02 9.98269973e-01 -8.74757298e-04 -2.26740186e+00] [-1.04697336e-02 2.59640053e-04 9.99945157e-01 1.40517108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.102320588000005 meters 0.02311853258765819 Centerline is valid? [True, True] Translation: X:33.25, Y:-2.27, Z:0.14 [[ 9.98277992e-01 5.82609067e-02 6.83500702e-03 3.32477682e+01] [-5.82583415e-02 9.98301375e-01 -5.73973531e-04 -2.27028714e+00] [-6.85683713e-03 1.74788971e-04 9.99976476e-01 1.40089470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.132320588 meters 0.023042437552420525 Centerline is valid? [True, True] Translation: X:33.28, Y:-2.28, Z:0.14 [[ 9.98292301e-01 5.82915592e-02 3.81788027e-03 3.32790772e+01] [-5.82907561e-02 9.98299597e-01 -3.21365868e-04 -2.28034933e+00] [-3.83012125e-03 9.82699445e-05 9.99992660e-01 1.38942956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.162320588 meters 0.023007209508805315 Centerline is valid? [True, True] Translation: X:33.31, Y:-2.29, Z:0.14 [[ 9.98209719e-01 5.94074300e-02 6.93643311e-03 3.33102341e+01] [-5.94048036e-02 9.98233804e-01 -5.84240015e-04 -2.28826055e+00] [-6.95889021e-03 1.71136615e-04 9.99975772e-01 1.39377625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192320588 meters 0.023061701677247415 Centerline is valid? [True, True] Translation: X:33.34, Y:-2.29, Z:0.14 [[ 9.98184547e-01 5.91936697e-02 1.11229645e-02 3.33420016e+01] [-5.91868914e-02 9.98246479e-01 -9.37881113e-04 -2.29369284e+00] [-1.11589767e-02 2.77844743e-04 9.99937698e-01 1.40825252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222320588 meters 0.02293473029822103 Centerline is valid? [True, True] Translation: X:33.37, Y:-2.30, Z:0.14 [[ 9.98050604e-01 6.10540197e-02 1.29382699e-02 3.33736026e+01] [-6.10449844e-02 9.98134418e-01 -1.09248653e-03 -2.29638248e+00] [-1.29808332e-02 3.00540359e-04 9.99915700e-01 1.43035842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.252320588 meters 0.022125190462547437 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.30, Z:0.14 [[ 9.97737495e-01 6.59311241e-02 1.31521086e-02 3.34059884e+01] [-6.59221742e-02 9.97824147e-01 -1.11333279e-03 -2.30075598e+00] [-1.31968948e-02 2.43798273e-04 9.99912887e-01 1.42037041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.282320588000005 meters 0.02196998415329659 Centerline is valid? [True, True] Translation: X:33.44, Y:-2.31, Z:0.14 [[ 9.97551377e-01 6.89292068e-02 1.18328147e-02 3.34378656e+01] [-6.89221577e-02 9.97621537e-01 -1.00296917e-03 -2.30812214e+00] [-1.18738046e-02 1.84970158e-04 9.99929487e-01 1.40210573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.312320588000006 meters 0.021795696769026377 Centerline is valid? [True, True] Translation: X:33.47, Y:-2.32, Z:0.14 [[ 9.97352147e-01 7.17805018e-02 1.16728333e-02 3.34690651e+01] [-7.17738191e-02 9.97420441e-01 -9.90948660e-04 -2.31564215e+00] [-1.17138533e-02 1.50520946e-04 9.99931379e-01 1.38675745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.342320588 meters 0.02153111270187745 Centerline is valid? [True, True] Translation: X:33.50, Y:-2.32, Z:0.14 [[ 9.97050399e-01 7.58378635e-02 1.17949135e-02 3.35011906e+01] [-7.58313059e-02 9.97120157e-01 -1.00285550e-03 -2.32197495e+00] [-1.18370004e-02 1.05473789e-04 9.99929935e-01 1.38844678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372320588 meters 0.021231668644303887 Centerline is valid? [True, True] Translation: X:33.53, Y:-2.33, Z:0.14 [[ 9.96285828e-01 8.54946791e-02 1.02571356e-02 3.35325897e+01] [-8.54902109e-02 9.96338627e-01 -8.74086633e-04 -2.32826105e+00] [-1.02943102e-02 -6.04456533e-06 9.99947012e-01 1.41360949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402320588 meters 0.02140134747802566 Centerline is valid? [True, True] Translation: X:33.57, Y:-2.33, Z:0.14 [[ 9.95936876e-01 8.95323135e-02 9.68009386e-03 3.35651077e+01] [-8.95285030e-02 9.95983917e-01 -8.27129329e-04 -2.33273618e+00] [-9.71527260e-03 -4.28757125e-05 9.99952805e-01 1.42273727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.432320588 meters 0.021493386969349878 Centerline is valid? [True, True] Translation: X:33.60, Y:-2.34, Z:0.14 [[ 9.95634272e-01 9.27951929e-02 1.00721996e-02 3.35971882e+01] [-9.27912243e-02 9.95685214e-01 -8.61631872e-04 -2.33763581e+00] [-1.01086955e-02 -7.67415087e-05 9.99948903e-01 1.42546018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.462320588000004 meters 0.02166427531300655 Centerline is valid? [True, True] Translation: X:33.63, Y:-2.34, Z:0.14 [[ 9.95378734e-01 9.54588073e-02 1.04303013e-02 3.36295962e+01] [-9.54546833e-02 9.95433375e-01 -8.93639907e-04 -2.34142728e+00] [-1.04679758e-02 -1.06110946e-04 9.99945204e-01 1.42357616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.492320588000005 meters 0.021895553243817503 Centerline is valid? [True, True] Translation: X:33.66, Y:-2.34, Z:0.14 [[ 9.94876761e-01 1.00479521e-01 1.11398948e-02 3.36619749e+01] [-1.00475115e-01 9.94939113e-01 -9.55901349e-04 -2.34386297e+00] [-1.11795656e-02 -1.68278168e-04 9.99937493e-01 1.42112185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.522320588 meters 0.02226398679629219 Centerline is valid? [True, True] Translation: X:33.69, Y:-2.35, Z:0.14 [[ 9.94592144e-01 1.03406987e-01 9.66758755e-03 3.36942371e+01] [-1.03403794e-01 9.94639113e-01 -8.30964122e-04 -2.34807868e+00] [-9.70168820e-03 -1.73194842e-04 9.99952923e-01 1.41990675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552320588 meters 0.022456971926355748 Centerline is valid? [True, True] Translation: X:33.73, Y:-2.35, Z:0.14 [[ 9.94386764e-01 1.05243822e-01 1.08950614e-02 3.37262885e+01] [-1.05239861e-01 9.94446425e-01 -9.37814667e-04 -2.35249138e+00] [-1.09332541e-02 -2.14044257e-04 9.99940207e-01 1.42351635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582320588 meters 0.022683778722117905 Centerline is valid? [True, True] Translation: X:33.76, Y:-2.36, Z:0.14 [[ 9.94237706e-01 1.06366344e-01 1.33260777e-02 3.37577042e+01] [-1.06360469e-01 9.94326971e-01 -1.15085536e-03 -2.35651651e+00] [-1.33728908e-02 -2.73144078e-04 9.99910542e-01 1.42208117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.612320588 meters 0.022675117328067252 Centerline is valid? [True, True] Translation: X:33.79, Y:-2.36, Z:0.14 [[ 9.94242552e-01 1.05960616e-01 1.59404047e-02 3.37897312e+01] [-1.05952137e-01 9.94370276e-01 -1.37789252e-03 -2.35963827e+00] [-1.59966669e-02 -3.18960567e-04 9.99871994e-01 1.42061645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.642320588000004 meters 0.022300062091428006 Centerline is valid? [True, True] Translation: X:33.82, Y:-2.36, Z:0.14 [[ 9.94633495e-01 1.02310590e-01 1.53868252e-02 3.38215339e+01] [-1.02302220e-01 9.94752472e-01 -1.33213833e-03 -2.36451487e+00] [-1.54423743e-02 -2.49116978e-04 9.99880728e-01 1.41518133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.672320588000005 meters 0.02189889547779315 Centerline is valid? [True, True] Translation: X:33.85, Y:-2.37, Z:0.14 [[ 9.94951657e-01 9.92094188e-02 1.51225423e-02 3.38531328e+01] [-9.92009454e-02 9.95066557e-01 -1.31127762e-03 -2.36805818e+00] [-1.51780272e-02 -1.95512653e-04 9.99884788e-01 1.41517354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.702320588 meters 0.0219804647543671 Centerline is valid? [True, True] Translation: X:33.88, Y:-2.37, Z:0.14 [[ 9.95139518e-01 9.69661389e-02 1.71729001e-02 3.38848805e+01] [-9.69548394e-02 9.95287665e-01 -1.49129497e-03 -2.37000579e+00] [-1.72365808e-02 -1.80949217e-04 9.99851423e-01 1.41227384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.732320588 meters 0.02186860781729878 Centerline is valid? [True, True] Translation: X:33.92, Y:-2.37, Z:0.14 [[ 9.95485051e-01 9.23173443e-02 2.20685783e-02 3.39171474e+01] [-9.22974784e-02 9.95729628e-01 -1.91924027e-03 -2.36803919e+00] [-2.21515164e-02 -1.26299131e-04 9.99754617e-01 1.40409880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762320588 meters 0.021864187012781644 Centerline is valid? [True, True] Translation: X:33.95, Y:-2.37, Z:0.14 [[ 9.95542086e-01 9.15184705e-02 2.28106270e-02 3.39503073e+01] [-9.14967123e-02 9.95803374e-01 -1.99792763e-03 -2.37282861e+00] [-2.28977467e-02 -9.80763348e-05 9.99737807e-01 1.38890662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.792320588 meters 0.021985770190198803 Centerline is valid? [True, True] Translation: X:33.98, Y:-2.38, Z:0.14 [[ 9.95510066e-01 9.18218397e-02 2.29882130e-02 3.39827825e+01] [-9.17995420e-02 9.95775447e-01 -2.02562215e-03 -2.38014593e+00] [-2.30770945e-02 -9.37801889e-05 9.99733684e-01 1.37768650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.822320588000004 meters 0.022026452237208467 Centerline is valid? [True, True] Translation: X:34.01, Y:-2.39, Z:0.14 [[ 9.95518023e-01 9.22981471e-02 2.06135268e-02 3.40146708e+01] [-9.22801222e-02 9.95731412e-01 -1.82596094e-03 -2.38603036e+00] [-2.06940689e-02 -8.44417423e-05 9.99785851e-01 1.37935004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.852320588000005 meters 0.022096724956985597 Centerline is valid? [True, True] Translation: X:34.05, Y:-2.39, Z:0.14 [[ 9.95282404e-01 9.51803742e-02 1.88051153e-02 3.40472084e+01] [-9.51657167e-02 9.95460035e-01 -1.67482545e-03 -2.38770697e+00] [-1.88791513e-02 -1.22677978e-04 9.99821765e-01 1.37341847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.882320588 meters 0.022197320323952323 Centerline is valid? [True, True] Translation: X:34.08, Y:-2.39, Z:0.14 [[ 9.95033815e-01 9.76886060e-02 1.90956577e-02 3.40799332e+01] [-9.76737517e-02 9.95217016e-01 -1.71123822e-03 -2.39055751e+00] [-1.91714920e-02 -1.62404636e-04 9.99816197e-01 1.37940583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.912320588 meters 0.022071805364541827 Centerline is valid? [True, True] Translation: X:34.11, Y:-2.39, Z:0.14 [[ 9.94954316e-01 9.85108760e-02 1.90135709e-02 3.41125237e+01] [-9.84961022e-02 9.95135960e-01 -1.71420232e-03 -2.39488572e+00] [-1.90899557e-02 -1.67209621e-04 9.99817756e-01 1.39974733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942320588 meters 0.02222958280157796 Centerline is valid? [True, True] Translation: X:34.14, Y:-2.40, Z:0.14 [[ 9.94870641e-01 9.91644437e-02 1.99705216e-02 3.41448898e+01] [-9.91480647e-02 9.95071043e-01 -1.81106329e-03 -2.39967014e+00] [-2.00516809e-02 -1.78264876e-04 9.99798929e-01 1.40592344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972320588 meters 0.022104838143287304 Centerline is valid? [True, True] Translation: X:34.18, Y:-2.40, Z:0.14 [[ 9.94958211e-01 9.79196696e-02 2.16770791e-02 3.41771081e+01] [-9.78998651e-02 9.95194310e-01 -1.97550737e-03 -2.40284057e+00] [-2.17663468e-02 -1.56635841e-04 9.99763073e-01 1.39771826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.002320588 meters 0.022085792701422174 Centerline is valid? [True, True] Translation: X:34.21, Y:-2.40, Z:0.14 [[ 9.95012849e-01 9.68765335e-02 2.37564194e-02 3.42091384e+01] [-9.68521871e-02 9.95296397e-01 -2.17600677e-03 -2.40431511e+00] [-2.38554827e-02 -1.35706481e-04 9.99715408e-01 1.37033542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.032320588000005 meters 0.022263391367286396 Centerline is valid? [True, True] Translation: X:34.24, Y:-2.41, Z:0.14 [[ 9.95105391e-01 9.57173105e-02 2.45653605e-02 3.42415669e+01] [-9.56907396e-02 9.95408552e-01 -2.25759351e-03 -2.40676247e+00] [-2.46686607e-02 -1.04134039e-04 9.99695677e-01 1.35521853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.062320588000006 meters 0.02235346980864753 Centerline is valid? [True, True] Translation: X:34.27, Y:-2.41, Z:0.13 [[ 9.95263477e-01 9.38055981e-02 2.55170603e-02 3.42739987e+01] [-9.37759271e-02 9.95590532e-01 -2.35959688e-03 -2.40983993e+00] [-2.56258870e-02 -4.44653861e-05 9.99671602e-01 1.34501935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.092320588 meters 0.022339914246124772 Centerline is valid? [True, True] Translation: X:34.31, Y:-2.41, Z:0.14 [[ 9.95802513e-01 8.86761440e-02 2.26693018e-02 3.43056201e+01] [-8.86511580e-02 9.96060507e-01 -2.10677378e-03 -2.41337199e+00] [-2.27668168e-02 8.82707675e-05 9.99740799e-01 1.35046657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122320588 meters 0.022177126824087602 Centerline is valid? [True, True] Translation: X:34.34, Y:-2.42, Z:0.14 [[ 9.96067001e-01 8.66062382e-02 1.87053038e-02 3.43379153e+01] [-8.65886922e-02 9.96242613e-01 -1.74742443e-03 -2.41663401e+00] [-1.87863586e-02 1.20884013e-04 9.99823513e-01 1.36213947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152320588 meters 0.022100759625347733 Centerline is valid? [True, True] Translation: X:34.37, Y:-2.42, Z:0.14 [[ 9.96142380e-01 8.62942238e-02 1.59268978e-02 3.43694839e+01] [-8.62813412e-02 9.96269689e-01 -1.49552173e-03 -2.42134654e+00] [-1.59965404e-02 1.15558474e-04 9.99872040e-01 1.36690767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.182320588 meters 0.02221407606678484 Centerline is valid? [True, True] Translation: X:34.40, Y:-2.43, Z:0.14 [[ 9.96219821e-01 8.56121327e-02 1.47183886e-02 3.44008592e+01] [-8.56010495e-02 9.96328535e-01 -1.38252498e-03 -2.42857317e+00] [-1.47827115e-02 1.17389273e-04 9.99890723e-01 1.36653069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.212320588000004 meters 0.02221407606678484 Centerline is valid? [True, True] Translation: X:34.43, Y:-2.43, Z:0.14 [[ 9.96202803e-01 8.58099798e-02 1.47180821e-02 3.44332315e+01] [-8.57988700e-02 9.96311514e-01 -1.38578563e-03 -2.43155874e+00] [-1.47827089e-02 1.17728719e-04 9.99890723e-01 1.36816934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.242320588000005 meters 0.022105056449022397 Centerline is valid? [True, True] Translation: X:34.47, Y:-2.44, Z:0.14 [[ 9.96237873e-01 8.54874301e-02 1.42126920e-02 3.44651875e+01] [-8.54769963e-02 9.96339242e-01 -1.34108240e-03 -2.43997445e+00] [-1.42753085e-02 1.21178853e-04 9.99898095e-01 1.36152221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.272320588 meters 0.022492382542988094 Centerline is valid? [True, True] Translation: X:34.50, Y:-2.45, Z:0.14 [[ 9.96316413e-01 8.37228768e-02 1.85495350e-02 3.44962847e+01] [-8.37047636e-02 9.96489058e-01 -1.75211291e-03 -2.44926553e+00] [-1.86311006e-02 1.92974402e-04 9.99826407e-01 1.35201732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302320588 meters 0.022561767306362442 Centerline is valid? [True, True] Translation: X:34.53, Y:-2.45, Z:0.14 [[ 9.96220357e-01 8.40001195e-02 2.21129181e-02 3.45284778e+01] [-8.39741855e-02 9.96465717e-01 -2.10041240e-03 -2.45393727e+00] [-2.22111997e-02 2.35559305e-04 9.99753273e-01 1.35231207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332320588 meters 0.022632086932287843 Centerline is valid? [True, True] Translation: X:34.56, Y:-2.46, Z:0.14 [[ 9.95929299e-01 8.64544540e-02 2.55040787e-02 3.45603243e+01] [-8.64204668e-02 9.96255780e-01 -2.43390815e-03 -2.46043083e+00] [-2.56190081e-02 2.19926052e-04 9.99671755e-01 1.35997756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.362320588 meters 0.022716515358023937 Centerline is valid? [True, True] Translation: X:34.59, Y:-2.47, Z:0.14 [[ 9.95601086e-01 8.97114574e-02 2.70246400e-02 3.45923404e+01] [-8.96741578e-02 9.95967786e-01 -2.59143552e-03 -2.46720904e+00] [-2.71481523e-02 1.56624190e-04 9.99631409e-01 1.37371193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.392320588000004 meters 0.02259667008581856 Centerline is valid? [True, True] Translation: X:34.62, Y:-2.48, Z:0.14 [[ 9.95439051e-01 9.23886827e-02 2.37787273e-02 3.46243540e+01] [-9.23605030e-02 9.95723016e-01 -2.28298435e-03 -2.47533816e+00] [-2.38879480e-02 7.63565617e-05 9.99714639e-01 1.37075671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.422320588000005 meters 0.02256583363576622 Centerline is valid? [True, True] Translation: X:34.66, Y:-2.48, Z:0.14 [[ 9.95514146e-01 9.25841290e-02 1.94875531e-02 3.46559011e+01] [-9.25650275e-02 9.95704863e-01 -1.88187518e-03 -2.48021858e+00] [-1.95780832e-02 6.95674727e-05 9.99808329e-01 1.35064656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.452320588 meters 0.02242696115411848 Centerline is valid? [True, True] Translation: X:34.69, Y:-2.49, Z:0.13 [[ 9.95476515e-01 9.30398974e-02 1.92376084e-02 3.46876453e+01] [-9.30213343e-02 9.95662379e-01 -1.85947981e-03 -2.48800312e+00] [-1.93271688e-02 6.15604804e-05 9.99813211e-01 1.32655131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.482320588 meters 0.022601588520761686 Centerline is valid? [True, True] Translation: X:34.72, Y:-2.51, Z:0.13 [[ 9.95521525e-01 9.26053971e-02 1.90035262e-02 3.47192730e+01] [-9.25869689e-02 9.95702884e-01 -1.84915853e-03 -2.50508656e+00] [-1.90931079e-02 8.13982314e-05 9.99817707e-01 1.32141606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512320588 meters 0.022613742526799967 Centerline is valid? [True, True] Translation: X:34.75, Y:-2.51, Z:0.13 [[ 9.95481450e-01 9.31386272e-02 1.84899865e-02 3.47513811e+01] [-9.31210867e-02 9.95653147e-01 -1.80924574e-03 -2.51238887e+00] [-1.85781239e-02 7.92629355e-05 9.99827409e-01 1.34751316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.542320588 meters 0.022473013723024324 Centerline is valid? [True, True] Translation: X:34.78, Y:-2.52, Z:0.14 [[ 9.95304722e-01 9.50165422e-02 1.84490264e-02 3.47844404e+01] [-9.49992155e-02 9.95475692e-01 -1.81528778e-03 -2.51669177e+00] [-1.85380397e-02 5.41214656e-05 9.99828154e-01 1.35566509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.572320588000004 meters 0.022447254252710803 Centerline is valid? [True, True] Translation: X:34.82, Y:-2.52, Z:0.14 [[ 9.94977672e-01 9.86191259e-02 1.71376839e-02 3.48161588e+01] [-9.86045718e-02 9.95125252e-01 -1.69423666e-03 -2.52059996e+00] [-1.72212261e-02 -4.12633560e-06 9.99851704e-01 1.35837377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.602320588000005 meters 0.022414284185116304 Centerline is valid? [True, True] Translation: X:34.85, Y:-2.53, Z:0.14 [[ 9.94603976e-01 1.02783745e-01 1.40866356e-02 3.48479157e+01] [-1.02774230e-01 9.94703724e-01 -1.39966762e-03 -2.52627744e+00] [-1.41558919e-02 -5.56281337e-05 9.99899799e-01 1.35957718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.632320588 meters 0.023348575614152624 Centerline is valid? [True, True] Translation: X:34.88, Y:-2.54, Z:0.13 [[ 9.93440651e-01 1.13829675e-01 1.08847586e-02 3.48790069e+01] [-1.13824594e-01 9.93500267e-01 -1.08711798e-03 -2.53845236e+00] [-1.09377569e-02 -1.58966036e-04 9.99940168e-01 1.33355862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.662320588 meters 0.024017307584407684 Centerline is valid? [True, True] Translation: X:34.91, Y:-2.54, Z:0.13 [[ 9.92647306e-01 1.20651375e-01 9.72480325e-03 3.49103914e+01] [-1.20647607e-01 9.92694920e-01 -9.75391063e-04 -2.54362829e+00] [-9.77144505e-03 -2.05054926e-04 9.99952237e-01 1.32265464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692320588 meters 0.024861853924103065 Centerline is valid? [True, True] Translation: X:34.94, Y:-2.55, Z:0.13 [[ 9.91918546e-01 1.26497228e-01 9.80052976e-03 3.49423599e+01] [-1.26493687e-01 9.91966925e-01 -9.82769516e-04 -2.54738757e+00] [-9.84611899e-03 -2.64877837e-04 9.99951491e-01 1.32581219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722320588 meters 0.025752155035582376 Centerline is valid? [True, True] Translation: X:34.97, Y:-2.55, Z:0.13 [[ 9.91196678e-01 1.31924918e-01 1.11786500e-02 3.49739612e+01] [-1.31920590e-01 9.91259647e-01 -1.12689244e-03 -2.55075534e+00] [-1.12296098e-02 -3.57722062e-04 9.99936882e-01 1.33440749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.752320588 meters 0.026352589044985025 Centerline is valid? [True, True] Translation: X:35.01, Y:-2.55, Z:0.14 [[ 9.90530778e-01 1.36965237e-01 9.44994927e-03 3.50057342e+01] [-1.36962332e-01 9.90575794e-01 -9.57026778e-04 -2.55280793e+00] [-9.49197041e-03 -3.46322607e-04 9.99954890e-01 1.36497860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.782320588000005 meters 0.02659783866722597 Centerline is valid? [True, True] Translation: X:35.04, Y:-2.56, Z:0.14 [[ 9.90231423e-01 1.39174618e-01 8.49434330e-03 3.50372270e+01] [-1.39172321e-01 9.90267802e-01 -8.63814939e-04 -2.55555721e+00] [-8.53189578e-03 -3.26800775e-04 9.99963549e-01 1.36404538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.812320588000006 meters 0.02679355507873133 Centerline is valid? [True, True] Translation: X:35.07, Y:-2.56, Z:0.14 [[ 9.90089990e-01 1.40167396e-01 8.65516581e-03 3.50700408e+01] [-1.40165008e-01 9.90127763e-01 -8.84952140e-04 -2.55949253e+00] [-8.69376140e-03 -3.36969127e-04 9.99962152e-01 1.35277225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.842320588 meters 0.02722661940676236 Centerline is valid? [True, True] Translation: X:35.10, Y:-2.56, Z:0.13 [[ 9.89858728e-01 1.41778068e-01 8.87007393e-03 3.51014866e+01] [-1.41775618e-01 9.89898404e-01 -9.07612949e-04 -2.56386813e+00] [-8.90915164e-03 -3.59151609e-04 9.99960248e-01 1.34321007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872320588 meters 0.02790415748597832 Centerline is valid? [True, True] Translation: X:35.13, Y:-2.56, Z:0.13 [[ 9.89379351e-01 1.45061233e-01 9.25951951e-03 3.51334883e+01] [-1.45058661e-01 9.89422598e-01 -9.52299623e-04 -2.56400780e+00] [-9.29971960e-03 -4.00987923e-04 9.99956676e-01 1.34632902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902320588 meters 0.02785308874760271 Centerline is valid? [True, True] Translation: X:35.17, Y:-2.56, Z:0.14 [[ 9.89208131e-01 1.46313223e-01 7.72752160e-03 3.51666342e+01] [-1.46311434e-01 9.89238255e-01 -7.99262012e-04 -2.55984517e+00] [-7.76130258e-03 -3.39988289e-04 9.99969823e-01 1.36395972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.932320588 meters 0.027977175300172782 Centerline is valid? [True, True] Translation: X:35.20, Y:-2.55, Z:0.14 [[ 9.89165242e-01 1.46672277e-01 6.27438201e-03 3.51996328e+01] [-1.46671109e-01 9.89185102e-01 -6.48355795e-04 -2.55498093e+00] [-6.30162103e-03 -2.78939550e-04 9.99980106e-01 1.38155424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.962320588000004 meters 0.028028528832022424 Centerline is valid? [True, True] Translation: X:35.23, Y:-2.55, Z:0.14 [[ 9.89121116e-01 1.46997307e-01 5.58648107e-03 3.52333007e+01] [-1.46996378e-01 9.89136861e-01 -5.78701788e-04 -2.55337105e+00] [-5.61086195e-03 -2.48786325e-04 9.99984228e-01 1.38694419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.992320588000005 meters 0.027715690048082373 Centerline is valid? [True, True] Translation: X:35.27, Y:-2.56, Z:0.14 [[ 9.89259580e-01 1.45988576e-01 7.26768239e-03 3.52652270e+01] [-1.45986975e-01 9.89286225e-01 -7.53154119e-04 -2.55572182e+00] [-7.29976997e-03 -3.15922039e-04 9.99973306e-01 1.38809822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.022320588 meters 0.02674066056193568 Centerline is valid? [True, True] Translation: X:35.30, Y:-2.56, Z:0.14 [[ 9.89904467e-01 1.41173013e-01 1.26224868e-02 3.52970420e+01] [-1.41167779e-01 9.89984820e-01 -1.30918494e-03 -2.55783461e+00] [-1.26808919e-02 -4.85920409e-04 9.99919476e-01 1.39384882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052320588 meters 0.025974796254719622 Centerline is valid? [True, True] Translation: X:35.33, Y:-2.56, Z:0.14 [[ 9.90449416e-01 1.37152451e-01 1.41123568e-02 3.53297285e+01] [-1.37145392e-01 9.90549836e-01 -1.47137314e-03 -2.55605139e+00] [-1.41807952e-02 -4.78124042e-04 9.99899333e-01 1.38010682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082320588 meters 0.025092278621554394 Centerline is valid? [True, True] Translation: X:35.36, Y:-2.55, Z:0.13 [[ 9.91107842e-01 1.32131255e-01 1.57027734e-02 3.53627239e+01] [-1.32121779e-01 9.91232129e-01 -1.64390018e-03 -2.55291880e+00] [-1.57823041e-02 -4.45395989e-04 9.99875352e-01 1.34885189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.112320588 meters 0.024416022821565558 Centerline is valid? [True, True] Translation: X:35.39, Y:-2.55, Z:0.13 [[ 9.91944040e-01 1.25745049e-01 1.53363565e-02 3.53942126e+01] [-1.25735260e-01 9.92062533e-01 -1.60469976e-03 -2.55194061e+00] [-1.54164077e-02 -3.36548401e-04 9.99881103e-01 1.33171714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.142320588000004 meters 0.02368167275586408 Centerline is valid? [True, True] Translation: X:35.43, Y:-2.55, Z:0.13 [[ 9.92782035e-01 1.19193343e-01 1.32957705e-02 3.54260303e+01] [-1.19185377e-01 9.92871042e-01 -1.39270227e-03 -2.55385392e+00] [-1.33669863e-02 -2.02011629e-04 9.99910637e-01 1.33386796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.172320588000005 meters 0.022842804417488725 Centerline is valid? [True, True] Translation: X:35.46, Y:-2.56, Z:0.14 [[ 9.93841970e-01 1.10381131e-01 9.70283485e-03 3.54572930e+01] [-1.10376458e-01 9.93889331e-01 -1.01746834e-03 -2.55770088e+00] [-9.75585334e-03 -5.97618054e-05 9.99952409e-01 1.37978730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.202320588 meters 0.02249603074313373 Centerline is valid? [True, True] Translation: X:35.49, Y:-2.56, Z:0.14 [[ 9.94094238e-01 1.08248447e-01 7.67598168e-03 3.54890000e+01] [-1.08245448e-01 9.94123872e-01 -8.06253971e-04 -2.55918059e+00] [-7.71815237e-03 -2.93976494e-05 9.99970214e-01 1.41101278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.232320588 meters 0.022170831414715868 Centerline is valid? [True, True] Translation: X:35.52, Y:-2.56, Z:0.14 [[ 9.94478925e-01 1.04738056e-01 6.45041935e-03 3.55213130e+01] [-1.04735859e-01 9.94499844e-01 -6.78527875e-04 -2.55901233e+00] [-6.48600873e-03 -8.08537399e-07 9.99978966e-01 1.39181965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262320588 meters 0.022393307848718347 Centerline is valid? [True, True] Translation: X:35.55, Y:-2.56, Z:0.14 [[ 9.94665885e-01 1.02824166e-01 8.18339814e-03 3.55527383e+01] [-1.02820559e-01 9.94699548e-01 -8.61317959e-04 -2.56289153e+00] [-8.22858673e-03 1.53020163e-05 9.99966144e-01 1.37746539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.292320588 meters 0.02242890852307485 Centerline is valid? [True, True] Translation: X:35.58, Y:-2.57, Z:0.14 [[ 9.95017276e-01 9.91309173e-02 1.06621724e-02 3.55849454e+01] [-9.91245675e-02 9.95074398e-01 -1.12366181e-03 -2.56782360e+00] [-1.07210444e-02 6.11796934e-05 9.99942526e-01 1.36827111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.322320588000004 meters 0.022644895944240864 Centerline is valid? [True, True] Translation: X:35.62, Y:-2.57, Z:0.14 [[ 9.95363923e-01 9.55309811e-02 1.11576629e-02 3.56163890e+01] [-9.55237847e-02 9.95426452e-01 -1.17734599e-03 -2.57360425e+00] [-1.12191058e-02 1.06065535e-04 9.99937058e-01 1.37400018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.352320588000005 meters 0.023565226128428825 Centerline is valid? [True, True] Translation: X:35.65, Y:-2.58, Z:0.14 [[ 9.96035424e-01 8.81778609e-02 1.17515176e-02 3.56481996e+01] [-8.81693481e-02 9.96104726e-01 -1.24153254e-03 -2.58252774e+00] [-1.18152179e-02 2.00486738e-04 9.99930178e-01 1.36337657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.382320588 meters 0.023964264207252957 Centerline is valid? [True, True] Translation: X:35.68, Y:-2.59, Z:0.14 [[ 9.96311001e-01 8.50200439e-02 1.16610825e-02 3.56797719e+01] [-8.50114276e-02 9.96379213e-01 -1.23349162e-03 -2.58831377e+00] [-1.17237317e-02 2.37616001e-04 9.99931246e-01 1.36858562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.412320588 meters 0.02404469840440725 Centerline is valid? [True, True] Translation: X:35.71, Y:-2.59, Z:0.14 [[ 9.96503010e-01 8.30801345e-02 8.91302368e-03 3.57120657e+01] [-8.30750032e-02 9.96542849e-01 -9.45042091e-04 -2.59381835e+00] [-8.96072424e-03 2.01287817e-04 9.99959832e-01 1.37832899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442320588 meters 0.023864139729666115 Centerline is valid? [True, True] Translation: X:35.74, Y:-2.60, Z:0.14 [[ 9.96597001e-01 8.21756576e-02 6.44817475e-03 3.57442058e+01] [-8.21729431e-02 9.96617849e-01 -6.85231770e-04 -2.59961440e+00] [-6.48267543e-03 1.53034429e-04 9.99978976e-01 1.38550639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472320588 meters 0.023853198005434815 Centerline is valid? [True, True] Translation: X:35.78, Y:-2.61, Z:0.14 [[ 9.96640799e-01 8.18432350e-02 2.96695564e-03 3.57759709e+01] [-8.18426571e-02 9.96645213e-01 -3.15881824e-04 -2.60743479e+00] [-2.98285492e-03 7.19971805e-05 9.99995549e-01 1.38274197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.502320588 meters 0.023356757764663786 Centerline is valid? [True, True] Translation: X:35.81, Y:-2.62, Z:0.14 [[ 9.96482504e-01 8.37819387e-02 1.79024633e-03 3.58064981e+01] [-8.37817301e-02 9.96484112e-01 -1.91317769e-04 -2.62295432e+00] [-1.79998100e-03 4.06548743e-05 9.99998379e-01 1.37373110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.532320588000005 meters 0.02351631512596818 Centerline is valid? [True, True] Translation: X:35.84, Y:-2.63, Z:0.14 [[ 9.96282469e-01 8.59660764e-02 5.57457015e-03 3.58378130e+01] [-8.59640946e-02 9.96298058e-01 -5.94597717e-04 -2.62941398e+00] [-5.60504865e-03 1.13174406e-04 9.99984285e-01 1.37960248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.562320588000006 meters 0.0232940748998183 Centerline is valid? [True, True] Translation: X:35.87, Y:-2.63, Z:0.14 [[ 9.96043575e-01 8.84415532e-02 8.67683649e-03 3.58699978e+01] [-8.84368308e-02 9.96081356e-01 -9.27179158e-04 -2.63403389e+00] [-8.72483622e-03 1.56158923e-04 9.99961926e-01 1.38967305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.592320588 meters 0.023145289695642553 Centerline is valid? [True, True] Translation: X:35.90, Y:-2.64, Z:0.14 [[ 9.95811988e-01 9.09412452e-02 9.39014888e-03 3.59022924e+01] [-9.09358176e-02 9.95856249e-01 -1.00425203e-03 -2.63876697e+00] [-9.44256637e-03 1.46145340e-04 9.99955407e-01 1.39652291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622320588 meters 0.02288221010629053 Centerline is valid? [True, True] Translation: X:35.93, Y:-2.65, Z:0.14 [[ 9.95621090e-01 9.33157972e-02 5.55045358e-03 3.59336752e+01] [-9.33139320e-02 9.95636558e-01 -5.94631898e-04 -2.64542573e+00] [-5.58172304e-03 7.40934104e-05 9.99984419e-01 1.38935484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652320588 meters 0.022428271455406257 Centerline is valid? [True, True] Translation: X:35.96, Y:-2.66, Z:0.14 [[ 9.95211741e-01 9.77282539e-02 1.66674533e-03 3.59642558e+01] [-9.77280907e-02 9.95213137e-01 -1.79267047e-04 -2.66173172e+00] [-1.67628631e-03 1.55208305e-05 9.99998595e-01 1.38710220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.682320588 meters 0.02225128268680376 Centerline is valid? [True, True] Translation: X:36.00, Y:-2.67, Z:0.14 [[ 9.94937356e-01 1.00475830e-01 2.06529007e-03 3.59962111e+01] [-1.00475585e-01 9.94939499e-01 -2.22264725e-04 -2.66928863e+00] [-2.07717090e-03 1.36282489e-05 9.99997843e-01 1.40037528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.712320588000004 meters 0.022119228408308395 Centerline is valid? [True, True] Translation: X:36.03, Y:-2.67, Z:0.14 [[ 9.94403851e-01 1.05594310e-01 3.28990994e-03 3.60275240e+01] [-1.05593716e-01 9.94409293e-01 -3.54100957e-04 -2.67459777e+00] [-3.30890806e-03 4.72553791e-06 9.99994526e-01 1.42062495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.742320588000005 meters 0.022544112124594493 Centerline is valid? [True, True] Translation: X:36.06, Y:-2.68, Z:0.14 [[ 9.93273626e-01 1.15704819e-01 4.46082157e-03 3.60594002e+01] [-1.15703828e-01 9.93283642e-01 -4.80480493e-04 -2.67936918e+00] [-4.48645501e-03 -3.88855288e-05 9.99989935e-01 1.44814134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.772320588 meters 0.022808682881378425 Centerline is valid? [True, True] Translation: X:36.09, Y:-2.68, Z:0.14 [[ 9.92715227e-01 1.20400382e-01 4.49737061e-03 3.60906610e+01] [-1.20399407e-01 9.92725413e-01 -4.87829463e-04 -2.68464913e+00] [-4.52338895e-03 -5.72050194e-05 9.99989768e-01 1.44055378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802320588 meters 0.02346309057518093 Centerline is valid? [True, True] Translation: X:36.12, Y:-2.69, Z:0.14 [[ 9.92165980e-01 1.24873768e-01 3.63445881e-03 3.61225832e+01] [-1.24873164e-01 9.92172635e-01 -3.93622067e-04 -2.69030720e+00] [-3.65516364e-03 -6.33079462e-05 9.99993318e-01 1.43346358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832320588 meters 0.023901420322402472 Centerline is valid? [True, True] Translation: X:36.15, Y:-2.69, Z:0.14 [[ 9.91765352e-01 1.27977686e-01 4.81645233e-03 3.61545606e+01] [-1.27976659e-01 9.91777043e-01 -5.22045412e-04 -2.69460017e+00] [-4.84365701e-03 -9.86469276e-05 9.99988265e-01 1.41126063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.862320588 meters 0.025070652352471617 Centerline is valid? [True, True] Translation: X:36.19, Y:-2.70, Z:0.14 [[ 9.90888588e-01 1.34522451e-01 6.59662135e-03 3.61859541e+01] [-1.34520659e-01 9.90910530e-01 -7.16645528e-04 -2.69808371e+00] [-6.63306648e-03 -1.77265978e-04 9.99977985e-01 1.41025281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.892320588000004 meters 0.025218473121995467 Centerline is valid? [True, True] Translation: X:36.22, Y:-2.70, Z:0.14 [[ 9.90560985e-01 1.36902494e-01 6.82951814e-03 3.62173993e+01] [-1.36900604e-01 9.90584509e-01 -7.45676607e-04 -2.70102744e+00] [-6.86729986e-03 -1.96327004e-04 9.99976401e-01 1.42531574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.922320588000005 meters 0.025222512189853885 Centerline is valid? [True, True] Translation: X:36.25, Y:-2.70, Z:0.14 [[ 9.90302367e-01 1.38734808e-01 7.34001454e-03 3.62497882e+01] [-1.38732651e-01 9.90329543e-01 -8.04643155e-04 -2.70249914e+00] [-7.38066526e-03 -2.21459655e-04 9.99972738e-01 1.44472326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.952320588 meters 0.025536704898575548 Centerline is valid? [True, True] Translation: X:36.28, Y:-2.70, Z:0.14 [[ 9.90123106e-01 1.40032905e-01 6.85709890e-03 3.62826261e+01] [-1.40031026e-01 9.90146828e-01 -7.55668778e-04 -2.70234997e+00] [-6.89535321e-03 -2.12001479e-04 9.99976204e-01 1.44554477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.982320588 meters 0.025317728619526914 Centerline is valid? [True, True] Translation: X:36.32, Y:-2.70, Z:0.14 [[ 9.90073714e-01 1.40427954e-01 5.83354997e-03 3.63160942e+01] [-1.40426582e-01 9.90090883e-01 -6.46131772e-04 -2.69991314e+00] [-5.86647961e-03 -1.79467400e-04 9.99982776e-01 1.44609546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012320588 meters 0.02546416100648622 Centerline is valid? [True, True] Translation: X:36.35, Y:-2.70, Z:0.14 [[ 9.89976595e-01 1.41151667e-01 4.74853210e-03 3.63493769e+01] [-1.41150767e-01 9.89987972e-01 -5.25781749e-04 -2.69885414e+00] [-4.77520463e-03 -1.49747323e-04 9.99988587e-01 1.43381873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042320588 meters 0.025233067331644102 Centerline is valid? [True, True] Translation: X:36.38, Y:-2.70, Z:0.14 [[ 9.90146305e-01 1.40013441e-01 2.55551914e-03 3.63820792e+01] [-1.40013175e-01 9.90149600e-01 -2.83402635e-04 -2.69946001e+00] [-2.57002643e-03 -7.71962760e-05 9.99996694e-01 1.41215480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.072320588000004 meters 0.024977432081241358 Centerline is valid? [True, True] Translation: X:36.41, Y:-2.70, Z:0.14 [[ 9.90466688e-01 1.37718161e-01 3.07376763e-03 3.64140782e+01] [-1.37717765e-01 9.90471454e-01 -3.41146956e-04 -2.70417291e+00] [-3.09146123e-03 -8.54177142e-05 9.99995218e-01 1.41588832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.102320588000005 meters 0.02472643433867724 Centerline is valid? [True, True] Translation: X:36.45, Y:-2.71, Z:0.14 [[ 9.90794669e-01 1.35289243e-01 4.76912227e-03 3.64461573e+01] [-1.35288260e-01 9.90806140e-01 -5.29574364e-04 -2.70926131e+00] [-4.79692134e-03 -1.20506797e-04 9.99988487e-01 1.42664022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.132320588 meters 0.02472643433867724 Centerline is valid? [True, True] Translation: X:36.48, Y:-2.71, Z:0.14 [[ 9.90768666e-01 1.35479548e-01 4.76898456e-03 3.64784638e+01] [-1.35478561e-01 9.90780136e-01 -5.30814372e-04 -2.71279395e+00] [-4.79692966e-03 -1.20180921e-04 9.99988487e-01 1.42827882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.162320588 meters 0.02435593181260822 Centerline is valid? [True, True] Translation: X:36.51, Y:-2.72, Z:0.15 [[ 9.91009870e-01 1.33450102e-01 9.51356051e-03 3.65113037e+01] [-1.33446074e-01 9.91055509e-01 -1.05980040e-03 -2.71674902e+00] [-9.56989702e-03 -2.19274650e-04 9.99954183e-01 1.45059015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192320588 meters 0.02432025675189505 Centerline is valid? [True, True] Translation: X:36.54, Y:-2.72, Z:0.15 [[ 9.90840477e-01 1.34773743e-01 8.43728116e-03 3.65444183e+01] [-1.34770571e-01 9.90876379e-01 -9.45960824e-04 -2.71718187e+00] [-8.48779328e-03 -1.99800926e-04 9.99963958e-01 1.45454741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222320588 meters 0.024353240161545477 Centerline is valid? [True, True] Translation: X:36.58, Y:-2.72, Z:0.14 [[ 9.90741337e-01 1.35624096e-01 6.14074841e-03 3.65772724e+01] [-1.35622413e-01 9.90760356e-01 -6.91607755e-04 -2.71635404e+00] [-6.17780876e-03 -1.47618724e-04 9.99980906e-01 1.44577070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.252320588 meters 0.02434316007657922 Centerline is valid? [True, True] Translation: X:36.61, Y:-2.72, Z:0.14 [[ 9.90629955e-01 1.36538033e-01 3.10776327e-03 3.66098406e+01] [-1.36537606e-01 9.90634827e-01 -3.49924296e-04 -2.71665392e+00] [-3.12643650e-03 -7.76810682e-05 9.99995110e-01 1.44632003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.282320588000005 meters 0.02419288255125826 Centerline is valid? [True, True] Translation: X:36.64, Y:-2.72, Z:0.15 [[ 9.90923574e-01 1.34418013e-01 1.50575913e-03 3.66413873e+01] [-1.34417910e-01 9.90924718e-01 -1.70074502e-04 -2.72019410e+00] [-1.51495502e-03 -3.38701618e-05 9.99998852e-01 1.45177324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.312320588 meters 0.0239998262817717 Centerline is valid? [True, True] Translation: X:36.67, Y:-2.73, Z:0.15 [[ 9.91140972e-01 1.32712228e-01 5.19972931e-03 3.66727447e+01] [-1.32710977e-01 9.91154606e-01 -5.86395746e-04 -2.72583112e+00] [-5.23155754e-03 -1.08860309e-04 9.99986309e-01 1.45817337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.342320588 meters 0.02380457745265497 Centerline is valid? [True, True] Translation: X:36.71, Y:-2.73, Z:0.15 [[ 9.91454667e-01 1.30130441e-01 9.14939188e-03 3.67050918e+01] [-1.30126443e-01 9.91496869e-01 -1.03345157e-03 -2.73124930e+00] [-9.20607691e-03 -1.65957442e-04 9.99957609e-01 1.47338388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372320588 meters 0.02365068417204752 Centerline is valid? [True, True] Translation: X:36.74, Y:-2.73, Z:0.15 [[ 9.91795568e-01 1.27441321e-01 1.00130762e-02 3.67368107e+01] [-1.27436337e-01 9.91846101e-01 -1.13679702e-03 -2.73488169e+00] [-1.00763055e-02 -1.48559511e-04 9.99949222e-01 1.48208137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402320588 meters 0.023367826414471275 Centerline is valid? [True, True] Translation: X:36.77, Y:-2.74, Z:0.15 [[ 9.92201489e-01 1.24290104e-01 9.39011679e-03 3.67691761e+01] [-1.24285537e-01 9.92245917e-01 -1.07058710e-03 -2.73704866e+00] [-9.45036842e-03 -1.04817597e-04 9.99955339e-01 1.47839004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.432320588 meters 0.02326328522029284 Centerline is valid? [True, True] Translation: X:36.80, Y:-2.74, Z:0.15 [[ 9.92471572e-01 1.22170532e-01 8.63368967e-03 3.68012630e+01] [-1.22166593e-01 9.92509121e-01 -9.84040299e-04 -2.73907938e+00] [-8.68923647e-03 -7.81164336e-05 9.99962245e-01 1.47432956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.462320588000004 meters 0.023067950030590006 Centerline is valid? [True, True] Translation: X:36.83, Y:-2.74, Z:0.15 [[ 9.92623367e-01 1.21042738e-01 6.89253025e-03 3.68337861e+01] [-1.21040194e-01 9.92647295e-01 -7.86644924e-04 -2.74029496e+00] [-6.93706917e-03 -5.34310656e-05 9.99975937e-01 1.45876238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.492320588000005 meters 0.022928922421160656 Centerline is valid? [True, True] Translation: X:36.87, Y:-2.74, Z:0.15 [[ 9.92543168e-01 1.21772449e-01 5.43419790e-03 3.68662436e+01] [-1.21770873e-01 9.92558043e-01 -6.21082267e-04 -2.74329555e+00] [-5.46938754e-03 -4.52760627e-05 9.99985042e-01 1.46361538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.522320588 meters 0.022936610589204112 Centerline is valid? [True, True] Translation: X:36.90, Y:-2.75, Z:0.15 [[ 9.92492424e-01 1.22230200e-01 4.30891105e-03 3.68981103e+01] [-1.22229210e-01 9.92501777e-01 -4.93187471e-04 -2.74700125e+00] [-4.33688427e-03 -3.71899663e-05 9.99990595e-01 1.47416238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552320588 meters 0.023126621379781564 Centerline is valid? [True, True] Translation: X:36.93, Y:-2.76, Z:0.15 [[ 9.92298926e-01 1.23802308e-01 3.97860330e-03 3.69304365e+01] [-1.23801472e-01 9.92306902e-01 -4.56590351e-04 -2.75558149e+00] [-4.00452246e-03 -3.94828315e-05 9.99991981e-01 1.48232291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582320588 meters 0.02311445574124179 Centerline is valid? [True, True] Translation: X:36.96, Y:-2.76, Z:0.15 [[ 9.92207875e-01 1.24535980e-01 3.78444150e-03 3.69631145e+01] [-1.24535226e-01 9.92215092e-01 -4.35109816e-04 -2.76047738e+00] [-3.80916680e-03 -3.95768907e-05 9.99992744e-01 1.49546822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.612320588 meters 0.023193869964289373 Centerline is valid? [True, True] Translation: X:37.00, Y:-2.76, Z:0.15 [[ 9.92083617e-01 1.25537927e-01 3.21348690e-03 3.69965069e+01] [-1.25537386e-01 9.92088820e-01 -3.70274752e-04 -2.76289991e+00] [-3.23454795e-03 -3.60692298e-05 9.99994768e-01 1.49990096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.642320588000004 meters 0.023400426272975755 Centerline is valid? [True, True] Translation: X:37.03, Y:-2.76, Z:0.15 [[ 9.91960401e-01 1.26520297e-01 2.67894172e-03 3.70300286e+01] [-1.26519923e-01 9.91964018e-01 -3.09400653e-04 -2.76395506e+00] [-2.69655925e-03 -3.20263037e-05 9.99996364e-01 1.50167626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.672320588000005 meters 0.02362019305329579 Centerline is valid? [True, True] Translation: X:37.06, Y:-2.77, Z:0.15 [[ 9.91635471e-01 1.28930045e-01 6.01134204e-03 3.70622891e+01] [-1.28928210e-01 9.91653687e-01 -6.93444424e-04 -2.76757032e+00] [-6.05057532e-03 -8.73874790e-05 9.99981691e-01 1.47610617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.702320588 meters 0.023560257523171327 Centerline is valid? [True, True] Translation: X:37.09, Y:-2.77, Z:0.15 [[ 9.91633296e-01 1.28964860e-01 5.60997388e-03 3.70944954e+01] [-1.28963254e-01 9.91649161e-01 -6.48645019e-04 -2.77401003e+00] [-5.64677830e-03 -8.02624877e-05 9.99984054e-01 1.47730173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.732320588 meters 0.023472992049225892 Centerline is valid? [True, True] Translation: X:37.13, Y:-2.78, Z:0.15 [[ 9.91640305e-01 1.28913267e-01 5.55658194e-03 3.71268235e+01] [-1.28911684e-01 9.91655869e-01 -6.43606431e-04 -2.78067493e+00] [-5.59318651e-03 -7.80822598e-05 9.99984355e-01 1.48707648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762320588 meters 0.02327789693163603 Centerline is valid? [True, True] Translation: X:37.16, Y:-2.79, Z:0.15 [[ 9.91789451e-01 1.27777167e-01 5.16535951e-03 3.71582038e+01] [-1.27775782e-01 9.91802899e-01 -5.98706316e-04 -2.78589054e+00] [-5.19951953e-03 -6.62172409e-05 9.99986480e-01 1.50641064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792320588 meters 0.023187632671300945 Centerline is valid? [True, True] Translation: X:37.19, Y:-2.79, Z:0.15 [[ 9.91873784e-01 1.27174247e-01 3.62033820e-03 3.71900291e+01] [-1.27173560e-01 9.91880390e-01 -4.20312503e-04 -2.79057951e+00] [-3.64439539e-03 -4.35143448e-05 9.99993358e-01 1.52584171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.822320588000004 meters 0.023176462912186082 Centerline is valid? [True, True] Translation: X:37.22, Y:-2.79, Z:0.15 [[ 9.91897044e-01 1.27024183e-01 2.26081883e-03 3.72218800e+01] [-1.27023913e-01 9.91899620e-01 -2.63026120e-04 -2.79473647e+00] [-2.27591601e-03 -2.62832235e-05 9.99997410e-01 1.53389072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.852320588000005 meters 0.02341196308895952 Centerline is valid? [True, True] Translation: X:37.25, Y:-2.80, Z:0.15 [[ 9.91716153e-01 1.28405266e-01 3.34058110e-03 3.72537248e+01] [-1.28404685e-01 9.91721778e-01 -3.88777253e-04 -2.79824806e+00] [-3.36284808e-03 -4.33895813e-05 9.99994345e-01 1.53322910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.882320588 meters 0.023541764374768605 Centerline is valid? [True, True] Translation: X:37.29, Y:-2.80, Z:0.15 [[ 9.91506950e-01 1.29870675e-01 6.89746660e-03 3.72858878e+01] [-1.29868232e-01 9.91530936e-01 -8.02929255e-04 -2.80101060e+00] [-6.94332848e-03 -9.96518536e-05 9.99975890e-01 1.52609602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.912320588 meters 0.023926216994411737 Centerline is valid? [True, True] Translation: X:37.32, Y:-2.80, Z:0.15 [[ 9.91170856e-01 1.32310967e-01 8.61054546e-03 3.73180282e+01] [-1.32307242e-01 9.91208246e-01 -1.00332291e-03 -2.80488951e+00] [-8.66759429e-03 -1.44773098e-04 9.99962425e-01 1.52112204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942320588 meters 0.02444001760238793 Centerline is valid? [True, True] Translation: X:37.35, Y:-2.81, Z:0.15 [[ 9.90520831e-01 1.37094403e-01 8.57950605e-03 3.73497736e+01] [-1.37090837e-01 9.90557970e-01 -1.00523755e-03 -2.81317587e+00] [-8.63631054e-03 -1.80462929e-04 9.99962690e-01 1.52050873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972320588 meters 0.024913395304354366 Centerline is valid? [True, True] Translation: X:37.38, Y:-2.82, Z:0.15 [[ 9.90012494e-01 1.40822292e-01 6.65906007e-03 3.73816465e+01] [-1.40820204e-01 9.90034876e-01 -7.83689702e-04 -2.82056354e+00] [-6.70306269e-03 -1.61867602e-04 9.99977521e-01 1.52402768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.002320588 meters 0.025240424018185673 Centerline is valid? [True, True] Translation: X:37.41, Y:-2.83, Z:0.15 [[ 9.89553931e-01 1.44062227e-01 5.39377054e-03 3.74134857e+01] [-1.44060890e-01 9.89568620e-01 -6.37595946e-04 -2.82613718e+00] [-5.42935956e-03 -1.46095809e-04 9.99985250e-01 1.53415472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.032320588000005 meters 0.026049696938748767 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.83, Z:0.15 [[ 9.88755950e-01 1.49514500e-01 2.66182934e-03 3.74455256e+01] [-1.49514188e-01 9.88759529e-01 -3.16924340e-04 -2.82788015e+00] [-2.67929391e-03 -8.46204247e-05 9.99996407e-01 1.54710883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.062320588 meters 0.026248148478378072 Centerline is valid? [True, True] Translation: X:37.48, Y:-2.83, Z:0.16 [[ 9.88458131e-01 1.51478614e-01 2.18007231e-03 3.74777704e+01] [-1.51478412e-01 9.88460532e-01 -2.58670100e-04 -2.82881697e+00] [-2.19409842e-03 -7.45493273e-05 9.99997590e-01 1.55108827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.092320588 meters 0.0266976889478826 Centerline is valid? [True, True] Translation: X:37.51, Y:-2.83, Z:0.16 [[ 9.88051356e-01 1.54093450e-01 3.11873780e-03 3.75099329e+01] [-1.54093048e-01 9.88056271e-01 -3.70160867e-04 -2.82915386e+00] [-3.13852781e-03 -1.14837869e-04 9.99995068e-01 1.55128658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122320588 meters 0.027455649620040923 Centerline is valid? [True, True] Translation: X:37.54, Y:-2.83, Z:0.15 [[ 9.87566983e-01 1.56993398e-01 8.03291356e-03 3.75421708e+01] [-1.56990828e-01 9.87599600e-01 -9.53437123e-04 -2.83006828e+00] [-8.08298555e-03 -3.19510731e-04 9.99967281e-01 1.53940928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152320588 meters 0.02802850258427674 Centerline is valid? [True, True] Translation: X:37.57, Y:-2.83, Z:0.15 [[ 9.87031303e-01 1.60301615e-01 8.52052901e-03 3.75741541e+01] [-1.60298803e-01 9.87068012e-01 -1.01638507e-03 -2.83180108e+00] [-8.57326980e-03 -3.62626723e-04 9.99963183e-01 1.54802024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.182320588 meters 0.028811123581781863 Centerline is valid? [True, True] Translation: X:37.61, Y:-2.83, Z:0.15 [[ 9.86270536e-01 1.65103011e-01 3.38010589e-03 3.76056357e+01] [-1.65102593e-01 9.86276315e-01 -4.04113472e-04 -2.83464923e+00] [-3.40043874e-03 -1.59499038e-04 9.99994206e-01 1.54832040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.212320588000004 meters 0.029180496069002086 Centerline is valid? [True, True] Translation: X:37.64, Y:-2.84, Z:0.16 [[ 9.85983585e-01 1.66840922e-01 -6.90161366e-04 3.76376726e+01] [-1.66840906e-01 9.85983826e-01 8.17698455e-05 -2.83668308e+00] [ 6.94130501e-04 3.45234220e-05 9.99999758e-01 1.56557506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.242320588000005 meters 0.029638020079131935 Centerline is valid? [True, True] Translation: X:37.67, Y:-2.83, Z:0.16 [[ 9.85512233e-01 1.69583718e-01 2.64608426e-03 3.76708534e+01] [-1.69583477e-01 9.85515776e-01 -3.16799174e-04 -2.83181299e+00] [-2.66148176e-03 -1.36522706e-04 9.99996449e-01 1.57994260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.272320588 meters 0.029999440217275155 Centerline is valid? [True, True] Translation: X:37.70, Y:-2.83, Z:0.16 [[ 9.85210903e-01 1.71215839e-01 6.67936676e-03 3.77030771e+01] [-1.71214342e-01 9.85233480e-01 -7.99560429e-04 -2.83089706e+00] [-6.71763316e-03 -3.55867729e-04 9.99977373e-01 1.58373063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302320588 meters 0.030078332613759997 Centerline is valid? [True, True] Translation: X:37.74, Y:-2.83, Z:0.16 [[ 9.85070269e-01 1.71924847e-01 8.85502847e-03 3.77350929e+01] [-1.71922203e-01 9.85109955e-01 -1.06462861e-03 -2.82998709e+00] [-8.90621281e-03 -4.73642011e-04 9.99960227e-01 1.59317226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332320588 meters 0.0302091859929894 Centerline is valid? [True, True] Translation: X:37.77, Y:-2.83, Z:0.16 [[ 9.84949122e-01 1.72548174e-01 1.01170720e-02 3.77670847e+01] [-1.72544743e-01 9.85000929e-01 -1.21761600e-03 -2.82942218e+00] [-1.01754227e-02 -5.46357779e-04 9.99948080e-01 1.59110520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.362320588 meters 0.030091199014027643 Centerline is valid? [True, True] Translation: X:37.80, Y:-2.83, Z:0.16 [[ 9.84923493e-01 1.72755035e-01 9.02276580e-03 3.77994260e+01] [-1.72752270e-01 9.84964702e-01 -1.09079486e-03 -2.82746849e+00] [-9.07554613e-03 -4.84353790e-04 9.99958699e-01 1.58000590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.392320588000004 meters 0.02939614821721314 Centerline is valid? [True, True] Translation: X:37.83, Y:-2.82, Z:0.16 [[ 9.85468713e-01 1.69725465e-01 6.68446972e-03 3.78317196e+01] [-1.69723884e-01 9.85491325e-01 -8.07263351e-04 -2.82105330e+00] [-6.72450007e-03 -3.38981388e-04 9.99977333e-01 1.56636356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.422320588000005 meters 0.028784166947712925 Centerline is valid? [True, True] Translation: X:37.86, Y:-2.82, Z:0.16 [[ 9.85933315e-01 1.66923356e-01 8.49062368e-03 3.78641403e+01] [-1.66920691e-01 9.85969791e-01 -1.02665576e-03 -2.82031587e+00] [-8.54287128e-03 -4.05046651e-04 9.99963427e-01 1.57120455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.452320588 meters 0.02770638014194358 Centerline is valid? [True, True] Translation: X:37.90, Y:-2.82, Z:0.16 [[ 9.86476923e-01 1.63676585e-01 8.55895733e-03 3.78964468e+01] [-1.63673749e-01 9.86513979e-01 -1.03555495e-03 -2.81726293e+00] [-8.61302715e-03 -3.79325575e-04 9.99962835e-01 1.59685106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.482320588 meters 0.026850719189333072 Centerline is valid? [True, True] Translation: X:37.93, Y:-2.81, Z:0.16 [[ 9.86951664e-01 1.60818370e-01 7.99149811e-03 3.79294036e+01] [-1.60815794e-01 9.86983963e-01 -9.68094565e-04 -2.81189631e+00] [-8.04316786e-03 -3.29696568e-04 9.99967599e-01 1.62134092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512320588 meters 0.02633569814504721 Centerline is valid? [True, True] Translation: X:37.96, Y:-2.81, Z:0.16 [[ 9.87367837e-01 1.58267180e-01 7.50030540e-03 3.79622191e+01] [-1.58264830e-01 9.87396281e-01 -9.09591488e-04 -2.80569199e+00] [-7.54973214e-03 -2.88933180e-04 9.99971459e-01 1.62188311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542320588 meters 0.02488883356126904 Centerline is valid? [True, True] Translation: X:38.00, Y:-2.80, Z:0.16 [[ 9.88393523e-01 1.51795639e-01 6.02730319e-03 3.79953971e+01] [-1.51793998e-01 9.88411881e-01 -7.31503275e-04 -2.79841144e+00] [-6.06849709e-03 -1.91895351e-04 9.99981568e-01 1.58196986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.572320588000004 meters 0.02451992883142521 Centerline is valid? [True, True] Translation: X:38.03, Y:-2.80, Z:0.16 [[ 9.88945225e-01 1.48162112e-01 5.94394257e-03 3.80276935e+01] [-1.48160444e-01 9.88963074e-01 -7.22337810e-04 -2.80193442e+00] [-5.98536281e-03 -1.66304644e-04 9.99982074e-01 1.57398581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.602320588000005 meters 0.02401017694012648 Centerline is valid? [True, True] Translation: X:38.06, Y:-2.80, Z:0.16 [[ 9.89608572e-01 1.43622900e-01 6.88022094e-03 3.80595893e+01] [-1.43620550e-01 9.89632476e-01 -8.36923037e-04 -2.80433249e+00] [-6.92909139e-03 -1.59914905e-04 9.99975981e-01 1.58113472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.632320588 meters 0.023386383057330377 Centerline is valid? [True, True] Translation: X:38.09, Y:-2.80, Z:0.16 [[ 9.90270100e-01 1.38995193e-01 6.74285992e-03 3.80923433e+01] [-1.38992820e-01 9.90293048e-01 -8.21526836e-04 -2.80326240e+00] [-6.79159559e-03 -1.23675656e-04 9.99976929e-01 1.60717581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.662320588 meters 0.02252780521566718 Centerline is valid? [True, True] Translation: X:38.12, Y:-2.80, Z:0.16 [[ 9.91495659e-01 1.30128325e-01 1.72521849e-03 3.81246233e+01] [-1.30128156e-01 9.91497160e-01 -2.10445461e-04 -2.79712355e+00] [-1.73793415e-03 -1.58437400e-05 9.99998490e-01 1.64742314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692320588 meters 0.022392091045303066 Centerline is valid? [True, True] Translation: X:38.16, Y:-2.80, Z:0.17 [[ 9.91896443e-01 1.27045870e-01 -8.90622713e-04 3.81555644e+01] [-1.27045824e-01 9.91896843e-01 1.08180695e-04 -2.79882715e+00] [ 8.97149768e-04 5.84585003e-06 9.99999598e-01 1.65123183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722320588 meters 0.022369093217065993 Centerline is valid? [True, True] Translation: X:38.19, Y:-2.80, Z:0.17 [[ 9.92141059e-01 1.25115533e-01 -1.49065158e-03 3.81861432e+01] [-1.25115401e-01 9.92142179e-01 1.81636395e-04 -2.80116242e+00] [ 1.50166384e-03 6.29454508e-06 9.99998872e-01 1.65475356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.752320588 meters 0.02209274406690042 Centerline is valid? [True, True] Translation: X:38.22, Y:-2.80, Z:0.17 [[ 9.92172264e-01 1.24875505e-01 -5.54533679e-04 3.82164727e+01] [-1.24875487e-01 9.92172419e-01 6.75701148e-05 -2.80279903e+00] [ 5.58630873e-04 2.20646935e-06 9.99999844e-01 1.65591790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.782320588000005 meters 0.022302874118754416 Centerline is valid? [True, True] Translation: X:38.25, Y:-2.80, Z:0.16 [[ 9.92185170e-01 1.24680987e-01 4.82072641e-03 3.82474028e+01] [-1.24679605e-01 9.92196881e-01 -5.87407131e-04 -2.80432239e+00] [-4.85634821e-03 -1.82296213e-05 9.99988208e-01 1.64289299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.812320588 meters 0.022207784703537417 Centerline is valid? [True, True] Translation: X:38.28, Y:-2.81, Z:0.16 [[ 9.92315126e-01 1.23598448e-01 5.84078584e-03 3.82785109e+01] [-1.23596391e-01 9.92332315e-01 -7.13174204e-04 -2.81134993e+00] [-5.88414775e-03 -1.42065012e-05 9.99982688e-01 1.62940312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.842320588 meters 0.02225279071147893 Centerline is valid? [True, True] Translation: X:38.31, Y:-2.82, Z:0.16 [[ 9.92555761e-01 1.21721466e-01 4.11655051e-03 3.83102342e+01] [-1.21720425e-01 9.92564298e-01 -5.03406819e-04 -2.81992634e+00] [-4.14721648e-03 -1.40893791e-06 9.99991400e-01 1.63136282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872320588 meters 0.022326586298486807 Centerline is valid? [True, True] Translation: X:38.34, Y:-2.83, Z:0.16 [[ 9.92757365e-01 1.20036469e-01 4.90506305e-03 3.83422735e+01] [-1.20034968e-01 9.92769483e-01 -6.00372662e-04 -2.82697496e+00] [-4.94166352e-03 7.24529457e-06 9.99987790e-01 1.62321749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902320588 meters 0.022377657113529233 Centerline is valid? [True, True] Translation: X:38.37, Y:-2.83, Z:0.16 [[ 9.93039634e-01 1.17679424e-01 4.88249250e-03 3.83741448e+01] [-1.17677905e-01 9.93051636e-01 -5.98267812e-04 -2.83063598e+00] [-4.91897098e-03 1.95421588e-05 9.99987902e-01 1.62523302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.932320588 meters 0.022475962550053456 Centerline is valid? [True, True] Translation: X:38.41, Y:-2.83, Z:0.16 [[ 9.93370007e-01 1.14712930e-01 7.54808435e-03 3.84063653e+01] [-1.14709209e-01 9.93398682e-01 -9.25523839e-04 -2.83051905e+00] [-7.60442659e-03 5.35528352e-05 9.99971084e-01 1.63498392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.962320588000004 meters 0.02261943965554109 Centerline is valid? [True, True] Translation: X:38.44, Y:-2.83, Z:0.16 [[ 9.93483535e-01 1.13624703e-01 8.93831294e-03 3.84383082e+01] [-1.13619431e-01 9.93523740e-01 -1.09707309e-03 -2.83467774e+00] [-9.00508070e-03 7.43580186e-05 9.99959451e-01 1.64465499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.992320588000005 meters 0.02248931478767861 Centerline is valid? [True, True] Translation: X:38.47, Y:-2.84, Z:0.17 [[ 9.93523032e-01 1.13254005e-01 9.24747154e-03 3.84712912e+01] [-1.13248326e-01 9.93566064e-01 -1.13716082e-03 -2.84075201e+00] [-9.31676192e-03 8.25347926e-05 9.99956595e-01 1.65300002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.022320588 meters 0.02248931478767861 Centerline is valid? [True, True] Translation: X:38.50, Y:-2.84, Z:0.17 [[ 9.93500506e-01 1.13451456e-01 9.24724394e-03 3.85035662e+01] [-1.13445768e-01 9.93543537e-01 -1.13901099e-03 -2.84466425e+00] [-9.31676191e-03 8.25473046e-05 9.99956595e-01 1.65463860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052320588 meters 0.022596091853035172 Centerline is valid? [True, True] Translation: X:38.54, Y:-2.85, Z:0.16 [[ 9.93619872e-01 1.12545766e-01 7.28008049e-03 3.85354237e+01] [-1.12542210e-01 9.93646539e-01 -8.97554471e-04 -2.85280122e+00] [-7.33484274e-03 7.25116086e-05 9.99973097e-01 1.63362824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082320588 meters 0.02263589247736968 Centerline is valid? [True, True] Translation: X:38.57, Y:-2.86, Z:0.16 [[ 9.93665229e-01 1.12154557e-01 7.12511901e-03 3.85676431e+01] [-1.12151128e-01 9.93690772e-01 -8.80218115e-04 -2.86091334e+00] [-7.17888548e-03 7.55519981e-05 9.99974229e-01 1.61143685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.112320588 meters 0.022894806518477747 Centerline is valid? [True, True] Translation: X:38.60, Y:-2.87, Z:0.16 [[ 9.93795354e-01 1.10944345e-01 7.88326892e-03 3.85988385e+01] [-1.10940105e-01 9.93826616e-01 -9.74489582e-04 -2.86982304e+00] [-7.94271659e-03 9.38725371e-05 9.99968452e-01 1.60140988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.142320588000004 meters 0.02319418958122739 Centerline is valid? [True, True] Translation: X:38.63, Y:-2.88, Z:0.16 [[ 9.93910186e-01 1.09879856e-01 8.30416847e-03 3.86305258e+01] [-1.09875101e-01 9.93944870e-01 -1.02801674e-03 -2.87833080e+00] [-8.36684398e-03 1.09334953e-04 9.99964991e-01 1.60633125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.172320588000005 meters 0.023386261843932474 Centerline is valid? [True, True] Translation: X:38.66, Y:-2.88, Z:0.16 [[ 9.94094034e-01 1.08172056e-01 8.70966764e-03 3.86618707e+01] [-1.08166751e-01 9.94132179e-01 -1.07919082e-03 -2.88472403e+00] [-8.77529916e-03 1.30720702e-04 9.99961488e-01 1.63486825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.202320588 meters 0.023240184779352274 Centerline is valid? [True, True] Translation: X:38.69, Y:-2.89, Z:0.16 [[ 9.94039713e-01 1.08731365e-01 7.90811419e-03 3.86942647e+01] [-1.08727001e-01 9.94071163e-01 -9.80955980e-04 -2.88830060e+00] [-7.96788895e-03 1.15283660e-04 9.99968249e-01 1.64937026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.232320588 meters 0.02292619958052834 Centerline is valid? [True, True] Translation: X:38.73, Y:-2.89, Z:0.17 [[ 9.93856102e-01 1.10451645e-01 7.10506169e-03 3.87266181e+01] [-1.10448156e-01 9.93881495e-01 -8.82765680e-04 -2.89292400e+00] [-7.15909225e-03 9.26010980e-05 9.99974369e-01 1.65550076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262320588 meters 0.02278193442060924 Centerline is valid? [True, True] Translation: X:38.76, Y:-2.90, Z:0.17 [[ 9.93492936e-01 1.13741964e-01 5.87806960e-03 3.87582487e+01] [-1.13739629e-01 9.93510323e-01 -7.31080118e-04 -2.89905601e+00] [-5.92307732e-03 5.77534779e-05 9.99982457e-01 1.65291286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292320588 meters 0.022509357044364072 Centerline is valid? [True, True] Translation: X:38.79, Y:-2.91, Z:0.17 [[ 9.93034072e-01 1.17663895e-01 6.20810567e-03 3.87899451e+01] [-1.17661362e-01 9.93053476e-01 -7.72934550e-04 -2.90726704e+00] [-6.25592741e-03 3.70961765e-05 9.99980431e-01 1.65526087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.322320588000004 meters 0.022346811114805267 Centerline is valid? [True, True] Translation: X:38.82, Y:-2.92, Z:0.17 [[ 9.92547232e-01 1.21650872e-01 7.14550862e-03 3.88218425e+01] [-1.21647607e-01 9.92572952e-01 -8.91375932e-04 -2.91631114e+00] [-7.20087525e-03 1.54986898e-05 9.99974073e-01 1.65039233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.352320588000005 meters 0.02253192495395179 Centerline is valid? [True, True] Translation: X:38.85, Y:-2.93, Z:0.17 [[ 9.91792690e-01 1.27304520e-01 1.18667037e-02 3.88528068e+01] [-1.27295906e-01 9.91863679e-01 -1.48147880e-03 -2.92704650e+00] [-1.19587513e-02 -4.12629497e-05 9.99928491e-01 1.65150155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.382320588 meters 0.02260071057014588 Centerline is valid? [True, True] Translation: X:38.88, Y:-2.93, Z:0.16 [[ 9.91456889e-01 1.29847623e-01 1.23625006e-02 3.88841878e+01] [-1.29838453e-01 9.91533958e-01 -1.54488332e-03 -2.93205825e+00] [-1.24584386e-02 -7.34427430e-05 9.99922388e-01 1.64731752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.412320588 meters 0.022643338137076526 Centerline is valid? [True, True] Translation: X:38.92, Y:-2.94, Z:0.16 [[ 9.91191697e-01 1.31869586e-01 1.22242784e-02 3.89170427e+01] [-1.31860739e-01 9.91267070e-01 -1.53048464e-03 -2.93634295e+00] [-1.23193490e-02 -9.48987152e-05 9.99924109e-01 1.64856554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442320588 meters 0.023353346737381965 Centerline is valid? [True, True] Translation: X:38.95, Y:-2.94, Z:0.16 [[ 9.89969817e-01 1.40768767e-01 1.19964901e-02 3.89486050e+01] [-1.40760883e-01 9.90042481e-01 -1.50324482e-03 -2.94413589e+00] [-1.20886447e-02 -2.00469534e-04 9.99926910e-01 1.64693182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472320588 meters 0.023948299952921342 Centerline is valid? [True, True] Translation: X:38.98, Y:-2.95, Z:0.17 [[ 9.89093446e-01 1.46868943e-01 1.11206736e-02 3.89801011e+01] [-1.46862536e-01 9.89155928e-01 -1.39499990e-03 -2.94941708e+00] [-1.12049623e-02 -2.53425067e-04 9.99937190e-01 1.65464663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.502320588 meters 0.024644791901309582 Centerline is valid? [True, True] Translation: X:39.01, Y:-2.95, Z:0.17 [[ 9.88229854e-01 1.52511760e-01 1.19130098e-02 3.90120174e+01] [-1.52504799e-01 9.88301598e-01 -1.49589575e-03 -2.95193034e+00] [-1.20017883e-02 -3.38502327e-04 9.99927919e-01 1.65963548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.532320588000005 meters 0.025434407927484304 Centerline is valid? [True, True] Translation: X:39.04, Y:-2.95, Z:0.17 [[ 9.87452656e-01 1.57487547e-01 1.16157082e-02 3.90440327e+01] [-1.57481255e-01 9.87520897e-01 -1.46007602e-03 -2.95258750e+00] [-1.17006983e-02 -3.87500355e-04 9.99931469e-01 1.66452773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.562320588 meters 0.026715309990069096 Centerline is valid? [True, True] Translation: X:39.08, Y:-2.95, Z:0.17 [[ 9.86385649e-01 1.63805572e-01 1.45287659e-02 3.90752629e+01] [-1.63796415e-01 9.86492473e-01 -1.82605324e-03 -2.95142848e+00] [-1.46316359e-02 -5.78567060e-04 9.99892784e-01 1.65231229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.592320588 meters 0.02677421368344152 Centerline is valid? [True, True] Translation: X:39.11, Y:-2.96, Z:0.17 [[ 9.86250376e-01 1.64601886e-01 1.47110305e-02 3.91074861e+01] [-1.64592552e-01 9.86359906e-01 -1.85127775e-03 -2.95524289e+00] [-1.48150945e-02 -5.95502667e-04 9.99890073e-01 1.65905693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622320588 meters 0.0265618242881884 Centerline is valid? [True, True] Translation: X:39.14, Y:-2.96, Z:0.17 [[ 9.86383700e-01 1.63746564e-01 1.53055122e-02 3.91401133e+01] [-1.63736319e-01 9.86502255e-01 -1.92862441e-03 -2.95761092e+00] [-1.54147279e-02 -6.03704536e-04 9.99881004e-01 1.66715449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652320588 meters 0.025977395372779977 Centerline is valid? [True, True] Translation: X:39.17, Y:-2.96, Z:0.17 [[ 9.86740367e-01 1.61562628e-01 1.55230872e-02 3.91729767e+01] [-1.61551690e-01 9.86862297e-01 -1.96428483e-03 -2.95663783e+00] [-1.56365045e-02 -5.69541838e-04 9.99877580e-01 1.67392074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.682320588 meters 0.02512630458449017 Centerline is valid? [True, True] Translation: X:39.21, Y:-2.95, Z:0.17 [[ 9.87567271e-01 1.56542200e-01 1.43326217e-02 3.92054736e+01] [-1.56532359e-01 9.87671167e-01 -1.81286049e-03 -2.94690560e+00] [-1.44397064e-02 -4.53197392e-04 9.99895639e-01 1.65846803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.712320588000004 meters 0.02455066082292267 Centerline is valid? [True, True] Translation: X:39.24, Y:-2.95, Z:0.17 [[ 9.87963368e-01 1.54025368e-01 1.43027587e-02 3.92376718e+01] [-1.54015273e-01 9.88066807e-01 -1.81126510e-03 -2.94621847e+00] [-1.44110619e-02 -4.13379710e-04 9.99896070e-01 1.65266538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.742320588000005 meters 0.02413479342144345 Centerline is valid? [True, True] Translation: X:39.27, Y:-2.95, Z:0.17 [[ 9.88496873e-01 1.50684079e-01 1.29707762e-02 3.92701673e+01] [-1.50675465e-01 9.88581914e-01 -1.64436250e-03 -2.94788549e+00] [-1.30704540e-02 -3.28930545e-04 9.99914524e-01 1.66021192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.772320588 meters 0.02311272163119891 Centerline is valid? [True, True] Translation: X:39.30, Y:-2.95, Z:0.17 [[ 9.89560060e-01 1.43857512e-01 8.71226392e-03 3.93023460e+01] [-1.43853350e-01 9.89598399e-01 -1.10587180e-03 -2.94763269e+00] [-8.78073039e-03 -1.58961783e-04 9.99961436e-01 1.66425440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802320588 meters 0.02282033598097249 Centerline is valid? [True, True] Translation: X:39.34, Y:-2.95, Z:0.17 [[ 9.89873087e-01 1.41768385e-01 7.27992654e-03 3.93351529e+01] [-1.41765405e-01 9.89899849e-01 -9.26304876e-04 -2.94862459e+00] [-7.33771893e-03 -1.15117471e-04 9.99973072e-01 1.66224520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832320588 meters 0.022754335350404557 Centerline is valid? [True, True] Translation: X:39.37, Y:-2.95, Z:0.17 [[ 9.90142468e-01 1.39796390e-01 8.65230877e-03 3.93672740e+01] [-1.39792102e-01 9.90180264e-01 -1.10144296e-03 -2.94820013e+00] [-8.72132313e-03 -1.18938978e-04 9.99961961e-01 1.65185399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.862320588 meters 0.022711918211261235 Centerline is valid? [True, True] Translation: X:39.40, Y:-2.95, Z:0.17 [[ 9.90516677e-01 1.36951255e-01 1.10030376e-02 3.94002616e+01] [-1.36944129e-01 9.90577781e-01 -1.40200333e-03 -2.94675784e+00] [-1.10913707e-02 -1.18093724e-04 9.99938482e-01 1.65577152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.892320588000004 meters 0.022402900229796786 Centerline is valid? [True, True] Translation: X:39.43, Y:-2.94, Z:0.17 [[ 9.91407591e-01 1.30193587e-01 1.26735338e-02 3.94338692e+01] [-1.30183559e-01 9.91488592e-01 -1.61651083e-03 -2.93857828e+00] [-1.27761235e-02 -4.72646244e-05 9.99918381e-01 1.69099295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.922320588000005 meters 0.022162930903045993 Centerline is valid? [True, True] Translation: X:39.47, Y:-2.94, Z:0.17 [[ 9.91751338e-01 1.27753624e-01 1.04065136e-02 3.94658689e+01] [-1.27746713e-01 9.91805934e-01 -1.32887203e-03 -2.93876839e+00] [-1.04910101e-02 -1.14872867e-05 9.99944968e-01 1.70051006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.952320588 meters 0.022282592433629695 Centerline is valid? [True, True] Translation: X:39.50, Y:-2.94, Z:0.17 [[ 9.91958662e-01 1.26139159e-01 1.03404659e-02 3.94978522e+01] [-1.26132233e-01 9.92012557e-01 -1.32184273e-03 -2.94167279e+00] [-1.04246082e-02 6.94729175e-06 9.99945662e-01 1.68353656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.982320588 meters 0.022391547676228953 Centerline is valid? [True, True] Translation: X:39.53, Y:-2.95, Z:0.17 [[ 9.92187732e-01 1.24338815e-01 1.01667601e-02 3.95298663e+01] [-1.24332011e-01 9.92239819e-01 -1.30101865e-03 -2.94676293e+00] [-1.02496313e-02 2.68010246e-05 9.99947471e-01 1.66893075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012320588 meters 0.022685862208574797 Centerline is valid? [True, True] Translation: X:39.56, Y:-2.95, Z:0.17 [[ 9.92537423e-01 1.21080424e-01 1.44566762e-02 3.95612315e+01] [-1.21066297e-01 9.92642697e-01 -1.85164987e-03 -2.95368331e+00] [-1.45745126e-02 8.76155342e-05 9.99893782e-01 1.66073264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042320588 meters 0.02262108949948885 Centerline is valid? [True, True] Translation: X:39.59, Y:-2.96, Z:0.17 [[ 9.92768980e-01 1.19250962e-01 1.37462851e-02 3.95937816e+01] [-1.19237970e-01 9.92864138e-01 -1.76375093e-03 -2.95683797e+00] [-1.38585225e-02 1.11918081e-04 9.99903960e-01 1.68293171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.072320588000004 meters 0.022498538330815426 Centerline is valid? [True, True] Translation: X:39.63, Y:-2.96, Z:0.17 [[ 9.92908315e-01 1.18184217e-01 1.28673270e-02 3.96273305e+01] [-1.18172710e-01 9.92991680e-01 -1.65362130e-03 -2.95833197e+00] [-1.29725806e-02 1.21327438e-04 9.99915845e-01 1.69900668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102320588000005 meters 0.022319084975842066 Centerline is valid? [True, True] Translation: X:39.66, Y:-2.96, Z:0.17 [[ 9.92882333e-01 1.18757449e-01 9.01894312e-03 3.96600937e+01] [-1.18751809e-01 9.92923291e-01 -1.16020139e-03 -2.95886959e+00] [-9.09290124e-03 8.09276529e-05 9.99958655e-01 1.71615123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.132320588 meters 0.022353214296542717 Centerline is valid? [True, True] Translation: X:39.69, Y:-2.96, Z:0.17 [[ 9.92770613e-01 1.19762601e-01 7.96421105e-03 3.96921695e+01] [-1.19758226e-01 9.92802556e-01 -1.02567152e-03 -2.96152055e+00] [-8.02972617e-03 6.44767587e-05 9.99967759e-01 1.71119549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162320588 meters 0.022320228251917432 Centerline is valid? [True, True] Translation: X:39.72, Y:-2.96, Z:0.17 [[ 9.92506692e-01 1.21858475e-01 8.99881547e-03 3.97245501e+01] [-1.21852966e-01 9.92547485e-01 -1.16004862e-03 -2.96355446e+00] [-9.07311342e-03 5.48236593e-05 9.99958837e-01 1.69417753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192320588 meters 0.02217865387947123 Centerline is valid? [True, True] Translation: X:39.76, Y:-2.97, Z:0.17 [[ 9.92057559e-01 1.25391582e-01 9.93733900e-03 3.97564543e+01] [-1.25385028e-01 9.92107328e-01 -1.28228558e-03 -2.96548477e+00] [-1.00196947e-02 2.61075749e-05 9.99949801e-01 1.69095819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222320588 meters 0.022203638143533853 Centerline is valid? [True, True] Translation: X:39.79, Y:-2.97, Z:0.17 [[ 9.91571536e-01 1.29143413e-01 1.03859212e-02 3.97880146e+01] [-1.29136450e-01 9.91625927e-01 -1.34102375e-03 -2.96840655e+00] [-1.04721332e-02 -1.14800278e-05 9.99945166e-01 1.68881338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.252320588 meters 0.02215236346815761 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.97, Z:0.17 [[ 9.90833451e-01 1.34900944e-01 7.12793096e-03 3.98200551e+01] [-1.34897804e-01 9.90859088e-01 -9.21631304e-04 -2.97105778e+00] [-7.18710411e-03 -4.83591100e-05 9.99974171e-01 1.69761024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282320588000005 meters 0.022317700942756254 Centerline is valid? [True, True] Translation: X:39.85, Y:-2.97, Z:0.17 [[ 9.90670519e-01 1.36093271e-01 7.10949800e-03 3.98521242e+01] [-1.36090171e-01 9.90696027e-01 -9.20224747e-04 -2.97292330e+00] [-7.16858782e-03 -5.58932729e-05 9.99974304e-01 1.70447600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.312320588 meters 0.022303886100727432 Centerline is valid? [True, True] Translation: X:39.88, Y:-2.97, Z:0.17 [[ 9.90409107e-01 1.37981773e-01 7.12959223e-03 3.98840644e+01] [-1.37978698e-01 9.90434766e-01 -9.23799151e-04 -2.97389339e+00] [-7.18886345e-03 -6.87927597e-05 9.99974157e-01 1.71914084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342320588 meters 0.022233249316048052 Centerline is valid? [True, True] Translation: X:39.92, Y:-2.98, Z:0.17 [[ 9.90276677e-01 1.38909764e-01 7.49541846e-03 3.99151762e+01] [-1.38906391e-01 9.90305039e-01 -9.71330235e-04 -2.97571225e+00] [-7.55767793e-03 -7.92758475e-05 9.99971437e-01 1.73335804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372320588 meters 0.0225360480268681 Centerline is valid? [True, True] Translation: X:39.95, Y:-2.98, Z:0.17 [[ 9.89854955e-01 1.41818338e-01 8.64446990e-03 3.99467213e+01] [-1.41813958e-01 9.89892694e-01 -1.12076349e-03 -2.97836521e+00] [-8.71604241e-03 -1.16513189e-04 9.99962008e-01 1.73574821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402320588 meters 0.02256020709981688 Centerline is valid? [True, True] Translation: X:39.98, Y:-2.98, Z:0.17 [[ 9.89711035e-01 1.42765195e-01 9.49556543e-03 3.99792967e+01] [-1.42759938e-01 9.89756576e-01 -1.23270760e-03 -2.98013652e+00] [-9.57428607e-03 -1.35562014e-04 9.99954156e-01 1.73383803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.432320588 meters 0.022749787109604045 Centerline is valid? [True, True] Translation: X:40.01, Y:-2.98, Z:0.17 [[ 9.89501839e-01 1.44262937e-01 8.62058955e-03 4.00119282e+01] [-1.44258650e-01 9.89539381e-01 -1.12035266e-03 -2.97973047e+00] [-8.69203822e-03 -1.35003592e-04 9.99962214e-01 1.74047343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462320588000004 meters 0.02302731569104843 Centerline is valid? [True, True] Translation: X:40.04, Y:-2.98, Z:0.17 [[ 9.89303583e-01 1.45569916e-01 9.37124651e-03 4.00430708e+01] [-1.45564915e-01 9.89347954e-01 -1.21717182e-03 -2.97810307e+00] [-9.44860716e-03 -1.59972268e-04 9.99955348e-01 1.73011658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.492320588000005 meters 0.022868234619622205 Centerline is valid? [True, True] Translation: X:40.08, Y:-2.97, Z:0.17 [[ 9.89143114e-01 1.46700234e-01 8.65684159e-03 4.00750673e+01] [-1.46696009e-01 9.89180983e-01 -1.12438229e-03 -2.97133542e+00] [-8.72813022e-03 -1.57749117e-04 9.99961897e-01 1.73366166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522320588 meters 0.022937555329104554 Centerline is valid? [True, True] Translation: X:40.11, Y:-2.97, Z:0.17 [[ 9.89205083e-01 1.46117632e-01 1.10879039e-02 4.01055220e+01] [-1.46110665e-01 9.89267203e-01 -1.44013757e-03 -2.97371659e+00] [-1.11793292e-02 -1.95469618e-04 9.99937490e-01 1.72929873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552320588 meters 0.022827272979730275 Centerline is valid? [True, True] Translation: X:40.14, Y:-2.98, Z:0.17 [[ 9.89521155e-01 1.44045012e-01 9.94576164e-03 4.01365553e+01] [-1.44039292e-01 9.89571125e-01 -1.29279462e-03 -2.97793945e+00] [-1.00282591e-02 -1.53332841e-04 9.99949704e-01 1.73277752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582320588 meters 0.02248495651581439 Centerline is valid? [True, True] Translation: X:40.17, Y:-2.98, Z:0.17 [[ 9.89847718e-01 1.41947507e-01 7.23887195e-03 4.01663501e+01] [-1.41944422e-01 9.89874182e-01 -9.40696922e-04 -2.98302300e+00] [-7.29910203e-03 -9.63707970e-05 9.99973357e-01 1.73937468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612320588 meters 0.022334704459921993 Centerline is valid? [True, True] Translation: X:40.20, Y:-2.98, Z:0.17 [[ 9.90634050e-01 1.36540064e-01 9.94673013e-04 4.01964218e+01] [-1.36540004e-01 9.90634550e-01 -1.29055705e-04 -2.98483319e+00] [-1.00297873e-03 -7.96568079e-06 9.99999497e-01 1.73340034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.642320588000004 meters 0.022253383052039 Centerline is valid? [True, True] Translation: X:40.23, Y:-2.99, Z:0.17 [[ 9.91188777e-01 1.32455242e-01 6.45496474e-04 4.02250499e+01] [-1.32455217e-01 9.91188987e-01 -8.11580063e-05 -2.98623480e+00] [-6.50558800e-04 -5.05647084e-06 9.99999788e-01 1.73492328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.672320588000005 meters 0.022278197379073085 Centerline is valid? [True, True] Translation: X:40.25, Y:-2.99, Z:0.17 [[ 9.91693331e-01 1.28576881e-01 3.51036528e-03 4.02529390e+01] [-1.28576094e-01 9.91699544e-01 -4.49785374e-04 -2.98867465e+00] [-3.53905965e-03 -5.29990233e-06 9.99993737e-01 1.73327581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.702320588 meters 0.022105804478101274 Centerline is valid? [True, True] Translation: X:40.28, Y:-2.99, Z:0.17 [[ 9.92230426e-01 1.24278046e-01 5.80940503e-03 4.02809638e+01] [-1.24275803e-01 9.92247432e-01 -7.47023736e-04 -2.99285490e+00] [-5.85720588e-03 1.92512053e-05 9.99982846e-01 1.73458727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.732320588 meters 0.022318546722962282 Centerline is valid? [True, True] Translation: X:40.31, Y:-3.00, Z:0.17 [[ 9.92742163e-01 1.20014653e-01 7.71236475e-03 4.03088706e+01] [-1.20010608e-01 9.92772119e-01 -9.86904696e-04 -2.99903215e+00] [-7.77506372e-03 5.41763207e-05 9.99969772e-01 1.73838446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762320588 meters 0.0227852421996559 Centerline is valid? [True, True] Translation: X:40.34, Y:-3.01, Z:0.18 [[ 9.93188191e-01 1.15928087e-01 1.17429458e-02 4.03384384e+01] [-1.15918380e-01 9.93257600e-01 -1.50622049e-03 -3.00811156e+00] [-1.18383835e-02 1.34737139e-04 9.99929915e-01 1.75637753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792320588 meters 0.022871783149512704 Centerline is valid? [True, True] Translation: X:40.37, Y:-3.01, Z:0.18 [[ 9.93378149e-01 1.14283130e-01 1.17991452e-02 4.03701516e+01] [-1.14273187e-01 9.93448208e-01 -1.51561890e-03 -3.01261860e+00] [-1.18950493e-02 1.57256770e-04 9.99929239e-01 1.75847100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.822320588000004 meters 0.022781164612320978 Centerline is valid? [True, True] Translation: X:40.40, Y:-3.02, Z:0.18 [[ 9.93411657e-01 1.14231165e-01 9.19351539e-03 4.04020898e+01] [-1.14225115e-01 9.93454189e-01 -1.18224761e-03 -3.01668358e+00] [-9.26838589e-03 1.24328203e-04 9.99957040e-01 1.75194497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.852320588000005 meters 0.0226979673105954 Centerline is valid? [True, True] Translation: X:40.43, Y:-3.02, Z:0.17 [[ 9.93412670e-01 1.14576406e-01 1.87457775e-03 4.04333528e+01] [-1.14576155e-01 9.93414438e-01 -2.41528540e-04 -3.02101490e+00] [-1.88990608e-03 2.51556018e-05 9.99998214e-01 1.73563189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.882320588 meters 0.022667220017600385 Centerline is valid? [True, True] Translation: X:40.46, Y:-3.03, Z:0.17 [[ 9.93368168e-01 1.14976870e-01 -4.60706308e-05 4.04613912e+01] [-1.14976870e-01 9.93368169e-01 8.23809282e-06 -3.02671523e+00] [ 4.67122883e-05 -2.88640227e-06 9.99999999e-01 1.72253141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.912320588 meters 0.022667220017600385 Centerline is valid? [True, True] Translation: X:40.49, Y:-3.03, Z:0.17 [[ 9.93427672e-01 1.14461606e-01 -4.60364090e-05 4.04885829e+01] [-1.14461606e-01 9.93427673e-01 8.51043151e-06 -3.03050593e+00] [ 4.67079603e-05 -3.18509687e-06 9.99999999e-01 1.72391656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942320588 meters 0.022371770600030934 Centerline is valid? [True, True] Translation: X:40.52, Y:-3.04, Z:0.17 [[ 9.93394993e-01 1.14744828e-01 1.09651914e-04 4.05152439e+01] [-1.14744828e-01 9.93394999e-01 -1.12976135e-05 -3.03870612e+00] [-1.10224006e-04 -1.35899733e-06 9.99999994e-01 1.72783761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972320588 meters 0.022273139878093033 Centerline is valid? [True, True] Translation: X:40.54, Y:-3.05, Z:0.17 [[ 9.93307449e-01 1.15473390e-01 2.49150085e-03 4.05419644e+01] [-1.15472969e-01 9.93310574e-01 -3.12701913e-04 -3.04842563e+00] [-2.51094289e-03 2.29081381e-05 9.99996847e-01 1.72792967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.002320588 meters 0.02207876062031183 Centerline is valid? [True, True] Translation: X:40.57, Y:-3.06, Z:0.18 [[ 9.93246591e-01 1.15906205e-01 5.19243445e-03 4.05705022e+01] [-1.15904356e-01 9.93260162e-01 -6.56504241e-04 -3.05950350e+00] [-5.23353120e-03 5.02448262e-05 9.99986304e-01 1.76234189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.032320588000005 meters 0.02190691630431604 Centerline is valid? [True, True] Translation: X:40.60, Y:-3.06, Z:0.18 [[ 9.93159628e-01 1.16615130e-01 5.90466073e-03 4.06008739e+01] [-1.16612750e-01 9.93177179e-01 -7.46928927e-04 -3.06395568e+00] [-5.95147750e-03 5.32609317e-05 9.99982288e-01 1.77088393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062320588 meters 0.021930025727680283 Centerline is valid? [True, True] Translation: X:40.63, Y:-3.07, Z:0.18 [[ 9.92910106e-01 1.18707979e-01 6.15931071e-03 4.06312935e+01] [-1.18705430e-01 9.92929209e-01 -7.79141690e-04 -3.06774672e+00] [-6.20824985e-03 4.24740309e-05 9.99980728e-01 1.76514045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.092320588 meters 0.021852115812315224 Centerline is valid? [True, True] Translation: X:40.66, Y:-3.07, Z:0.17 [[ 9.92519232e-01 1.21947463e-01 5.86437166e-03 4.06614675e+01] [-1.21945208e-01 9.92536556e-01 -7.41832432e-04 -3.07214364e+00] [-5.91106784e-03 2.11509309e-05 9.99982529e-01 1.74857617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122320588 meters 0.02180881853961375 Centerline is valid? [True, True] Translation: X:40.69, Y:-3.08, Z:0.18 [[ 9.91501017e-01 1.30059876e-01 3.18771874e-03 4.06925567e+01] [-1.30059250e-01 9.91506141e-01 -4.03785988e-04 -3.07811280e+00] [-3.21315906e-03 -1.42380896e-05 9.99994838e-01 1.75316950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152320588 meters 0.021771542888651598 Centerline is valid? [True, True] Translation: X:40.72, Y:-3.08, Z:0.18 [[ 9.91060535e-01 1.33396134e-01 2.11814720e-03 4.07222606e+01] [-1.33395866e-01 9.91062799e-01 -2.67603676e-04 -3.08192541e+00] [-2.13491418e-03 -1.73406383e-05 9.99997721e-01 1.76765816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.182320588 meters 0.021945048756236672 Centerline is valid? [True, True] Translation: X:40.75, Y:-3.09, Z:0.18 [[ 9.90534661e-01 1.37255032e-01 1.46367384e-03 4.07520158e+01] [-1.37254908e-01 9.90535742e-01 -1.84711117e-04 -3.08549404e+00] [-1.47517379e-03 -1.79336556e-05 9.99998912e-01 1.77876299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.212320588000004 meters 0.022168330712389852 Centerline is valid? [True, True] Translation: X:40.78, Y:-3.09, Z:0.18 [[ 9.90104537e-01 1.40311201e-01 2.40260536e-03 4.07804339e+01] [-1.40310885e-01 9.90107451e-01 -3.00232735e-04 -3.09023263e+00] [-2.42096348e-03 -3.98498915e-05 9.99997069e-01 1.77786091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242320588000005 meters 0.0223644455176898 Centerline is valid? [True, True] Translation: X:40.81, Y:-3.09, Z:0.18 [[ 9.89635650e-01 1.43533192e-01 4.41618250e-03 4.08095062e+01] [-1.43532141e-01 9.89645500e-01 -5.55596178e-04 -3.09499975e+00] [-4.45020163e-03 -8.40263461e-05 9.99990094e-01 1.76858912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.272320588 meters 0.0228870983683265 Centerline is valid? [True, True] Translation: X:40.84, Y:-3.10, Z:0.18 [[ 9.89212166e-01 1.46310829e-01 7.24103019e-03 4.08399796e+01] [-1.46308074e-01 9.89238655e-01 -9.11540696e-04 -3.09759944e+00] [-7.29647524e-03 -1.57714034e-04 9.99973368e-01 1.75538077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302320588 meters 0.022850618239362012 Centerline is valid? [True, True] Translation: X:40.87, Y:-3.10, Z:0.18 [[ 9.89141424e-01 1.46791747e-01 7.17118117e-03 4.08713019e+01] [-1.46789053e-01 9.89167406e-01 -9.03560118e-04 -3.09905910e+00] [-7.22613385e-03 -1.58902149e-04 9.99973879e-01 1.76186393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332320588 meters 0.022653080240666458 Centerline is valid? [True, True] Translation: X:40.90, Y:-3.10, Z:0.18 [[ 9.89183664e-01 1.46545772e-01 6.32583610e-03 4.09026144e+01] [-1.46543667e-01 9.89203881e-01 -7.97514537e-04 -3.10036592e+00] [-6.37441400e-03 -1.38122867e-04 9.99979674e-01 1.76865744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362320588 meters 0.022996516952978562 Centerline is valid? [True, True] Translation: X:40.93, Y:-3.10, Z:0.18 [[ 9.88904217e-01 1.48467172e-01 5.09387971e-03 4.09328630e+01] [-1.48465834e-01 9.88917329e-01 -6.41927974e-04 -3.10325149e+00] [-5.13273115e-03 -1.21461817e-04 9.99986820e-01 1.78346096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.392320588000004 meters 0.023292857332707688 Centerline is valid? [True, True] Translation: X:40.96, Y:-3.10, Z:0.18 [[ 9.88615768e-01 1.50439954e-01 2.58534284e-03 4.09627890e+01] [-1.50439618e-01 9.88619146e-01 -3.25294295e-04 -3.10497330e+00] [-2.60485669e-03 -6.73469194e-05 9.99996605e-01 1.78280568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422320588000005 meters 0.02342189373038594 Centerline is valid? [True, True] Translation: X:40.99, Y:-3.11, Z:0.18 [[ 9.88508515e-01 1.51106169e-01 4.22396171e-03 4.09918996e+01] [-1.51105293e-01 9.88517532e-01 -5.27698683e-04 -3.10538231e+00] [-4.25519873e-03 -1.16628330e-04 9.99990940e-01 1.77733971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.452320588 meters 0.023432523023874927 Centerline is valid? [True, True] Translation: X:41.02, Y:-3.10, Z:0.18 [[ 9.88507550e-01 1.50990558e-01 7.39422895e-03 4.10212525e+01] [-1.50987882e-01 9.88535184e-01 -9.22025782e-04 -3.10485426e+00] [-7.44867266e-03 -2.05009523e-04 9.99972237e-01 1.78315064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482320588 meters 0.02344044884932195 Centerline is valid? [True, True] Translation: X:41.05, Y:-3.11, Z:0.18 [[ 9.88465314e-01 1.51094156e-01 1.03382205e-02 4.10519938e+01] [-1.51088897e-01 9.88519335e-01 -1.29241751e-03 -3.10548435e+00] [-1.04148076e-02 -2.84480447e-04 9.99945724e-01 1.78718613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512320588 meters 0.02286700555130708 Centerline is valid? [True, True] Translation: X:41.08, Y:-3.11, Z:0.18 [[ 9.89137889e-01 1.46598497e-01 1.07292719e-02 4.10835902e+01] [-1.46592556e-01 9.89196048e-01 -1.34235329e-03 -3.10813074e+00] [-1.08101403e-02 -2.45058885e-04 9.99941539e-01 1.77433418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542320588 meters 0.022562579493014333 Centerline is valid? [True, True] Translation: X:41.11, Y:-3.11, Z:0.18 [[ 9.89722493e-01 1.42777035e-01 8.00662337e-03 4.11147847e+01] [-1.42773596e-01 9.89754866e-01 -1.00234507e-03 -3.11228040e+00] [-8.06770630e-03 -1.51090952e-04 9.99967444e-01 1.76101359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.572320588000004 meters 0.022333442011052 Centerline is valid? [True, True] Translation: X:41.15, Y:-3.12, Z:0.18 [[ 9.90218210e-01 1.39432223e-01 5.15292272e-03 4.11452386e+01] [-1.39430754e-01 9.90231614e-01 -6.44875311e-04 -3.11554185e+00] [-5.19250338e-03 -7.99086250e-05 9.99986516e-01 1.75313493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602320588000005 meters 0.022150249296048155 Centerline is valid? [True, True] Translation: X:41.17, Y:-3.12, Z:0.17 [[ 9.90764404e-01 1.35490822e-01 5.30403315e-03 4.11736286e+01] [-1.35489235e-01 9.90778599e-01 -6.58939910e-04 -3.11732007e+00] [-5.34440284e-03 -6.57851885e-05 9.99985716e-01 1.74735964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.632320588 meters 0.02204345672540396 Centerline is valid? [True, True] Translation: X:41.20, Y:-3.12, Z:0.18 [[ 9.91433708e-01 1.30496366e-01 5.46813767e-03 4.12027502e+01] [-1.30494616e-01 9.91448787e-01 -6.77126541e-04 -3.12032947e+00] [-5.50974101e-03 -4.22364488e-05 9.99984820e-01 1.77643248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662320588 meters 0.021822834960329798 Centerline is valid? [True, True] Translation: X:41.23, Y:-3.13, Z:0.18 [[ 9.91720119e-01 1.28324002e-01 4.91487375e-03 4.12324924e+01] [-1.28322555e-01 9.91732297e-01 -6.09940587e-04 -3.12531054e+00] [-4.95250905e-03 -2.57988065e-05 9.99987736e-01 1.78904829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692320588 meters 0.02178643589615676 Centerline is valid? [True, True] Translation: X:41.26, Y:-3.13, Z:0.18 [[ 9.91838283e-01 1.27431942e-01 4.23316353e-03 4.12615624e+01] [-1.27430862e-01 9.91847317e-01 -5.25010098e-04 -3.13061213e+00] [-4.26555495e-03 -1.87105640e-05 9.99990902e-01 1.79725563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722320588 meters 0.021537923614496763 Centerline is valid? [True, True] Translation: X:41.29, Y:-3.14, Z:0.18 [[ 9.92100692e-01 1.25420687e-01 2.42250243e-03 4.12897609e+01] [-1.25420335e-01 9.92103649e-01 -2.97153983e-04 -3.13625979e+00] [-2.44064276e-03 -9.02439392e-06 9.99997022e-01 1.78732532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.752320588 meters 0.02157803584045812 Centerline is valid? [True, True] Translation: X:41.32, Y:-3.14, Z:0.18 [[ 9.92289313e-01 1.23939948e-01 8.98826645e-04 4.13170742e+01] [-1.23939901e-01 9.92289720e-01 -1.07913907e-04 -3.14179148e+00] [-9.05271284e-04 -4.31866865e-06 9.99999590e-01 1.77508288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782320588000005 meters 0.02171673856709934 Centerline is valid? [True, True] Translation: X:41.34, Y:-3.15, Z:0.18 [[ 9.92546705e-01 1.21831778e-01 2.83847585e-03 4.13436935e+01] [-1.21831289e-01 9.92550763e-01 -3.45151254e-04 -3.15118318e+00] [-2.85938176e-03 -3.23643094e-06 9.99995912e-01 1.77426136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.812320588 meters 0.021662734051311132 Centerline is valid? [True, True] Translation: X:41.37, Y:-3.16, Z:0.18 [[ 9.92689696e-01 1.20548849e-01 5.92809654e-03 4.13719417e+01] [-1.20546691e-01 9.92707396e-01 -7.21367291e-04 -3.15757075e+00] [-5.97182527e-03 1.48145620e-06 9.99982168e-01 1.79762104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.842320588 meters 0.021720140557813145 Centerline is valid? [True, True] Translation: X:41.40, Y:-3.16, Z:0.18 [[ 9.92739435e-01 1.19992531e-01 8.37890829e-03 4.14022749e+01] [-1.19988171e-01 9.92774794e-01 -1.02290499e-03 -3.16274105e+00] [-8.44110991e-03 1.01082349e-05 9.99964373e-01 1.81848515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872320588 meters 0.021735419027336226 Centerline is valid? [True, True] Translation: X:41.43, Y:-3.17, Z:0.18 [[ 9.92524372e-01 1.21734138e-01 8.72759108e-03 4.14338637e+01] [-1.21729459e-01 9.92562743e-01 -1.06731821e-03 -3.16556799e+00] [-8.79261081e-03 -3.06560878e-06 9.99961344e-01 1.83371726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902320588 meters 0.0217056191729488 Centerline is valid? [True, True] Translation: X:41.47, Y:-3.17, Z:0.18 [[ 9.92176117e-01 1.24659077e-01 6.83139583e-03 4.14658801e+01] [-1.24656273e-01 9.92199634e-01 -8.36496776e-04 -3.16930603e+00] [-6.88238536e-03 -2.16242177e-05 9.99976316e-01 1.82377823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.932320588 meters 0.021857199117232672 Centerline is valid? [True, True] Translation: X:41.50, Y:-3.17, Z:0.18 [[ 9.91919905e-01 1.26740629e-01 5.63169602e-03 4.14957376e+01] [-1.26738757e-01 9.91935891e-01 -6.89394454e-04 -3.17255326e+00] [-5.67365569e-03 -2.99300732e-05 9.99983904e-01 1.80657908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962320588000004 meters 0.02196916207437588 Centerline is valid? [True, True] Translation: X:41.53, Y:-3.18, Z:0.18 [[ 9.91724298e-01 1.28267541e-01 5.50957272e-03 4.15262102e+01] [-1.28265774e-01 9.91739601e-01 -6.74281341e-04 -3.17650220e+00] [-5.55054987e-03 -3.79884222e-05 9.99984595e-01 1.79146534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.992320588000005 meters 0.022051409448564884 Centerline is valid? [True, True] Translation: X:41.56, Y:-3.18, Z:0.18 [[ 9.91293204e-01 1.31219397e-01 1.09203151e-02 4.15555431e+01] [-1.31212641e-01 9.91353347e-01 -1.33593426e-03 -3.18425018e+00] [-1.10011914e-02 -1.08580835e-04 9.99939479e-01 1.79674892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022320588 meters 0.022092817099552062 Centerline is valid? [True, True] Translation: X:41.59, Y:-3.19, Z:0.18 [[ 9.91111607e-01 1.32466378e-01 1.22654419e-02 4.15870269e+01] [-1.32457920e-01 9.91187490e-01 -1.50300724e-03 -3.18991032e+00] [-1.23564505e-02 -1.35006996e-04 9.99923647e-01 1.81897411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052320588 meters 0.022271006038534335 Centerline is valid? [True, True] Translation: X:41.62, Y:-3.19, Z:0.18 [[ 9.90923095e-01 1.33989011e-01 1.08795590e-02 4.16184633e+01] [-1.33982431e-01 9.90982808e-01 -1.33472161e-03 -3.19392908e+00] [-1.09602939e-02 -1.35063290e-04 9.99939925e-01 1.83594009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082320588 meters 0.02227562474784558 Centerline is valid? [True, True] Translation: X:41.65, Y:-3.20, Z:0.18 [[ 9.90893891e-01 1.34454610e-01 7.15926960e-03 4.16507801e+01] [-1.34451764e-01 9.90919749e-01 -8.79498566e-04 -3.19600297e+00] [-7.21251427e-03 -9.10866720e-05 9.99973985e-01 1.83284299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112320588 meters 0.02242500067910215 Centerline is valid? [True, True] Translation: X:41.68, Y:-3.20, Z:0.18 [[ 9.90837176e-01 1.35032699e-01 2.80381570e-03 4.16818701e+01] [-1.35032265e-01 9.90841142e-01 -3.44179055e-04 -3.19521937e+00] [-2.82461138e-03 -3.75801830e-05 9.99996010e-01 1.78145651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142320588000004 meters 0.022556152968665148 Centerline is valid? [True, True] Translation: X:41.71, Y:-3.20, Z:0.18 [[ 9.90779975e-01 1.35391766e-01 4.91023695e-03 4.17101588e+01] [-1.35390465e-01 9.90792140e-01 -5.98041464e-04 -3.19737774e+00] [-4.94599407e-03 -7.22717551e-05 9.99987766e-01 1.77921391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.172320588000005 meters 0.022423531901421885 Centerline is valid? [True, True] Translation: X:41.74, Y:-3.20, Z:0.18 [[ 9.90676865e-01 1.36057350e-01 6.90984124e-03 4.17396157e+01] [-1.36054771e-01 9.90700957e-01 -8.44126525e-04 -3.19960246e+00] [-6.96043595e-03 -1.03860248e-04 9.99975770e-01 1.79642408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202320588 meters 0.02258600881224913 Centerline is valid? [True, True] Translation: X:41.77, Y:-3.20, Z:0.18 [[ 9.90445287e-01 1.37742990e-01 6.70835960e-03 4.17697303e+01] [-1.37740595e-01 9.90467999e-01 -8.19839218e-04 -3.20133788e+00] [-6.75734261e-03 -1.12007556e-04 9.99977163e-01 1.82997035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.232320588 meters 0.02278205638471148 Centerline is valid? [True, True] Translation: X:41.80, Y:-3.20, Z:0.18 [[ 9.90170432e-01 1.39699081e-01 6.83237153e-03 4.17997532e+01] [-1.39696647e-01 9.90193996e-01 -8.34598603e-04 -3.20270988e+00] [-6.88196592e-03 -1.28064534e-04 9.99976311e-01 1.83350124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262320588 meters 0.022753578138973125 Centerline is valid? [True, True] Translation: X:41.83, Y:-3.20, Z:0.18 [[ 9.89965069e-01 1.41222999e-01 5.02254284e-03 4.18303133e+01] [-1.41221702e-01 9.89977805e-01 -6.13644702e-04 -3.20432627e+00] [-5.05886668e-03 -1.01805230e-04 9.99987199e-01 1.82987894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292320588 meters 0.022728682872978613 Centerline is valid? [True, True] Translation: X:41.86, Y:-3.21, Z:0.18 [[ 9.90136197e-01 1.39997893e-01 5.55883320e-03 4.18600910e+01] [-1.39996290e-01 9.90151796e-01 -6.78457955e-04 -3.20895967e+00] [-5.59907136e-03 -1.06450243e-04 9.99984319e-01 1.80804797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322320588000004 meters 0.02276557666878967 Centerline is valid? [True, True] Translation: X:41.89, Y:-3.21, Z:0.18 [[ 9.90452022e-01 1.37661356e-01 7.35817994e-03 4.18894577e+01] [-1.37658484e-01 9.90479347e-01 -8.97682882e-04 -3.21332220e+00] [-7.41170151e-03 -1.23804074e-04 9.99972525e-01 1.80447170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.352320588000005 meters 0.022291036819094327 Centerline is valid? [True, True] Translation: X:41.92, Y:-3.21, Z:0.18 [[ 9.91030244e-01 1.33550871e-01 4.81873422e-03 4.19195860e+01] [-1.33549590e-01 9.91041957e-01 -5.88095964e-04 -3.21471894e+00] [-4.85410852e-03 -6.07190917e-05 9.99988217e-01 1.81713070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382320588 meters 0.02217138982451156 Centerline is valid? [True, True] Translation: X:41.95, Y:-3.21, Z:0.18 [[ 9.91496437e-01 1.30080862e-01 3.71290979e-03 4.19481618e+01] [-1.30080092e-01 9.91503388e-01 -4.49011563e-04 -3.21490171e+00] [-3.73977045e-03 -3.77822835e-05 9.99993006e-01 1.81399430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.412320588 meters 0.022162475237644044 Centerline is valid? [True, True] Translation: X:41.98, Y:-3.22, Z:0.18 [[ 9.91980505e-01 1.26308531e-01 4.56431154e-03 4.19767335e+01] [-1.26307339e-01 9.91991005e-01 -5.49699938e-04 -3.21511616e+00] [-4.59718779e-03 -3.12144237e-05 9.99989432e-01 1.81246845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442320588 meters 0.022164223447513846 Centerline is valid? [True, True] Translation: X:42.01, Y:-3.22, Z:0.18 [[ 9.92444166e-01 1.22575610e-01 5.45865690e-03 4.20050129e+01] [-1.22573862e-01 9.92459178e-01 -6.54997850e-04 -3.21710203e+00] [-5.49778090e-03 -1.90398598e-05 9.99984887e-01 1.81170569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472320588 meters 0.022059813331016115 Centerline is valid? [True, True] Translation: X:42.03, Y:-3.23, Z:0.18 [[ 9.93222298e-01 1.16003116e-01 7.26247205e-03 4.20333167e+01] [-1.15999830e-01 9.93248849e-01 -8.73501658e-04 -3.22572241e+00] [-7.31477092e-03 2.51358030e-05 9.99973246e-01 1.82631233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502320588 meters 0.022043989607913976 Centerline is valid? [True, True] Translation: X:42.06, Y:-3.23, Z:0.18 [[ 9.93450271e-01 1.14045170e-01 7.08930980e-03 4.20628794e+01] [-1.14041985e-01 9.93475565e-01 -8.53286873e-04 -3.23302048e+00] [-7.14036931e-03 3.92191140e-05 9.99974506e-01 1.83101630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.532320588000005 meters 0.022059308257737633 Centerline is valid? [True, True] Translation: X:42.09, Y:-3.24, Z:0.18 [[ 9.93522876e-01 1.13337514e-01 8.17946056e-03 4.20931728e+01] [-1.13333250e-01 9.93556544e-01 -9.84500116e-04 -3.23762576e+00] [-8.23833736e-03 5.11185384e-05 9.99966063e-01 1.81899628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.562320588 meters 0.02227406849922795 Centerline is valid? [True, True] Translation: X:42.12, Y:-3.24, Z:0.18 [[ 9.93641133e-01 1.12310780e-01 7.97417750e-03 4.21244294e+01] [-1.12306687e-01 9.93673128e-01 -9.60647541e-04 -3.23830833e+00] [-8.03161697e-03 5.89854556e-05 9.99967744e-01 1.80265725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.592320588 meters 0.02217956957338232 Centerline is valid? [True, True] Translation: X:42.16, Y:-3.24, Z:0.18 [[ 9.93378796e-01 1.14740264e-01 5.76544062e-03 4.21556431e+01] [-1.14738167e-01 9.93395526e-01 -6.94322902e-04 -3.23734093e+00] [-5.80702971e-03 2.82095600e-05 9.99983139e-01 1.80141674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622320588 meters 0.02227689163760991 Centerline is valid? [True, True] Translation: X:42.18, Y:-3.24, Z:0.18 [[ 9.93188377e-01 1.16410449e-01 5.04522907e-03 4.21846579e+01] [-1.16408867e-01 9.93201192e-01 -6.07258337e-04 -3.24295842e+00] [-5.08161874e-03 1.58125246e-05 9.99987088e-01 1.81110122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652320588 meters 0.021920539741731755 Centerline is valid? [True, True] Translation: X:42.21, Y:-3.25, Z:0.18 [[ 9.93011318e-01 1.17920555e-01 4.82333535e-03 4.22132877e+01] [-1.17919129e-01 9.93023032e-01 -5.80049694e-04 -3.24934635e+00] [-4.85808287e-03 7.23241027e-06 9.99988199e-01 1.84008521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682320588 meters 0.0219121581152627 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.26, Z:0.19 [[ 9.92804434e-01 1.19622027e-01 5.47049296e-03 4.22426682e+01] [-1.19620220e-01 9.92819506e-01 -6.57553560e-04 -3.25528107e+00] [-5.50987001e-03 -1.55948031e-06 9.99984821e-01 1.85462155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.712320588000004 meters 0.022137788539780896 Centerline is valid? [True, True] Translation: X:42.27, Y:-3.26, Z:0.19 [[ 9.92416053e-01 1.22645074e-01 8.28031361e-03 4.22721040e+01] [-1.22641038e-01 9.92450596e-01 -9.95354780e-04 -3.26201356e+00] [-8.33987753e-03 -2.77001898e-05 9.99965222e-01 1.85100100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742320588000005 meters 0.021990210275466503 Centerline is valid? [True, True] Translation: X:42.30, Y:-3.27, Z:0.18 [[ 9.92333592e-01 1.23160498e-01 1.02729311e-02 4.23028670e+01] [-1.23154301e-01 9.92386764e-01 -1.23612245e-03 -3.26869486e+00] [-1.03469623e-02 -3.85098196e-05 9.99946468e-01 1.83887354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.772320588 meters 0.022192384272326355 Centerline is valid? [True, True] Translation: X:42.33, Y:-3.28, Z:0.18 [[ 9.92317987e-01 1.23252635e-01 1.06677675e-02 4.23349524e+01] [-1.23245938e-01 9.92375325e-01 -1.28538576e-03 -3.27516767e+00] [-1.07448564e-02 -3.92476051e-05 9.99942272e-01 1.84652318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802320588 meters 0.022116257450203698 Centerline is valid? [True, True] Translation: X:42.37, Y:-3.28, Z:0.18 [[ 9.92249822e-01 1.23954056e-01 8.69962218e-03 4.23663920e+01] [-1.23949618e-01 9.92287958e-01 -1.04953398e-03 -3.27941914e+00] [-8.76262432e-03 -3.69149428e-05 9.99961607e-01 1.84978394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832320588 meters 0.022116257450203698 Centerline is valid? [True, True] Translation: X:42.40, Y:-3.28, Z:0.19 [[ 9.92233396e-01 1.24085486e-01 8.69948320e-03 4.23978491e+01] [-1.24081043e-01 9.92271531e-01 -1.05068575e-03 -3.28317616e+00] [-8.76262436e-03 -3.69154587e-05 9.99961607e-01 1.85138029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862320588 meters 0.02230351432107848 Centerline is valid? [True, True] Translation: X:42.43, Y:-3.28, Z:0.19 [[ 9.91618899e-01 1.29004303e-01 7.06041962e-03 4.24299946e+01] [-1.29001499e-01 9.91644032e-01 -8.52981453e-04 -3.28144701e+00] [-7.11146126e-03 -6.49721860e-05 9.99974711e-01 1.85066807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.892320588000004 meters 0.022550615926285926 Centerline is valid? [True, True] Translation: X:42.46, Y:-3.28, Z:0.19 [[ 9.91009047e-01 1.33487624e-01 9.06218708e-03 4.24607232e+01] [-1.33483197e-01 9.91050472e-01 -1.09439239e-03 -3.28215693e+00] [-9.12717262e-03 -1.25096940e-04 9.99958339e-01 1.85784940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922320588000005 meters 0.022710686402797723 Centerline is valid? [True, True] Translation: X:42.49, Y:-3.28, Z:0.19 [[ 9.90465176e-01 1.37314856e-01 1.11070258e-02 4.24916191e+01] [-1.37308439e-01 9.90527431e-01 -1.34187456e-03 -3.28416009e+00] [-1.11860730e-02 -1.96008345e-04 9.99937415e-01 1.86095741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.952320588 meters 0.023108865389865077 Centerline is valid? [True, True] Translation: X:42.52, Y:-3.29, Z:0.19 [[ 9.89803843e-01 1.41992048e-01 1.12521674e-02 4.25234992e+01] [-1.41985741e-01 9.89867767e-01 -1.36144765e-03 -3.28953940e+00] [-1.13314725e-02 -2.50081205e-04 9.99935766e-01 1.86309520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982320588 meters 0.023538660386180563 Centerline is valid? [True, True] Translation: X:42.56, Y:-3.30, Z:0.19 [[ 9.89304024e-01 1.45444705e-01 1.11078972e-02 4.25552583e+01] [-1.45438760e-01 9.89366341e-01 -1.34549012e-03 -3.29700774e+00] [-1.11854741e-02 -2.84420006e-04 9.99937400e-01 1.85200420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012320588 meters 0.02440656171668281 Centerline is valid? [True, True] Translation: X:42.59, Y:-3.30, Z:0.19 [[ 9.88504159e-01 1.51010360e-01 7.44303959e-03 4.25873802e+01] [-1.51007839e-01 9.88532153e-01 -9.02765772e-04 -3.30146357e+00] [-7.49401093e-03 -2.31569602e-04 9.99971893e-01 1.85534982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042320588 meters 0.024408274969189504 Centerline is valid? [True, True] Translation: X:42.62, Y:-3.30, Z:0.19 [[ 9.88316255e-01 1.52227607e-01 7.59845661e-03 4.26187716e+01] [-1.52225020e-01 9.88345433e-01 -9.20939987e-04 -3.29859594e+00] [-7.65009237e-03 -2.46495254e-04 9.99970707e-01 1.87207946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.072320588000004 meters 0.024549569613324124 Centerline is valid? [True, True] Translation: X:42.65, Y:-3.29, Z:0.19 [[ 9.88216275e-01 1.52738577e-01 9.97597526e-03 4.26493372e+01] [-1.52734156e-01 9.88266572e-01 -1.20811131e-03 -3.29472117e+00] [-1.00434481e-02 -3.29796897e-04 9.99949509e-01 1.88152057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.102320588000005 meters 0.02392227740826013 Centerline is valid? [True, True] Translation: X:42.68, Y:-3.29, Z:0.19 [[ 9.88939630e-01 1.47894838e-01 1.12038335e-02 4.26802900e+01] [-1.47888946e-01 9.89003042e-01 -1.35717739e-03 -3.29352143e+00] [-1.12813449e-02 -3.14756615e-04 9.99936314e-01 1.89066889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.132320588 meters 0.02360440263689569 Centerline is valid? [True, True] Translation: X:42.71, Y:-3.30, Z:0.19 [[ 9.89352125e-01 1.45125809e-01 1.09942427e-02 4.27107065e+01] [-1.45119952e-01 9.89413171e-01 -1.33285716e-03 -3.30111546e+00] [-1.10712805e-02 -2.76818904e-04 9.99938673e-01 1.87500747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162320588 meters 0.02333654649109223 Centerline is valid? [True, True] Translation: X:42.74, Y:-3.31, Z:0.19 [[ 9.89873402e-01 1.41699500e-01 8.47943074e-03 4.27414994e+01] [-1.41695884e-01 9.89909702e-01 -1.02862591e-03 -3.30820274e+00] [-8.53962653e-03 -1.83291008e-04 9.99963520e-01 1.86027812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192320588 meters 0.023216587934274103 Centerline is valid? [True, True] Translation: X:42.77, Y:-3.31, Z:0.19 [[ 9.90397955e-01 1.37958504e-01 8.90745504e-03 4.27717399e+01] [-1.37954367e-01 9.90437997e-01 -1.08019690e-03 -3.31144366e+00] [-8.97130428e-03 -1.58997523e-04 9.99959744e-01 1.85075541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222320588 meters 0.02266193724839366 Centerline is valid? [True, True] Translation: X:42.80, Y:-3.31, Z:0.19 [[ 9.91691385e-01 1.28345204e-01 8.70086936e-03 4.28027257e+01] [-1.28340886e-01 9.91729552e-01 -1.05514449e-03 -3.30616594e+00] [-8.76433200e-03 -7.02995813e-05 9.99961590e-01 1.88190818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.252320588 meters 0.022402338673199823 Centerline is valid? [True, True] Translation: X:42.83, Y:-3.31, Z:0.19 [[ 9.92124667e-01 1.24977327e-01 8.32548760e-03 4.28328334e+01] [-1.24973255e-01 9.92159597e-01 -1.00962237e-03 -3.30864372e+00] [-8.38639233e-03 -3.87920241e-05 9.99964833e-01 1.90446368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.282320588000005 meters 0.022314586089122235 Centerline is valid? [True, True] Translation: X:42.86, Y:-3.32, Z:0.19 [[ 9.92414791e-01 1.22671689e-01 8.03364633e-03 4.28625160e+01] [-1.22667822e-01 9.92447307e-01 -9.74231114e-04 -3.31545832e+00] [-8.09248124e-03 -1.86285277e-05 9.99967255e-01 1.90652354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.312320588 meters 0.022370197059176575 Centerline is valid? [True, True] Translation: X:42.89, Y:-3.33, Z:0.19 [[ 9.92385978e-01 1.22946779e-01 7.35936138e-03 4.28914650e+01] [-1.22943541e-01 9.92413265e-01 -8.92461348e-04 -3.32642770e+00] [-7.41325311e-03 -1.91198225e-05 9.99972521e-01 1.87707990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.342320588 meters 0.02247162459674679 Centerline is valid? [True, True] Translation: X:42.92, Y:-3.33, Z:0.19 [[ 9.92222444e-01 1.24176802e-01 8.64541101e-03 4.29215655e+01] [-1.24172381e-01 9.92260107e-01 -1.04841912e-03 -3.33038766e+00] [-8.70868579e-03 -3.32562874e-05 9.99962078e-01 1.86648682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372320588 meters 0.022485725828996217 Centerline is valid? [True, True] Translation: X:42.95, Y:-3.33, Z:0.19 [[ 9.92002647e-01 1.25900755e-01 8.93021287e-03 4.29515186e+01] [-1.25896107e-01 9.92042841e-01 -1.08295671e-03 -3.33467549e+00] [-8.99549881e-03 -4.99831068e-05 9.99959538e-01 1.86934137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402320588 meters 0.022464228659455614 Centerline is valid? [True, True] Translation: X:42.98, Y:-3.34, Z:0.19 [[ 9.91774252e-01 1.27739219e-01 8.15623742e-03 4.29812465e+01] [-1.27735404e-01 9.91807788e-01 -9.89097595e-04 -3.34175455e+00] [-8.21576635e-03 -6.08787517e-05 9.99966248e-01 1.88570927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.432320588 meters 0.022475135181533008 Centerline is valid? [True, True] Translation: X:43.01, Y:-3.36, Z:0.19 [[ 9.91319620e-01 1.31309369e-01 6.57720116e-03 4.30105525e+01] [-1.31306962e-01 9.91341437e-01 -7.98380552e-04 -3.35675637e+00] [-6.62508689e-03 -7.21819955e-05 9.99978051e-01 1.90148795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.462320588000004 meters 0.022657077162757215 Centerline is valid? [True, True] Translation: X:43.04, Y:-3.36, Z:0.19 [[ 9.91148717e-01 1.32633997e-01 5.69595825e-03 4.30407116e+01] [-1.32632215e-01 9.91165081e-01 -6.91121525e-04 -3.36134629e+00] [-5.73730113e-03 -7.04633484e-05 9.99983539e-01 1.90039583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.492320588000005 meters 0.022779164699033506 Centerline is valid? [True, True] Translation: X:43.07, Y:-3.36, Z:0.19 [[ 9.91145661e-01 1.32726990e-01 3.71810425e-03 4.30706626e+01] [-1.32726233e-01 9.91152634e-01 -4.50548877e-04 -3.36157903e+00] [-3.74500882e-03 -4.69304079e-05 9.99992986e-01 1.89478318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522320588 meters 0.022874988176923294 Centerline is valid? [True, True] Translation: X:43.10, Y:-3.36, Z:0.19 [[ 9.90993506e-01 1.33865696e-01 3.44188762e-03 4.30996944e+01] [-1.33865067e-01 9.90999482e-01 -4.13402232e-04 -3.36156007e+00] [-3.46624922e-03 -5.10695894e-05 9.99993991e-01 1.88748336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552320588 meters 0.022796199852259516 Centerline is valid? [True, True] Translation: X:43.13, Y:-3.36, Z:0.19 [[ 9.90725427e-01 1.35801067e-01 4.60427848e-03 4.31286790e+01] [-1.35799969e-01 9.90736122e-01 -5.51643757e-04 -3.36447882e+00] [-4.63653882e-03 -7.87333789e-05 9.99989248e-01 1.88412659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582320588 meters 0.023263797047555747 Centerline is valid? [True, True] Translation: X:43.16, Y:-3.37, Z:0.19 [[ 9.90025964e-01 1.40793534e-01 5.07647331e-03 4.31577151e+01] [-1.40792255e-01 9.90038973e-01 -6.10143648e-04 -3.37472237e+00] [-5.11181071e-03 -1.10670072e-04 9.99986928e-01 1.90217384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612320588 meters 0.023376547396260345 Centerline is valid? [True, True] Translation: X:43.19, Y:-3.38, Z:0.19 [[ 9.89813235e-01 1.42296729e-01 4.62613621e-03 4.31873165e+01] [-1.42295684e-01 9.89824040e-01 -5.56000862e-04 -3.38002065e+00] [-4.65817793e-03 -1.07942203e-04 9.99989145e-01 1.90768692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642320588000004 meters 0.02380416759739026 Centerline is valid? [True, True] Translation: X:43.22, Y:-3.38, Z:0.19 [[ 9.89540094e-01 1.44138109e-01 5.88291735e-03 4.32166373e+01] [-1.44136454e-01 9.89557569e-01 -7.06532855e-04 -3.38184937e+00] [-5.92332370e-03 -1.48800260e-04 9.99982446e-01 1.89935148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.672320588000005 meters 0.024156790349294983 Centerline is valid? [True, True] Translation: X:43.25, Y:-3.38, Z:0.19 [[ 9.89133619e-01 1.46959819e-01 4.18277227e-03 4.32463479e+01] [-1.46959009e-01 9.89142456e-01 -5.01976258e-04 -3.38168884e+00] [-4.21112798e-03 -1.18174475e-04 9.99991126e-01 1.90394018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702320588 meters 0.02474862304120657 Centerline is valid? [True, True] Translation: X:43.28, Y:-3.38, Z:0.19 [[ 9.88350153e-01 1.52121648e-01 4.79375847e-03 4.32761505e+01] [-1.52120646e-01 9.88361765e-01 -5.75037446e-04 -3.37970079e+00] [-4.82544323e-03 -1.60891291e-04 9.99988345e-01 1.92419959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.732320588 meters 0.025001462103897445 Centerline is valid? [True, True] Translation: X:43.31, Y:-3.38, Z:0.19 [[ 9.87966359e-01 1.54499905e-01 7.22863602e-03 4.33052020e+01] [-1.54497696e-01 9.87992769e-01 -8.66404146e-04 -3.38276883e+00] [-7.27569948e-03 -2.60829462e-04 9.99973498e-01 1.94136821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762320588 meters 0.0253338038127716 Centerline is valid? [True, True] Translation: X:43.34, Y:-3.39, Z:0.19 [[ 9.87757090e-01 1.55681552e-01 9.95922352e-03 4.33351727e+01] [-1.55677422e-01 9.87807226e-01 -1.19338373e-03 -3.38548017e+00] [-1.00235808e-02 -3.71653003e-04 9.99949694e-01 1.94633853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792320588 meters 0.02586190208188387 Centerline is valid? [True, True] Translation: X:43.37, Y:-3.38, Z:0.19 [[ 9.87364308e-01 1.58172518e-01 9.65285823e-03 4.33664697e+01] [-1.58168754e-01 9.87411417e-01 -1.15699075e-03 -3.38375266e+00] [-9.71434656e-03 -3.84409185e-04 9.99952741e-01 1.93272563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822320588000004 meters 0.026061611855255733 Centerline is valid? [True, True] Translation: X:43.40, Y:-3.38, Z:0.19 [[ 9.87026361e-01 1.60403086e-01 7.05783274e-03 4.33969477e+01] [-1.60401130e-01 9.87051550e-01 -8.45951219e-04 -3.38446544e+00] [-7.10213793e-03 -2.97108196e-04 9.99974735e-01 1.91598243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.852320588000005 meters 0.026666219942336526 Centerline is valid? [True, True] Translation: X:43.43, Y:-3.39, Z:0.19 [[ 9.86803786e-01 1.61769179e-01 7.00143786e-03 4.34256746e+01] [-1.61767327e-01 9.86828575e-01 -8.33780588e-04 -3.38528755e+00] [-7.04409895e-03 -3.09826044e-04 9.99975142e-01 1.90019936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882320588 meters 0.026971150706653672 Centerline is valid? [True, True] Translation: X:43.46, Y:-3.38, Z:0.19 [[ 9.86601855e-01 1.63069927e-01 4.99779893e-03 4.34551319e+01] [-1.63069014e-01 9.86614487e-01 -5.92322185e-04 -3.38458113e+00] [-5.02749077e-03 -2.30599978e-04 9.99987335e-01 1.91379449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.912320588 meters 0.02714569511603297 Centerline is valid? [True, True] Translation: X:43.48, Y:-3.38, Z:0.19 [[ 9.86514566e-01 1.63567666e-01 5.88472507e-03 4.34843399e+01] [-1.63566423e-01 9.86532079e-01 -6.95188076e-04 -3.38284263e+00] [-5.91918035e-03 -2.76730267e-04 9.99982443e-01 1.93073974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942320588 meters 0.027489651366506208 Centerline is valid? [True, True] Translation: X:43.51, Y:-3.38, Z:0.19 [[ 9.86216650e-01 1.65174563e-01 9.69964643e-03 4.35142705e+01] [-1.65171290e-01 9.86264234e-01 -1.14301766e-03 -3.37551978e+00] [-9.75521179e-03 -4.74840071e-04 9.99952304e-01 1.94198767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972320588 meters 0.02769909355197719 Centerline is valid? [True, True] Translation: X:43.54, Y:-3.38, Z:0.19 [[ 9.86244673e-01 1.64915845e-01 1.11449198e-02 4.35432589e+01] [-1.64911561e-01 9.86307490e-01 -1.30867519e-03 -3.37551250e+00] [-1.12081391e-02 -5.47252188e-04 9.99937037e-01 1.93698297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002320588 meters 0.027351583548111555 Centerline is valid? [True, True] Translation: X:43.57, Y:-3.38, Z:0.19 [[ 9.86472134e-01 1.63664119e-01 9.31578665e-03 4.35726071e+01] [-1.63661112e-01 9.86516018e-01 -1.08940120e-03 -3.37519986e+00] [-9.36846864e-03 -4.49968076e-04 9.99956014e-01 1.93537545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.032320588000005 meters 0.02672179726983807 Centerline is valid? [True, True] Translation: X:43.60, Y:-3.36, Z:0.19 [[ 9.86983007e-01 1.60704881e-01 6.20367760e-03 4.36029106e+01] [-1.60703489e-01 9.87002463e-01 -7.25517083e-04 -3.36450080e+00] [-6.23963921e-03 -2.80879602e-04 9.99980494e-01 1.93924659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062320588 meters 0.02650502745495186 Centerline is valid? [True, True] Translation: X:43.63, Y:-3.36, Z:0.19 [[ 9.87299817e-01 1.58816930e-01 4.03165318e-03 4.36325206e+01] [-1.58816341e-01 9.87308032e-01 -4.67820848e-04 -3.35860228e+00] [-4.05478144e-03 -1.78412969e-04 9.99991763e-01 1.94535571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.092320588 meters 0.025972200328470627 Centerline is valid? [True, True] Translation: X:43.66, Y:-3.35, Z:0.19 [[ 9.87655286e-01 1.56591494e-01 4.01743006e-03 4.36624840e+01] [-1.56590899e-01 9.87663442e-01 -4.64311028e-04 -3.35200187e+00] [-4.04057596e-03 -1.70513742e-04 9.99991822e-01 1.94827928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122320588 meters 0.025615094883623537 Centerline is valid? [True, True] Translation: X:43.69, Y:-3.35, Z:0.20 [[ 9.88075245e-01 1.53840775e-01 6.35021093e-03 4.36921677e+01] [-1.53839241e-01 9.88095619e-01 -7.32303824e-04 -3.34687802e+00] [-6.38727378e-03 -2.53340347e-04 9.99979569e-01 1.95538862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152320588 meters 0.024761265706538815 Centerline is valid? [True, True] Translation: X:43.72, Y:-3.34, Z:0.20 [[ 9.89032314e-01 1.47536721e-01 6.92803736e-03 4.37224178e+01] [-1.47534759e-01 9.89056551e-01 -7.96318697e-04 -3.33901340e+00] [-6.96970698e-03 -2.34541396e-04 9.99975684e-01 1.97943109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182320588 meters 0.02439450885606881 Centerline is valid? [True, True] Translation: X:43.75, Y:-3.34, Z:0.20 [[ 9.89673928e-01 1.43211644e-01 5.99512214e-03 4.37518075e+01] [-1.43210112e-01 9.89692070e-01 -6.86181664e-04 -3.33874979e+00] [-6.03159404e-03 -1.79466011e-04 9.99981794e-01 1.98561085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.212320588000004 meters 0.024001146274501055 Centerline is valid? [True, True] Translation: X:43.78, Y:-3.34, Z:0.20 [[ 9.90516688e-01 1.37340413e-01 3.78172566e-03 4.37812492e+01] [-1.37339770e-01 9.90523903e-01 -4.30416756e-04 -3.33794605e+00] [-3.80500327e-03 -9.30463541e-05 9.99992757e-01 1.98173204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242320588 meters 0.023442065759819934 Centerline is valid? [True, True] Translation: X:43.81, Y:-3.33, Z:0.20 [[ 9.91321528e-01 1.31408809e-01 3.65414273e-03 4.38101564e+01] [-1.31408175e-01 9.91328261e-01 -4.13976451e-04 -3.33485836e+00] [-3.67685511e-03 -6.98004606e-05 9.99993238e-01 1.95948739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.272320588 meters 0.022710233173785132 Centerline is valid? [True, True] Translation: X:43.84, Y:-3.32, Z:0.20 [[ 9.92764321e-01 1.20044289e-01 2.89324988e-03 4.38411006e+01] [-1.20043848e-01 9.92768537e-01 -3.26194348e-04 -3.32204777e+00] [-2.91148522e-03 -2.34827389e-05 9.99995761e-01 1.96178723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302320588 meters 0.02254888380716194 Centerline is valid? [True, True] Translation: X:43.87, Y:-3.32, Z:0.20 [[ 9.93508008e-01 1.13729625e-01 2.72229511e-03 4.38700606e+01] [-1.13729215e-01 9.93511737e-01 -3.05374140e-04 -3.31815899e+00] [-2.73936223e-03 -6.21283277e-06 9.99996248e-01 1.97697012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332320588 meters 0.023039270916955075 Centerline is valid? [True, True] Translation: X:43.90, Y:-3.31, Z:0.20 [[ 9.94696501e-01 1.02795998e-01 3.44282237e-03 4.38992457e+01] [-1.02795280e-01 9.94702459e-01 -3.85268097e-04 -3.31448114e+00] [-3.46418790e-03 2.93189387e-05 9.99993999e-01 2.00198319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362320588 meters 0.023639631432322044 Centerline is valid? [True, True] Translation: X:43.93, Y:-3.32, Z:0.20 [[ 9.95357755e-01 9.62120872e-02 2.48485398e-03 4.39273350e+01] [-9.62116916e-02 9.95360856e-01 -2.78533966e-04 -3.31864436e+00] [-2.50012472e-03 3.81689383e-05 9.99996874e-01 1.99232597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.392320588000004 meters 0.024681715247695052 Centerline is valid? [True, True] Translation: X:43.96, Y:-3.32, Z:0.20 [[ 9.96091310e-01 8.83295107e-02 1.86477937e-05 4.39555031e+01] [-8.83295107e-02 9.96091310e-01 8.63487650e-08 -3.32404200e+00] [-1.85672780e-05 -1.73316174e-06 1.00000000e+00 1.98489224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.422320588000005 meters 0.026024253398255263 Centerline is valid? [True, True] Translation: X:43.98, Y:-3.33, Z:0.20 [[ 9.96612080e-01 8.22456829e-02 -9.83684078e-05 4.39847114e+01] [-8.22456822e-02 9.96612085e-01 1.13160279e-05 -3.32845441e+00] [ 9.89658385e-05 -3.18731326e-06 9.99999995e-01 1.97334195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.452320588 meters 0.02775939060017511 Centerline is valid? [True, True] Translation: X:44.01, Y:-3.33, Z:0.20 [[ 9.97258256e-01 7.39726063e-02 2.00590350e-03 4.40148451e+01] [-7.39723046e-02 9.97260271e-01 -2.24282737e-04 -3.33036894e+00] [-2.01699865e-03 7.52865065e-05 9.99997963e-01 1.98220307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.482320588 meters 0.02853177886797861 Centerline is valid? [True, True] Translation: X:44.04, Y:-3.33, Z:0.20 [[ 9.97446461e-01 7.13951049e-02 1.81586569e-03 4.40436289e+01] [-7.13948584e-02 9.97448111e-01 -2.00305244e-04 -3.33173178e+00] [-1.82553261e-03 7.01502827e-05 9.99998331e-01 2.01283748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512320588 meters 0.028478025626943664 Centerline is valid? [True, True] Translation: X:44.07, Y:-3.34, Z:0.20 [[ 9.97527822e-01 7.02726097e-02 -6.71854050e-05 4.40717754e+01] [-7.02726092e-02 9.97527824e-01 9.52901066e-06 -3.33558208e+00] [ 6.76889394e-05 -4.78415954e-06 9.99999998e-01 2.03936995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542320588 meters 0.02826935470368721 Centerline is valid? [True, True] Translation: X:44.10, Y:-3.34, Z:0.20 [[ 9.97524039e-01 7.02788058e-02 -2.58493322e-03 4.41002480e+01] [-7.02782949e-02 9.97527382e-01 2.88071568e-04 -3.34079212e+00] [ 2.59878699e-03 -1.05693615e-04 9.99996618e-01 2.04884977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.572320588000004 meters 0.02777261025400053 Centerline is valid? [True, True] Translation: X:44.13, Y:-3.35, Z:0.20 [[ 9.97419593e-01 7.15905792e-02 -5.38006548e-03 4.41275444e+01] [-7.15884092e-02 9.97434081e-01 5.95091568e-04 -3.35189082e+00] [ 5.40886362e-03 -2.08405660e-04 9.99985350e-01 2.01667644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.602320588000005 meters 0.027668788600023534 Centerline is valid? [True, True] Translation: X:44.16, Y:-3.36, Z:0.20 [[ 9.97441959e-01 7.13900896e-02 -3.60451902e-03 4.41551610e+01] [-7.13891169e-02 9.97448463e-01 3.97979863e-04 -3.35982347e+00] [ 3.62373377e-03 -1.39638385e-04 9.99993425e-01 1.99948955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.632320588 meters 0.028150375991447863 Centerline is valid? [True, True] Translation: X:44.18, Y:-3.37, Z:0.20 [[ 9.97499324e-01 7.06726788e-02 -6.86244370e-04 4.41833902e+01] [-7.06726424e-02 9.97499560e-01 7.71380360e-05 -3.36739828e+00] [ 6.89980009e-04 -2.84464358e-05 9.99999762e-01 1.97935489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.662320588 meters 0.028451610507997084 Centerline is valid? [True, True] Translation: X:44.21, Y:-3.38, Z:0.20 [[ 9.97612285e-01 6.90458776e-02 1.54772125e-03 4.42113716e+01] [-6.90457023e-02 9.97613484e-01 -1.66463476e-04 -3.37571209e+00] [-1.55552120e-03 5.92025086e-05 9.99998788e-01 1.98011762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692320588 meters 0.02819311896240582 Centerline is valid? [True, True] Translation: X:44.24, Y:-3.39, Z:0.20 [[ 9.97611783e-01 6.89898675e-02 3.33601075e-03 4.42383543e+01] [-6.89890511e-02 9.97617352e-01 -3.59332302e-04 -3.38825139e+00] [-3.35285250e-03 1.28325922e-04 9.99994371e-01 2.00930108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722320588 meters 0.027824532390779793 Centerline is valid? [True, True] Translation: X:44.27, Y:-3.39, Z:0.20 [[ 9.97572053e-01 6.95997983e-02 2.42236109e-03 4.42671059e+01] [-6.95993724e-02 9.97574990e-01 -2.59774278e-04 -3.39402722e+00] [-2.43456707e-03 9.05487484e-05 9.99997032e-01 2.02364543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.752320588 meters 0.027824532390779793 Centerline is valid? [True, True] Translation: X:44.29, Y:-3.40, Z:0.20 [[ 9.97604983e-01 6.91261887e-02 2.42253433e-03 4.42943390e+01] [-6.91257653e-02 9.97607920e-01 -2.58162944e-04 -3.39727600e+00] [-2.43458525e-03 9.00850996e-05 9.99997032e-01 2.02503088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.782320588000005 meters 0.027294619997389066 Centerline is valid? [True, True] Translation: X:44.32, Y:-3.40, Z:0.20 [[ 9.97550134e-01 6.99551984e-02 -2.39848332e-05 4.43226274e+01] [-6.99551983e-02 9.97550134e-01 4.67337924e-06 -3.40180275e+00] [ 2.42530008e-05 -2.98406632e-06 1.00000000e+00 2.02821605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.812320588 meters 0.02664004860105578 Centerline is valid? [True, True] Translation: X:44.35, Y:-3.41, Z:0.20 [[ 9.97312684e-01 7.32407596e-02 -1.78929527e-03 4.43510259e+01] [-7.32405312e-02 9.97314287e-01 1.92972346e-04 -3.41198594e+00] [ 1.79862318e-03 -6.14048321e-05 9.99998381e-01 1.99006279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.842320588 meters 0.02598031674524427 Centerline is valid? [True, True] Translation: X:44.38, Y:-3.42, Z:0.20 [[ 9.97199097e-01 7.47860459e-02 -1.00434384e-03 4.43785038e+01] [-7.47859741e-02 9.97199602e-01 1.08920059e-04 -3.42235332e+00] [ 1.00967698e-03 -3.35041520e-05 9.99999490e-01 1.99586380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872320588 meters 0.025642778824092213 Centerline is valid? [True, True] Translation: X:44.41, Y:-3.43, Z:0.20 [[ 9.97059733e-01 7.66143140e-02 1.46153565e-03 4.44068653e+01] [-7.66141726e-02 9.97060803e-01 -1.52592727e-04 -3.43106128e+00] [-1.46893069e-03 4.01697191e-05 9.99998920e-01 2.00702418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902320588 meters 0.02539676544141011 Centerline is valid? [True, True] Translation: X:44.44, Y:-3.44, Z:0.20 [[ 9.96961883e-01 7.78485992e-02 2.56899971e-03 4.44354902e+01] [-7.78481649e-02 9.96965190e-01 -2.68760142e-04 -3.43596901e+00] [-2.58212589e-03 6.79517040e-05 9.99996664e-01 2.01751191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.932320588 meters 0.024746975952144416 Centerline is valid? [True, True] Translation: X:44.46, Y:-3.44, Z:0.20 [[ 9.96696532e-01 8.11852735e-02 2.23045781e-03 4.44636010e+01] [-8.11849573e-02 9.96699026e-01 -2.32099005e-04 -3.44061466e+00] [-2.24193815e-03 5.02526508e-05 9.99997486e-01 1.99639683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.962320588000004 meters 0.024388260385251676 Centerline is valid? [True, True] Translation: X:44.49, Y:-3.45, Z:0.20 [[ 9.96528238e-01 8.32316806e-02 1.98947621e-03 4.44917121e+01] [-8.32314354e-02 9.96530223e-01 -2.05893389e-04 -3.44840246e+00] [-1.99971003e-03 3.95916156e-05 9.99998000e-01 1.97868402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.992320588 meters 0.023866013695721607 Centerline is valid? [True, True] Translation: X:44.52, Y:-3.46, Z:0.20 [[ 9.96252329e-01 8.64864686e-02 1.17788414e-03 4.45195001e+01] [-8.64863866e-02 9.96253025e-01 -1.20468872e-04 -3.45671708e+00] [-1.18388956e-03 1.81464518e-05 9.99999299e-01 1.98211487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.022320588 meters 0.023296652573436275 Centerline is valid? [True, True] Translation: X:44.55, Y:-3.46, Z:0.20 [[ 9.95948667e-01 8.99215162e-02 6.11635719e-04 4.45480685e+01] [-8.99214956e-02 9.95948855e-01 -6.11888461e-05 -3.46199351e+00] [-6.14660087e-04 5.94175117e-06 9.99999811e-01 2.00589188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052320588 meters 0.022624036790101457 Centerline is valid? [True, True] Translation: X:44.58, Y:-3.46, Z:0.20 [[ 9.95248146e-01 9.73689732e-02 -6.41088625e-04 4.45770611e+01] [-9.73689494e-02 9.95248352e-01 6.83411881e-05 -3.46163429e+00] [ 6.44696710e-04 -5.59431489e-06 9.99999792e-01 2.04946806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082320588 meters 0.02251411478389906 Centerline is valid? [True, True] Translation: X:44.61, Y:-3.47, Z:0.20 [[ 9.95083609e-01 9.90136047e-02 2.21764966e-03 4.46050094e+01] [-9.90133487e-02 9.95086080e-01 -2.25177937e-04 -3.46654572e+00] [-2.22904798e-03 4.49395521e-06 9.99997516e-01 2.03177383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112320588 meters 0.022533111968837748 Centerline is valid? [True, True] Translation: X:44.63, Y:-3.47, Z:0.20 [[ 9.94962577e-01 1.00122343e-01 4.99876320e-03 4.46328832e+01] [-1.00121050e-01 9.94975134e-01 -5.08923913e-04 -3.47463336e+00] [-5.02459974e-03 5.87882923e-06 9.99987377e-01 2.01311334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.142320588000004 meters 0.022484772310135206 Centerline is valid? [True, True] Translation: X:44.66, Y:-3.48, Z:0.20 [[ 9.94823607e-01 1.01374073e-01 7.02058027e-03 4.46607112e+01] [-1.01371569e-01 9.94848379e-01 -7.12486406e-04 -3.48148459e+00] [-7.05664055e-03 -2.88894090e-06 9.99975102e-01 2.01512809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.172320588000005 meters 0.022577729657945373 Centerline is valid? [True, True] Translation: X:44.69, Y:-3.48, Z:0.20 [[ 9.94094275e-01 1.08239451e-01 7.79704294e-03 4.46899260e+01] [-1.08236600e-01 9.94124850e-01 -7.87983576e-04 -3.47630914e+00] [-7.83652505e-03 -6.05954541e-05 9.99969292e-01 2.01920793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202320588 meters 0.02271594217174214 Centerline is valid? [True, True] Translation: X:44.72, Y:-3.47, Z:0.20 [[ 9.93726011e-01 1.11712154e-01 5.38613213e-03 4.47185759e+01] [-1.11710866e-01 9.93740605e-01 -5.40413631e-04 -3.47167103e+00] [-5.41278897e-03 -6.46664009e-05 9.99985349e-01 2.01147386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.232320588 meters 0.023035703189388024 Centerline is valid? [True, True] Translation: X:44.75, Y:-3.47, Z:0.20 [[ 9.93315788e-01 1.15392211e-01 2.89527452e-03 4.47473711e+01] [-1.15391861e-01 9.93320006e-01 -2.88268829e-04 -3.46998738e+00] [-2.90919808e-03 -4.77491371e-05 9.99995767e-01 2.00541180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262320588 meters 0.023167189073311143 Centerline is valid? [True, True] Translation: X:44.78, Y:-3.47, Z:0.20 [[ 9.93144019e-01 1.16861031e-01 2.90796613e-03 4.47758059e+01] [-1.16860687e-01 9.93148275e-01 -2.88210154e-04 -3.47158898e+00] [-2.92172208e-03 -5.35927293e-05 9.99995730e-01 1.99986300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292320588 meters 0.023107699440645023 Centerline is valid? [True, True] Translation: X:44.80, Y:-3.48, Z:0.20 [[ 9.93302809e-01 1.15160008e-01 9.36490925e-03 4.48043888e+01] [-1.15156367e-01 9.93346943e-01 -9.28871108e-04 -3.47688441e+00] [-9.40957277e-03 -1.55778644e-04 9.99955717e-01 2.04564370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322320588000004 meters 0.022797774428109915 Centerline is valid? [True, True] Translation: X:44.83, Y:-3.48, Z:0.21 [[ 9.93636716e-01 1.12141482e-01 1.05054564e-02 4.48329212e+01] [-1.12136780e-01 9.93692239e-01 -1.03746827e-03 -3.47901179e+00] [-1.05555337e-02 -1.47181482e-04 9.99944278e-01 2.07584232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.352320588000005 meters 0.022790782856956907 Centerline is valid? [True, True] Translation: X:44.86, Y:-3.48, Z:0.21 [[ 9.94001017e-01 1.08933502e-01 9.77084615e-03 4.48617973e+01] [-1.08929326e-01 9.94049033e-01 -9.60217591e-04 -3.48057628e+00] [-9.81730003e-03 -1.09874419e-04 9.99951803e-01 2.07535611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.382320588 meters 0.022623169491568607 Centerline is valid? [True, True] Translation: X:44.89, Y:-3.48, Z:0.21 [[ 9.94453375e-01 1.04794473e-01 8.97796632e-03 4.48908626e+01] [-1.04790817e-01 9.94493898e-01 -8.77990063e-04 -3.48129585e+00] [-9.02054123e-03 -6.76882425e-05 9.99959312e-01 2.05948010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.412320588 meters 0.022659292824372658 Centerline is valid? [True, True] Translation: X:44.92, Y:-3.48, Z:0.20 [[ 9.95027286e-01 9.93611168e-02 6.93312541e-03 4.49205538e+01] [-9.93588304e-02 9.95051440e-01 -6.74298108e-04 -3.47523953e+00] [-6.96581543e-03 -1.79222152e-05 9.99975738e-01 2.01365688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442320588 meters 0.022555067656143724 Centerline is valid? [True, True] Translation: X:44.95, Y:-3.47, Z:0.20 [[ 9.95159375e-01 9.80590824e-02 6.49884022e-03 4.49487794e+01] [-9.80570706e-02 9.95180595e-01 -6.28243866e-04 -3.47311544e+00] [-6.52912469e-03 -1.20544611e-05 9.99978685e-01 2.00901126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472320588 meters 0.022562255557651418 Centerline is valid? [True, True] Translation: X:44.98, Y:-3.47, Z:0.20 [[ 9.95180721e-01 9.78222617e-02 6.79251544e-03 4.49770161e+01] [-9.78200816e-02 9.95203901e-01 -6.53246215e-04 -3.47399440e+00] [-6.82383989e-03 -1.43463754e-05 9.99976717e-01 2.02283218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502320588 meters 0.022359855222045106 Centerline is valid? [True, True] Translation: X:45.01, Y:-3.48, Z:0.21 [[ 9.95238210e-01 9.71104447e-02 8.39444691e-03 4.50050413e+01] [-9.71071145e-02 9.95273611e-01 -8.04352662e-04 -3.48429008e+00] [-8.43288253e-03 -1.46380136e-05 9.99964443e-01 2.06463248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.532320588000005 meters 0.022562876122321437 Centerline is valid? [True, True] Translation: X:45.03, Y:-3.49, Z:0.21 [[ 9.95315670e-01 9.62791557e-02 8.77726804e-03 4.50328287e+01] [-9.62755249e-02 9.95354371e-01 -8.36227182e-04 -3.49076305e+00] [-8.81700336e-03 -1.27260700e-05 9.99961129e-01 2.08222626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562320588 meters 0.02249442803343731 Centerline is valid? [True, True] Translation: X:45.06, Y:-3.49, Z:0.21 [[ 9.95634511e-01 9.29337698e-02 8.67379873e-03 4.50608135e+01] [-9.29301365e-02 9.95672293e-01 -8.21853619e-04 -3.49361805e+00] [-8.71263902e-03 1.22085262e-05 9.99962044e-01 2.08965560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.592320588 meters 0.02263033180332529 Centerline is valid? [True, True] Translation: X:45.09, Y:-3.49, Z:0.21 [[ 9.95944731e-01 8.95719274e-02 8.42393937e-03 4.50890632e+01] [-8.95684173e-02 9.95980355e-01 -7.93784161e-04 -3.49492760e+00] [-8.46117891e-03 3.60462357e-05 9.99964203e-01 2.07078880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622320588 meters 0.02302917131479179 Centerline is valid? [True, True] Translation: X:45.12, Y:-3.50, Z:0.20 [[ 9.96533440e-01 8.31517097e-02 2.62608234e-03 4.51166767e+01] [-8.31513544e-02 9.96536900e-01 -2.44371778e-04 -3.49710747e+00] [-2.63730789e-03 2.51623447e-05 9.99996522e-01 2.01896090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.652320588 meters 0.023215168630444292 Centerline is valid? [True, True] Translation: X:45.14, Y:-3.50, Z:0.20 [[ 9.96676707e-01 8.14581354e-02 3.36403274e-04 4.51448830e+01] [-8.14581303e-02 9.96676764e-01 -2.89009942e-05 -3.50044028e+00] [-3.37639548e-04 1.40216597e-06 9.99999943e-01 2.01333598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682320588 meters 0.023067083336323072 Centerline is valid? [True, True] Translation: X:45.17, Y:-3.50, Z:0.20 [[ 9.96758993e-01 8.04330803e-02 -1.42471128e-03 4.51728253e+01] [-8.04329694e-02 9.96760011e-01 1.35072341e-04 -3.50289316e+00] [ 1.43095952e-03 -2.00408115e-05 9.99998976e-01 2.03739364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.712320588000004 meters 0.02300104274346846 Centerline is valid? [True, True] Translation: X:45.20, Y:-3.50, Z:0.21 [[ 9.96753435e-01 8.04880176e-02 -2.06606369e-03 4.52003787e+01] [-8.04877890e-02 9.96755576e-01 1.93678733e-04 -3.50446394e+00] [ 2.07494932e-03 -2.67570438e-05 9.99997847e-01 2.06291815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742320588 meters 0.022735943406216496 Centerline is valid? [True, True] Translation: X:45.23, Y:-3.51, Z:0.21 [[ 9.96537779e-01 8.30824025e-02 3.12565248e-03 4.52277139e+01] [-8.30819175e-02 9.96542680e-01 -2.84920315e-04 -3.50982841e+00] [-3.13851796e-03 2.42486564e-05 9.99995075e-01 2.08490294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.772320588 meters 0.022815057056565335 Centerline is valid? [True, True] Translation: X:45.25, Y:-3.52, Z:0.21 [[ 9.96499584e-01 8.35086050e-02 3.85906456e-03 4.52547046e+01] [-8.35078743e-02 9.96507056e-01 -3.50376053e-04 -3.51611412e+00] [-3.87484448e-03 2.68873123e-05 9.99992492e-01 2.06326124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802320588 meters 0.022682682943572705 Centerline is valid? [True, True] Translation: X:45.28, Y:-3.52, Z:0.21 [[ 9.96468919e-01 8.38834434e-02 3.64149429e-03 4.52817902e+01] [-8.38827965e-02 9.96475573e-01 -3.30272680e-04 -3.52199336e+00] [-3.65636451e-03 2.36477361e-05 9.99993315e-01 2.05113525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.832320588 meters 0.022840316175395347 Centerline is valid? [True, True] Translation: X:45.31, Y:-3.52, Z:0.20 [[ 9.96527192e-01 8.30750475e-02 5.66499502e-03 4.53100322e+01] [-8.30734825e-02 9.96543293e-01 -5.11411885e-04 -3.52417845e+00] [-5.68789836e-03 3.90249847e-05 9.99983823e-01 2.04949406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862320588 meters 0.023117805031799065 Centerline is valid? [True, True] Translation: X:45.34, Y:-3.53, Z:0.21 [[ 9.96620509e-01 8.17860960e-02 7.65482499e-03 4.53387168e+01] [-8.17832204e-02 9.96649904e-01 -6.88444173e-04 -3.52505556e+00] [-7.68548575e-03 6.00813424e-05 9.99970464e-01 2.07092550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.892320588000004 meters 0.023284393977248796 Centerline is valid? [True, True] Translation: X:45.37, Y:-3.53, Z:0.21 [[ 9.96750570e-01 8.00956018e-02 8.54380504e-03 4.53673999e+01] [-8.00919879e-02 9.96787183e-01 -7.64854370e-04 -3.52701995e+00] [-8.57761683e-03 7.80786990e-05 9.99963209e-01 2.07351534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922320588000005 meters 0.02324985547226656 Centerline is valid? [True, True] Translation: X:45.40, Y:-3.53, Z:0.21 [[ 9.96882619e-01 7.85262322e-02 7.65994134e-03 4.53955849e+01] [-7.85233152e-02 9.96912045e-01 -6.81291468e-04 -3.53023216e+00] [-7.68978703e-03 7.76836356e-05 9.99970430e-01 2.06641277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.952320588 meters 0.02321824129243859 Centerline is valid? [True, True] Translation: X:45.42, Y:-3.53, Z:0.20 [[ 9.96924035e-01 7.83381030e-02 2.36861326e-03 4.54249492e+01] [-7.83378295e-02 9.96926848e-01 -2.08176388e-04 -3.52904287e+00] [-2.37764230e-03 2.19840228e-05 9.99997173e-01 2.03467613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982320588 meters 0.02321729725216671 Centerline is valid? [True, True] Translation: X:45.45, Y:-3.53, Z:0.20 [[ 9.96872432e-01 7.89925542e-02 2.35156708e-03 4.54526843e+01] [-7.89922901e-02 9.96875206e-01 -2.05126301e-04 -3.52801564e+00] [-2.36042237e-03 1.87290853e-05 9.99997214e-01 2.02843083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.012320588 meters 0.023290072021520197 Centerline is valid? [True, True] Translation: X:45.48, Y:-3.53, Z:0.20 [[ 9.96887939e-01 7.87399057e-02 3.80310487e-03 4.54801327e+01] [-7.87392145e-02 9.96895193e-01 -3.31361879e-04 -3.52879436e+00] [-3.81738837e-03 3.08771707e-05 9.99992713e-01 2.03782544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042320588 meters 0.023070345533387 Centerline is valid? [True, True] Translation: X:45.51, Y:-3.53, Z:0.21 [[ 9.96781796e-01 7.97533915e-02 8.08997107e-03 4.55087212e+01] [-7.97503002e-02 9.96814623e-01 -7.04499264e-04 -3.53446284e+00] [-8.12038767e-03 5.70544200e-05 9.99967027e-01 2.05608098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.072320588000004 meters 0.022982880982847283 Centerline is valid? [True, True] Translation: X:45.54, Y:-3.55, Z:0.21 [[ 9.96558743e-01 8.19880191e-02 1.21916541e-02 4.55365821e+01] [-8.19812186e-02 9.96633314e-01 -1.05736235e-03 -3.54549653e+00] [-1.22372996e-02 5.42370330e-05 9.99925120e-01 2.08711984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102320588000005 meters 0.02294271227768861 Centerline is valid? [True, True] Translation: X:45.57, Y:-3.55, Z:0.21 [[ 9.96400857e-01 8.42677152e-02 9.18068752e-03 4.55658170e+01] [-8.42639486e-02 9.96443150e-01 -7.97009062e-04 -3.54818285e+00] [-9.21519533e-03 2.05395309e-05 9.99957539e-01 2.08501422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.132320588 meters 0.022932586569348847 Centerline is valid? [True, True] Translation: X:45.59, Y:-3.55, Z:0.20 [[ 9.96271794e-01 8.59204053e-02 7.75867302e-03 4.55945830e+01] [-8.59178080e-02 9.96302004e-01 -6.68062275e-04 -3.54852712e+00] [-7.78738166e-03 -1.03657828e-06 9.99969678e-01 2.03997003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162320588 meters 0.023099163775240985 Centerline is valid? [True, True] Translation: X:45.62, Y:-3.55, Z:0.20 [[ 9.95908292e-01 9.01258212e-02 6.63401447e-03 4.56223542e+01] [-9.01240430e-02 9.95930387e-01 -5.67115718e-04 -3.54931539e+00] [-6.65812837e-03 -3.30889594e-05 9.99977834e-01 2.00033426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.192320588 meters 0.022951871618483593 Centerline is valid? [True, True] Translation: X:45.65, Y:-3.55, Z:0.20 [[ 9.95878809e-01 9.04660987e-02 6.42516677e-03 4.56501826e+01] [-9.04644600e-02 9.95899535e-01 -5.45809240e-04 -3.55150237e+00] [-6.44819783e-03 -3.76893867e-05 9.99979209e-01 2.03803926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222320588 meters 0.022916398642966206 Centerline is valid? [True, True] Translation: X:45.68, Y:-3.55, Z:0.21 [[ 9.95820256e-01 9.09796860e-02 8.04452504e-03 4.56788323e+01] [-9.09771554e-02 9.95852747e-01 -6.80711396e-04 -3.55151214e+00] [-8.07309327e-03 -5.40018086e-05 9.99967411e-01 2.07416145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.252320588 meters 0.02275207519712238 Centerline is valid? [True, True] Translation: X:45.71, Y:-3.55, Z:0.21 [[ 9.96015908e-01 8.89835053e-02 5.85209787e-03 4.57082281e+01] [-8.89821509e-02 9.96033099e-01 -4.91919365e-04 -3.54631513e+00] [-5.87265589e-03 -3.07727430e-05 9.99982755e-01 2.10191901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.282320588000005 meters 0.022839760795091143 Centerline is valid? [True, True] Translation: X:45.74, Y:-3.55, Z:0.21 [[ 9.96250081e-01 8.62511798e-02 6.81980792e-03 4.57357120e+01] [-8.62493005e-02 9.96273423e-01 -5.69744928e-04 -3.54947419e+00] [-6.84353456e-03 -2.05952318e-05 9.99976583e-01 2.06531124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.312320588 meters 0.02294982287438784 Centerline is valid? [True, True] Translation: X:45.76, Y:-3.55, Z:0.20 [[ 9.96515808e-01 8.29916605e-02 8.28421941e-03 4.57641137e+01] [-8.29887988e-02 9.96550242e-01 -6.89186792e-04 -3.55491849e+00] [-8.31283761e-03 -7.11885140e-07 9.99965448e-01 2.03155726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.342320588 meters 0.023138472250126507 Centerline is valid? [True, True] Translation: X:45.79, Y:-3.56, Z:0.20 [[ 9.96737757e-01 7.99746323e-02 1.08582387e-02 4.57926878e+01] [-7.99695819e-02 9.96796899e-01 -8.99199463e-04 -3.55983485e+00] [-1.08953718e-02 2.79372457e-05 9.99940643e-01 2.01144350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372320588 meters 0.023208386539743865 Centerline is valid? [True, True] Translation: X:45.82, Y:-3.56, Z:0.21 [[ 9.97050014e-01 7.60951058e-02 1.00401887e-02 4.58210135e+01] [-7.60906428e-02 9.97100562e-01 -8.26313701e-04 -3.55920875e+00] [-1.00739562e-02 5.99116758e-05 9.99949255e-01 2.05900405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402320588 meters 0.023116666674712603 Centerline is valid? [True, True] Translation: X:45.85, Y:-3.56, Z:0.21 [[ 9.97123349e-01 7.54167114e-02 7.57274105e-03 4.58494273e+01] [-7.54141825e-02 9.97152103e-01 -6.19347598e-04 -3.55894807e+00] [-7.59788383e-03 4.64738749e-05 9.99971135e-01 2.08076698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.432320588 meters 0.022949401423253756 Centerline is valid? [True, True] Translation: X:45.88, Y:-3.56, Z:0.21 [[ 9.97165947e-01 7.51306389e-02 3.93200022e-03 4.58778030e+01] [-7.51299662e-02 9.97173699e-01 -3.18726530e-04 -3.55923317e+00] [-3.94483334e-03 2.24121986e-05 9.99992219e-01 2.09833900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.462320588000004 meters 0.022790728640734233 Centerline is valid? [True, True] Translation: X:45.91, Y:-3.56, Z:0.21 [[ 9.97071529e-01 7.64331330e-02 2.51822767e-03 4.59065582e+01] [-7.64328661e-02 9.97074709e-01 -2.02167416e-04 -3.56148028e+00] [-2.52631341e-03 9.10001580e-06 9.99996809e-01 2.09645151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.492320588 meters 0.022880143273954764 Centerline is valid? [True, True] Translation: X:45.93, Y:-3.57, Z:0.21 [[ 9.96752054e-01 8.04464662e-02 3.70261100e-03 4.59346130e+01] [-8.04459215e-02 9.96758931e-01 -2.96062707e-04 -3.56623061e+00] [-3.71442778e-03 -2.75884294e-06 9.99993101e-01 2.07129289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.522320588 meters 0.022821623986476212 Centerline is valid? [True, True] Translation: X:45.96, Y:-3.57, Z:0.21 [[ 9.96637355e-01 8.17363998e-02 5.75701595e-03 4.59630797e+01] [-8.17351093e-02 9.96653982e-01 -4.59485173e-04 -3.56915310e+00] [-5.77530954e-03 -1.26102407e-05 9.99983323e-01 2.06813703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552320588 meters 0.022926272234298058 Centerline is valid? [True, True] Translation: X:45.99, Y:-3.57, Z:0.21 [[ 9.96473835e-01 8.33848042e-02 9.32047700e-03 4.59916443e+01] [-8.33815201e-02 9.96517422e-01 -7.41060927e-04 -3.57125350e+00] [-9.34981094e-03 -3.87077168e-05 9.99956289e-01 2.06638567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582320588 meters 0.022913034798734494 Centerline is valid? [True, True] Translation: X:46.02, Y:-3.57, Z:0.21 [[ 9.96190617e-01 8.65360881e-02 1.07592246e-02 4.60206490e+01] [-8.65319440e-02 9.96248713e-01 -8.50968658e-04 -3.57046254e+00] [-1.07925031e-02 -8.32896257e-05 9.99941756e-01 2.10484560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.612320588 meters 0.02303895651821992 Centerline is valid? [True, True] Translation: X:46.05, Y:-3.57, Z:0.21 [[ 9.96150995e-01 8.70033152e-02 1.06592333e-02 4.60483227e+01] [-8.69993375e-02 9.96208018e-01 -8.37177108e-04 -3.57095700e+00] [-1.06916508e-02 -9.33914236e-05 9.99942838e-01 2.10833218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.642320588000004 meters 0.02303895651821992 Centerline is valid? [True, True] Translation: X:46.08, Y:-3.57, Z:0.21 [[ 9.96195615e-01 8.64908522e-02 1.06596629e-02 4.60756111e+01] [-8.64869037e-02 9.96252641e-01 -8.31697951e-04 -3.57341806e+00] [-1.06916515e-02 -9.33873829e-05 9.99942838e-01 2.10971760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.672320588000005 meters 0.02281009525089334 Centerline is valid? [True, True] Translation: X:46.10, Y:-3.57, Z:0.21 [[ 9.96328406e-01 8.51720263e-02 8.68526256e-03 4.61048099e+01] [-8.51693907e-02 9.96366259e-01 -6.73553431e-04 -3.57433542e+00] [-8.71107047e-03 -6.86381041e-05 9.99962056e-01 2.10537473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.702320588 meters 0.022893142784459884 Centerline is valid? [True, True] Translation: X:46.13, Y:-3.57, Z:0.21 [[ 9.96538744e-01 8.27693246e-02 7.73111748e-03 4.61337094e+01] [-8.27671934e-02 9.96568732e-01 -5.95758380e-04 -3.57495584e+00] [-7.75390046e-03 -4.61865884e-05 9.99969937e-01 2.09361281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.732320588 meters 0.023111489421014188 Centerline is valid? [True, True] Translation: X:46.16, Y:-3.57, Z:0.21 [[ 9.97110407e-01 7.55421713e-02 8.01356785e-03 4.61616153e+01] [-7.55396832e-02 9.97142608e-01 -6.13153398e-04 -3.57300803e+00] [-8.03698888e-03 6.03925791e-06 9.99967703e-01 2.08346511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762320588 meters 0.02323611907233744 Centerline is valid? [True, True] Translation: X:46.19, Y:-3.57, Z:0.21 [[ 9.97516061e-01 6.98944817e-02 8.74472387e-03 4.61904510e+01] [-6.98913314e-02 9.97554389e-01 -6.65700455e-04 -3.57388830e+00] [-8.76986646e-03 5.28665020e-05 9.99961543e-01 2.08427047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.792320588 meters 0.023554745725965182 Centerline is valid? [True, True] Translation: X:46.22, Y:-3.58, Z:0.21 [[ 9.97828699e-01 6.52484852e-02 8.97348124e-03 4.62186830e+01] [-6.52449789e-02 9.97869042e-01 -6.83247259e-04 -3.57620797e+00] [-8.99893998e-03 9.62891300e-05 9.99959504e-01 2.09878573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.822320588000004 meters 0.024104711678842337 Centerline is valid? [True, True] Translation: X:46.25, Y:-3.58, Z:0.21 [[ 9.98118323e-01 6.04932043e-02 1.00192175e-02 4.62476567e+01] [-6.04886507e-02 9.98168598e-01 -7.57178089e-04 -3.57924669e+00] [-1.00466724e-02 1.49704378e-04 9.99949520e-01 2.10898155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.852320588000005 meters 0.025083375120301073 Centerline is valid? [True, True] Translation: X:46.28, Y:-3.58, Z:0.21 [[ 9.98586897e-01 5.26543895e-02 7.19201868e-03 4.62772374e+01] [-5.26518339e-02 9.98612782e-01 -5.44346136e-04 -3.58205015e+00] [-7.21070399e-03 1.64903946e-04 9.99973989e-01 2.11666607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882320588 meters 0.02534826085705149 Centerline is valid? [True, True] Translation: X:46.31, Y:-3.58, Z:0.21 [[ 9.98690501e-01 5.08059872e-02 6.00298835e-03 4.63060867e+01] [-5.08042001e-02 9.98708531e-01 -4.49908123e-04 -3.58318789e+00] [-6.01809370e-03 1.44341947e-04 9.99981881e-01 2.12294106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.912320588 meters 0.02552858050759832 Centerline is valid? [True, True] Translation: X:46.33, Y:-3.58, Z:0.21 [[ 9.98741231e-01 4.97915416e-02 6.06262223e-03 4.63348004e+01] [-4.97897159e-02 9.98759621e-01 -4.51789234e-04 -3.58360280e+00] [-6.07759756e-03 1.49364297e-04 9.99981520e-01 2.12146459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942320588 meters 0.02535683069626727 Centerline is valid? [True, True] Translation: X:46.36, Y:-3.59, Z:0.21 [[ 9.98771866e-01 4.92419725e-02 5.47617464e-03 4.63623334e+01] [-4.92404923e-02 9.98786869e-01 -4.04890360e-04 -3.58561338e+00] [-5.48946893e-03 1.34743565e-04 9.99984924e-01 2.11862497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.972320588 meters 0.02544303531899825 Centerline is valid? [True, True] Translation: X:46.39, Y:-3.59, Z:0.21 [[ 9.98784102e-01 4.91482958e-02 3.84228824e-03 4.63910597e+01] [-4.91475744e-02 9.98791488e-01 -2.82007034e-04 -3.58990380e+00] [-3.85150495e-03 9.28249951e-05 9.99992579e-01 2.11506210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.002320588 meters 0.025460837647275202 Centerline is valid? [True, True] Translation: X:46.42, Y:-3.60, Z:0.21 [[ 9.98777237e-01 4.93313999e-02 3.23157122e-03 4.64193676e+01] [-4.93308961e-02 9.98782462e-01 -2.35461913e-04 -3.59846251e+00] [-3.23925233e-03 7.57576953e-05 9.99994751e-01 2.11952086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.032320588000005 meters 0.025537905587168657 Centerline is valid? [True, True] Translation: X:46.45, Y:-3.60, Z:0.21 [[ 9.98813336e-01 4.85289196e-02 4.10651393e-03 4.64479697e+01] [-4.85281041e-02 9.98821773e-01 -2.98061609e-04 -3.60410911e+00] [-4.11614013e-03 9.84265751e-05 9.99991524e-01 2.12889759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.062320588 meters 0.02568317613637359 Centerline is valid? [True, True] Translation: X:46.48, Y:-3.61, Z:0.21 [[ 9.98889999e-01 4.68764769e-02 4.62234930e-03 4.64759946e+01] [-4.68754216e-02 9.98900687e-01 -3.36436569e-04 -3.60928632e+00] [-4.63303885e-03 1.19388552e-04 9.99989260e-01 2.14016730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.092320588 meters 0.025914320409889308 Centerline is valid? [True, True] Translation: X:46.50, Y:-3.62, Z:0.21 [[ 9.99005764e-01 4.45026110e-02 2.64613603e-03 4.65037020e+01] [-4.45022643e-02 9.99009265e-01 -1.89768578e-04 -3.62021836e+00] [-2.65195961e-03 7.18208583e-05 9.99996481e-01 2.12583921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122320588 meters 0.02604376366727623 Centerline is valid? [True, True] Translation: X:46.53, Y:-3.63, Z:0.21 [[ 9.99035367e-01 4.39085158e-02 6.14739051e-04 4.65316136e+01] [-4.39084984e-02 9.99035556e-01 -4.18044390e-05 -3.62528397e+00] [-6.15981740e-04 1.47718444e-05 9.99999810e-01 2.12247410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.152320588 meters 0.025830176617933 Centerline is valid? [True, True] Translation: X:46.56, Y:-3.63, Z:0.21 [[ 9.98988878e-01 4.49452189e-02 1.07150038e-03 4.65598206e+01] [-4.49451647e-02 9.98989453e-01 -7.45621845e-05 -3.62950680e+00] [-1.07376879e-03 2.63280321e-05 9.99999423e-01 2.09848065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182320588 meters 0.02567949314631179 Centerline is valid? [True, True] Translation: X:46.59, Y:-3.63, Z:0.21 [[ 9.98945326e-01 4.58880910e-02 1.58695921e-03 4.65885048e+01] [-4.58879730e-02 9.98946586e-01 -1.10763994e-04 -3.63355551e+00] [-1.59037023e-03 3.78248326e-05 9.99998735e-01 2.10193491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.212320588000004 meters 0.024828841653739775 Centerline is valid? [True, True] Translation: X:46.62, Y:-3.64, Z:0.21 [[ 9.98724947e-01 5.01993493e-02 5.33913380e-03 4.66165728e+01] [-5.01980572e-02 9.98739212e-01 -3.75827236e-04 -3.64457302e+00] [-5.35126857e-03 1.07333892e-04 9.99985676e-01 2.13365162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.242320588 meters 0.024382541618992993 Centerline is valid? [True, True] Translation: X:46.64, Y:-3.65, Z:0.22 [[ 9.98589664e-01 5.29379005e-02 4.03266618e-03 4.66447428e+01] [-5.29371956e-02 9.98597804e-01 -2.81408131e-04 -3.65150495e+00] [-4.04190875e-03 6.75332123e-05 9.99991829e-01 2.15985129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.272320588 meters 0.023691181795328253 Centerline is valid? [True, True] Translation: X:46.67, Y:-3.66, Z:0.22 [[ 9.98409170e-01 5.63439361e-02 2.11883400e-03 4.66731826e+01] [-5.63437530e-02 9.98411418e-01 -1.46056017e-04 -3.65789601e+00] [-2.12369743e-03 2.64406078e-05 9.99997745e-01 2.16282130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302320588 meters 0.023549820006768054 Centerline is valid? [True, True] Translation: X:46.70, Y:-3.66, Z:0.21 [[ 9.98092800e-01 6.17210825e-02 1.12716429e-03 4.67017852e+01] [-6.17210361e-02 9.98093436e-01 -7.59996999e-05 -3.66421615e+00] [-1.12970607e-03 6.28500523e-06 9.99999362e-01 2.10590415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.332320588 meters 0.023394640753773656 Centerline is valid? [True, True] Translation: X:46.73, Y:-3.67, Z:0.21 [[ 9.97994820e-01 6.31810309e-02 3.80754949e-03 4.67295386e+01] [-6.31804994e-02 9.98002083e-01 -2.59845940e-04 -3.66723089e+00] [-3.81635966e-03 1.87620236e-05 9.99992717e-01 2.09092097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362320588 meters 0.02349550662224158 Centerline is valid? [True, True] Translation: X:46.76, Y:-3.67, Z:0.21 [[ 9.97871952e-01 6.46864232e-02 8.19962262e-03 4.67577933e+01] [-6.46840118e-02 9.97905640e-01 -5.59220903e-04 -3.66964922e+00] [-8.21862366e-03 2.76463682e-05 9.99966226e-01 2.09596031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.392320588000004 meters 0.023267048352050238 Centerline is valid? [True, True] Translation: X:46.79, Y:-3.67, Z:0.21 [[ 9.97778414e-01 6.61101475e-02 8.22711297e-03 4.67872655e+01] [-6.61077564e-02 9.97812331e-01 -5.62540143e-04 -3.67297172e+00] [-8.24630439e-03 1.74144316e-05 9.99965999e-01 2.13050264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.422320588000005 meters 0.023293889612583517 Centerline is valid? [True, True] Translation: X:46.82, Y:-3.68, Z:0.22 [[ 9.97656159e-01 6.82239851e-02 5.26073219e-03 4.68161561e+01] [-6.82230374e-02 9.97670030e-01 -3.59583397e-04 -3.67917013e+00] [-5.27300705e-03 -1.62538425e-07 9.99986098e-01 2.16097824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.452320588 meters 0.02322534210752076 Centerline is valid? [True, True] Translation: X:46.84, Y:-3.68, Z:0.22 [[ 9.97757770e-01 6.68310981e-02 3.61075719e-03 4.68443978e+01] [-6.68306576e-02 9.97764303e-01 -2.42634281e-04 -3.68276819e+00] [-3.61890015e-03 7.80961450e-07 9.99993452e-01 2.15621834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.482320588 meters 0.0231960877308206 Centerline is valid? [True, True] Translation: X:46.87, Y:-3.69, Z:0.21 [[ 9.97810604e-01 6.60419176e-02 3.53027032e-03 4.68721958e+01] [-6.60414990e-02 9.97816849e-01 -2.35139497e-04 -3.68676461e+00] [-3.53809227e-03 1.48034021e-06 9.99993741e-01 2.13617457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512320588 meters 0.023167952115280294 Centerline is valid? [True, True] Translation: X:46.90, Y:-3.69, Z:0.21 [[ 9.97642792e-01 6.85901482e-02 2.06193686e-03 4.68997228e+01] [-6.85900153e-02 9.97644923e-01 -1.35178012e-04 -3.69366764e+00] [-2.06635272e-03 -6.56891182e-06 9.99997865e-01 2.12147495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542320588 meters 0.023191485824856833 Centerline is valid? [True, True] Translation: X:46.93, Y:-3.70, Z:0.21 [[ 9.97535842e-01 7.01585382e-02 1.52164455e-04 4.69280267e+01] [-7.01585379e-02 9.97535854e-01 -7.44638152e-06 -3.69613635e+00] [-1.52311927e-04 -3.24760324e-06 9.99999988e-01 2.13499704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.572320588000004 meters 0.023203010199900315 Centerline is valid? [True, True] Translation: X:46.96, Y:-3.70, Z:0.22 [[ 9.97394093e-01 7.20873817e-02 -2.90403825e-03 4.69562689e+01] [-7.20871233e-02 9.97398320e-01 1.93689758e-04 -3.69636717e+00] [ 2.91044546e-03 1.61587430e-05 9.99995765e-01 2.15005404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.602320588000005 meters 0.02321238831146496 Centerline is valid? [True, True] Translation: X:46.98, Y:-3.70, Z:0.22 [[ 9.97245890e-01 7.40847523e-02 -3.47637210e-03 4.69846627e+01] [-7.40844027e-02 9.97251948e-01 2.29396678e-04 -3.69612325e+00] [ 3.48381365e-03 2.87800571e-05 9.99993931e-01 2.15987250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.632320588 meters 0.023423488620352265 Centerline is valid? [True, True] Translation: X:47.01, Y:-3.70, Z:0.22 [[ 9.97019854e-01 7.71425291e-02 6.64448048e-04 4.70127532e+01] [-7.71425190e-02 9.97020075e-01 -4.07673883e-05 -3.70068415e+00] [-6.65612942e-04 -1.06113007e-05 9.99999778e-01 2.15782889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.662320588 meters 0.02359489530195861 Centerline is valid? [True, True] Translation: X:47.04, Y:-3.71, Z:0.22 [[ 9.97041148e-01 7.68147733e-02 2.90519717e-03 4.70413933e+01] [-7.68145610e-02 9.97045380e-01 -1.84754154e-04 -3.70557582e+00] [-2.91080527e-03 -3.89539522e-05 9.99995763e-01 2.15588264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692320588 meters 0.02347208295831672 Centerline is valid? [True, True] Translation: X:47.07, Y:-3.71, Z:0.22 [[ 9.97106755e-01 7.58657338e-02 4.74446033e-03 4.70696747e+01] [-7.58651633e-02 9.97118041e-01 -3.00359404e-04 -3.70788314e+00] [-4.75357397e-03 -6.04488665e-05 9.99988700e-01 2.16744820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722320588 meters 0.02359842138570337 Centerline is valid? [True, True] Translation: X:47.10, Y:-3.71, Z:0.22 [[ 9.97174551e-01 7.49554327e-02 4.95959941e-03 4.70981665e+01] [-7.49548104e-02 9.97186883e-01 -3.11489928e-04 -3.70712004e+00] [-4.96899534e-03 -6.11360046e-05 9.99987653e-01 2.16916240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.752320588 meters 0.023381475428718497 Centerline is valid? [True, True] Translation: X:47.13, Y:-3.71, Z:0.22 [[ 9.97510828e-01 7.04307491e-02 3.41422558e-03 4.71268805e+01] [-7.04304347e-02 9.97516671e-01 -2.12378419e-04 -3.70540747e+00] [-3.42070491e-03 -2.86156192e-05 9.99994149e-01 2.15472600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.782320588000005 meters 0.02330263019307601 Centerline is valid? [True, True] Translation: X:47.15, Y:-3.71, Z:0.21 [[ 9.97772493e-01 6.65717414e-02 4.27272614e-03 4.71542562e+01] [-6.65712223e-02 9.97781641e-01 -2.63751306e-04 -3.71058762e+00] [-4.28080609e-03 -2.12768044e-05 9.99990837e-01 2.14638422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.812320588 meters 0.0232055232613944 Centerline is valid? [True, True] Translation: X:47.18, Y:-3.72, Z:0.21 [[ 9.98020848e-01 6.27844445e-02 3.53571211e-03 4.71819972e+01] [-6.27840734e-02 9.98027111e-01 -2.15975396e-04 -3.71626901e+00] [-3.54229644e-03 -6.43846079e-06 9.99993726e-01 2.14484163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.842320588 meters 0.02327958196377442 Centerline is valid? [True, True] Translation: X:47.21, Y:-3.72, Z:0.22 [[ 9.98453826e-01 5.55866006e-02 2.96401014e-04 4.72099452e+01] [-5.55865985e-02 9.98453870e-01 -1.55470527e-05 -3.72021035e+00] [-2.96806947e-04 -9.52909910e-07 9.99999956e-01 2.17123350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872320588 meters 0.023383857938402152 Centerline is valid? [True, True] Translation: X:47.24, Y:-3.72, Z:0.22 [[ 9.98590745e-01 5.30648657e-02 -8.01976486e-04 4.72377433e+01] [-5.30648416e-02 9.98591067e-01 5.13487613e-05 -3.72390255e+00] [ 8.03571371e-04 -8.71964264e-06 9.99999677e-01 2.18340645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902320588 meters 0.023367763301365505 Centerline is valid? [True, True] Translation: X:47.27, Y:-3.73, Z:0.22 [[ 9.98646219e-01 5.20164159e-02 -1.48232491e-04 4.72654195e+01] [-5.20164147e-02 9.98646230e-01 1.15654718e-05 -3.73079405e+00] [ 1.48633413e-04 -3.83929193e-06 9.99999989e-01 2.19325873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.932320588 meters 0.0233049835558591 Centerline is valid? [True, True] Translation: X:47.29, Y:-3.74, Z:0.22 [[ 9.98625193e-01 5.23828807e-02 1.93837144e-03 4.72932820e+01] [-5.23827597e-02 9.98627074e-01 -1.13217274e-04 -3.73840432e+00] [-1.94164085e-03 1.15243769e-05 9.99998115e-01 2.19823605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.962320588000004 meters 0.023280482757786432 Centerline is valid? [True, True] Translation: X:47.32, Y:-3.74, Z:0.22 [[ 9.98427970e-01 5.56760463e-02 6.46273873e-03 4.73222868e+01] [-5.56747472e-02 9.98448886e-01 -3.80880703e-04 -3.74334719e+00] [-6.47392021e-03 2.04706026e-05 9.99979044e-01 2.19352982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.992320588 meters 0.023178702620054788 Centerline is valid? [True, True] Translation: X:47.35, Y:-3.74, Z:0.22 [[ 9.98266255e-01 5.86341736e-02 5.14964204e-03 4.73529486e+01] [-5.86333787e-02 9.98279537e-01 -3.05331617e-04 -3.74260774e+00] [-5.15868514e-03 2.86133735e-06 9.99986694e-01 2.19834597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.022320588 meters 0.023018686059369048 Centerline is valid? [True, True] Translation: X:47.38, Y:-3.74, Z:0.22 [[ 9.98044425e-01 6.22933514e-02 5.18311737e-03 4.73829615e+01] [-6.22925989e-02 9.98057883e-01 -3.06646408e-04 -3.74317492e+00] [-5.19215318e-03 -1.68231135e-05 9.99986521e-01 2.18617887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052320588 meters 0.023186817397657346 Centerline is valid? [True, True] Translation: X:47.41, Y:-3.75, Z:0.22 [[ 9.97691152e-01 6.77919169e-02 4.07683970e-03 4.74124846e+01] [-6.77914986e-02 9.97699481e-01 -2.40862211e-04 -3.75047104e+00] [-4.08378936e-03 -3.60689759e-05 9.99991661e-01 2.17156089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082320588 meters 0.023258926784673596 Centerline is valid? [True, True] Translation: X:47.44, Y:-3.75, Z:0.22 [[ 9.97590009e-01 6.93326891e-02 2.67448791e-03 4.74414771e+01] [-6.93325235e-02 9.97593593e-01 -1.54671721e-04 -3.75480317e+00] [-2.67877581e-03 -3.11300322e-05 9.99996412e-01 2.18906633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.112320588 meters 0.023373163972057326 Centerline is valid? [True, True] Translation: X:47.47, Y:-3.76, Z:0.22 [[ 9.97536835e-01 7.01158103e-02 2.00894733e-03 4.74689880e+01] [-7.01157224e-02 9.97538858e-01 -1.14218274e-04 -3.75612013e+00] [-2.01201153e-03 -2.69218575e-05 9.99997976e-01 2.21615551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.142320588000004 meters 0.023358358874121368 Centerline is valid? [True, True] Translation: X:47.50, Y:-3.75, Z:0.22 [[ 9.97548153e-01 6.98406177e-02 4.46889258e-03 4.74976931e+01] [-6.98401735e-02 9.97558161e-01 -2.55576586e-04 -3.75461174e+00] [-4.47582990e-03 -5.71582815e-05 9.99989982e-01 2.22228572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.172320588000005 meters 0.023478271194219524 Centerline is valid? [True, True] Translation: X:47.53, Y:-3.75, Z:0.22 [[ 9.97549267e-01 6.95338073e-02 7.77880643e-03 4.75265866e+01] [-6.95324667e-02 9.97579591e-01 -4.42984618e-04 -3.75116717e+00] [-7.79078094e-03 -9.89806176e-05 9.99969647e-01 2.22442207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.202320588 meters 0.023336356666016446 Centerline is valid? [True, True] Translation: X:47.56, Y:-3.75, Z:0.22 [[ 9.97627568e-01 6.81128656e-02 9.99363549e-03 4.75575654e+01] [-6.81105515e-02 9.97677616e-01 -5.72109441e-04 -3.75133254e+00] [-1.00093944e-02 -1.09919875e-04 9.99949899e-01 2.22711853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.232320588 meters 0.023285217227300894 Centerline is valid? [True, True] Translation: X:47.59, Y:-3.75, Z:0.22 [[ 9.97745974e-01 6.60759682e-02 1.17020766e-02 4.75892299e+01] [-6.60726425e-02 9.97814590e-01 -6.70996405e-04 -3.75060580e+00] [-1.17208395e-02 -1.03703164e-04 9.99931303e-01 2.22326728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262320588 meters 0.023298787725989395 Centerline is valid? [True, True] Translation: X:47.62, Y:-3.75, Z:0.22 [[ 9.97882271e-01 6.41028552e-02 1.10362113e-02 4.76211807e+01] [-6.40997626e-02 9.97943294e-01 -6.34078385e-04 -3.74957374e+00] [-1.10541593e-02 -7.46829434e-05 9.99938898e-01 2.22947896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.292320588 meters 0.023076097195151923 Centerline is valid? [True, True] Translation: X:47.65, Y:-3.75, Z:0.22 [[ 9.97955142e-01 6.32421057e-02 9.27198823e-03 4.76524053e+01] [-6.32398809e-02 9.97998213e-01 -5.33231323e-04 -3.74905625e+00] [-9.28715036e-03 -5.42184912e-05 9.99956872e-01 2.23064058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322320588000004 meters 0.023037659692353604 Centerline is valid? [True, True] Translation: X:47.68, Y:-3.75, Z:0.22 [[ 9.98077354e-01 6.17595246e-02 5.23034908e-03 4.76831979e+01] [-6.17587973e-02 9.98091058e-01 -3.00612795e-04 -3.74753433e+00] [-5.23893035e-03 -2.29852450e-05 9.99986276e-01 2.22409500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.352320588000005 meters 0.023000525293887412 Centerline is valid? [True, True] Translation: X:47.71, Y:-3.75, Z:0.22 [[ 9.98126606e-01 6.10918744e-02 3.32595380e-03 4.77124041e+01] [-6.10915895e-02 9.98132147e-01 -1.87301340e-04 -3.74707115e+00] [-3.33118400e-03 -1.62373534e-05 9.99994451e-01 2.22756768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382320588 meters 0.022892625673488733 Centerline is valid? [True, True] Translation: X:47.74, Y:-3.74, Z:0.22 [[ 9.98123138e-01 6.11345135e-02 3.57385626e-03 4.77409190e+01] [-6.11341919e-02 9.98129536e-01 -1.99240525e-04 -3.74439707e+00] [-3.57935197e-03 -1.96182364e-05 9.99993594e-01 2.22613320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.412320588 meters 0.022992565750618605 Centerline is valid? [True, True] Translation: X:47.77, Y:-3.74, Z:0.22 [[ 9.98111913e-01 6.13043215e-02 3.79322612e-03 4.77687288e+01] [-6.13039674e-02 9.98119121e-01 -2.09651143e-04 -3.74186530e+00] [-3.79894404e-03 -2.32845074e-05 9.99992784e-01 2.22955959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442320588 meters 0.02300223856198079 Centerline is valid? [True, True] Translation: X:47.80, Y:-3.74, Z:0.22 [[ 9.98127839e-01 6.08118382e-02 6.53737054e-03 4.77975140e+01] [-6.08107814e-02 9.98149247e-01 -3.60498591e-04 -3.73960155e+00] [-6.54719406e-03 -3.77189309e-05 9.99978566e-01 2.23474377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472320588 meters 0.02304984693161917 Centerline is valid? [True, True] Translation: X:47.83, Y:-3.74, Z:0.22 [[ 9.98155509e-01 6.02553300e-02 7.40771321e-03 4.78267481e+01] [-6.02539801e-02 9.98182996e-01 -4.05474583e-04 -3.74001965e+00] [-7.41868537e-03 -4.16175154e-05 9.99972480e-01 2.24370881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.502320588 meters 0.022898231408281115 Centerline is valid? [True, True] Translation: X:47.86, Y:-3.74, Z:0.23 [[ 9.98217468e-01 5.93262600e-02 6.50235304e-03 4.78560938e+01] [-5.93251920e-02 9.98238646e-01 -3.57170032e-04 -3.73941213e+00] [-6.51208965e-03 -2.92199771e-05 9.99978796e-01 2.25989607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.532320588000005 meters 0.022932421065692946 Centerline is valid? [True, True] Translation: X:47.88, Y:-3.73, Z:0.23 [[ 9.98464324e-01 5.49597237e-02 6.95867570e-03 4.78846534e+01] [-5.49584302e-02 9.98488572e-01 -3.77116920e-04 -3.73463879e+00] [-6.96888441e-03 -5.90010212e-06 9.99975717e-01 2.27341527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.562320588 meters 0.022932421065692946 Centerline is valid? [True, True] Translation: X:47.91, Y:-3.74, Z:0.23 [[ 9.98467868e-01 5.48952969e-02 6.95859301e-03 4.79137661e+01] [-5.48939912e-02 9.98492116e-01 -3.78633145e-04 -3.73624296e+00] [-6.96888544e-03 -3.93191422e-06 9.99975717e-01 2.27488819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.592320588 meters 0.02297847321985871 Centerline is valid? [True, True] Translation: X:47.94, Y:-3.74, Z:0.23 [[ 9.98669753e-01 5.11800792e-02 6.27080928e-03 4.79432995e+01] [-5.11789484e-02 9.98689441e-01 -3.40773100e-04 -3.73632335e+00] [-6.28003180e-03 1.93863632e-05 9.99980280e-01 2.27716350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622320588 meters 0.0231133936202146 Centerline is valid? [True, True] Translation: X:47.97, Y:-3.74, Z:0.23 [[ 9.98833804e-01 4.78952006e-02 6.08949478e-03 4.79718320e+01] [-4.78941019e-02 9.98852366e-01 -3.26213721e-04 -3.73867763e+00] [-6.09813034e-03 3.41824084e-05 9.99981406e-01 2.25839121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652320588 meters 0.023285968808242227 Centerline is valid? [True, True] Translation: X:48.00, Y:-3.74, Z:0.22 [[ 9.98973638e-01 4.50349869e-02 4.84983067e-03 4.80016125e+01] [-4.50342506e-02 9.98985409e-01 -2.60984042e-04 -3.74113371e+00] [-4.85666349e-03 4.23076882e-05 9.99988205e-01 2.24196743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682320588 meters 0.023342822915840427 Centerline is valid? [True, True] Translation: X:48.03, Y:-3.74, Z:0.23 [[ 9.99088682e-01 4.25746267e-02 3.03415755e-03 4.80306177e+01] [-4.25743375e-02 9.99093289e-01 -1.59883184e-04 -3.74130540e+00] [-3.03821341e-03 3.05602322e-05 9.99995384e-01 2.25833104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.712320588000004 meters 0.023091398107119934 Centerline is valid? [True, True] Translation: X:48.06, Y:-3.74, Z:0.23 [[ 9.99049748e-01 4.35748167e-02 9.14207397e-04 4.80590754e+01] [-4.35747927e-02 9.99050167e-01 -4.61841719e-05 -3.74184080e+00] [-9.15351519e-04 6.30388756e-06 9.99999581e-01 2.30153263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.742320588 meters 0.022806899826889458 Centerline is valid? [True, True] Translation: X:48.09, Y:-3.74, Z:0.23 [[ 9.98977516e-01 4.51722926e-02 1.84012521e-03 4.80865343e+01] [-4.51721961e-02 9.98979211e-01 -9.39773486e-05 -3.74281092e+00] [-1.84249200e-03 1.07587613e-05 9.99998303e-01 2.32740999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.772320588 meters 0.02269026423183565 Centerline is valid? [True, True] Translation: X:48.12, Y:-3.74, Z:0.23 [[ 9.98871318e-01 4.74846514e-02 1.13918071e-03 4.81156805e+01] [-4.74846170e-02 9.98871968e-01 -5.71927179e-05 -3.74368629e+00] [-1.14061145e-03 3.03460577e-06 9.99999349e-01 2.34649120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802320588 meters 0.022618305084447506 Centerline is valid? [True, True] Translation: X:48.14, Y:-3.74, Z:0.23 [[ 9.98631812e-01 5.21289144e-02 4.13277073e-03 4.81439898e+01] [-5.21284904e-02 9.98640364e-01 -2.10303485e-04 -3.74211511e+00] [-4.13811456e-03 -5.41934945e-06 9.99991438e-01 2.32345615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832320588 meters 0.022685793732988176 Centerline is valid? [True, True] Translation: X:48.17, Y:-3.74, Z:0.23 [[ 9.98463256e-01 5.48679767e-02 7.78668357e-03 4.81726964e+01] [-5.48665615e-02 9.98493617e-01 -3.95401868e-04 -3.74407975e+00] [-7.79664874e-03 -3.24343164e-05 9.99969605e-01 2.29914271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862320588 meters 0.02281418117401112 Centerline is valid? [True, True] Translation: X:48.20, Y:-3.75, Z:0.23 [[ 9.98433536e-01 5.52214177e-02 9.00388518e-03 4.82021298e+01] [-5.52195242e-02 9.98474133e-01 -4.58942793e-04 -3.74583544e+00] [-9.01548991e-03 -3.89663806e-05 9.99959359e-01 2.29648540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.892320588000004 meters 0.022749473096208592 Centerline is valid? [True, True] Translation: X:48.23, Y:-3.75, Z:0.23 [[ 9.98653631e-01 5.16149466e-02 5.17910739e-03 4.82322972e+01] [-5.16142706e-02 9.98667060e-01 -2.64176097e-04 -3.74751018e+00] [-5.18583938e-03 -3.49543211e-06 9.99986553e-01 2.32029545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.922320588000005 meters 0.02274300197907689 Centerline is valid? [True, True] Translation: X:48.26, Y:-3.75, Z:0.23 [[ 9.98851407e-01 4.78612946e-02 2.27230764e-03 4.82607022e+01] [-4.78611622e-02 9.98853992e-01 -1.12612601e-04 -3.74894217e+00] [-2.27509334e-03 3.72797017e-06 9.99997412e-01 2.31309300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.952320588 meters 0.023002461324883535 Centerline is valid? [True, True] Translation: X:48.29, Y:-3.75, Z:0.23 [[ 9.99061220e-01 4.33136972e-02 7.76195285e-04 4.82881555e+01] [-4.33136821e-02 9.99061521e-01 -3.62375526e-05 -3.75047987e+00] [-7.77036425e-04 2.58365760e-06 9.99999698e-01 2.30469534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.982320588 meters 0.023451051739051734 Centerline is valid? [True, True] Translation: X:48.32, Y:-3.75, Z:0.23 [[ 9.99318442e-01 3.68493358e-02 2.18570595e-03 4.83169646e+01] [-3.68491918e-02 9.99320832e-01 -1.06150305e-04 -3.75142452e+00] [-2.18813306e-03 2.55364591e-05 9.99997606e-01 2.31871325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.012320588 meters 0.02338866456757999 Centerline is valid? [True, True] Translation: X:48.35, Y:-3.75, Z:0.23 [[ 9.99374981e-01 3.52580312e-02 2.55295925e-03 4.83456936e+01] [-3.52578314e-02 9.99378242e-01 -1.23251437e-04 -3.75228833e+00] [-2.55571753e-03 3.31625953e-05 9.99996734e-01 2.34626846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042320588 meters 0.023449909915683367 Centerline is valid? [True, True] Translation: X:48.37, Y:-3.75, Z:0.24 [[ 9.99397263e-01 3.43990136e-02 4.67109122e-03 4.83739417e+01] [-3.43983233e-02 9.99408177e-01 -2.28065076e-04 -3.75430251e+00] [-4.67617197e-03 6.72499070e-05 9.99989064e-01 2.35926931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.072320588000004 meters 0.023534243327373656 Centerline is valid? [True, True] Translation: X:48.40, Y:-3.76, Z:0.24 [[ 9.99408995e-01 3.41512095e-02 3.91871365e-03 4.84038041e+01] [-3.41507213e-02 9.99416676e-01 -1.91435668e-04 -3.75936697e+00] [-3.92296553e-03 5.74956304e-05 9.99992303e-01 2.36039259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.102320588000005 meters 0.023597239012977295 Centerline is valid? [True, True] Translation: X:48.43, Y:-3.77, Z:0.23 [[ 9.99455974e-01 3.29789728e-02 3.79276063e-04 4.84324679e+01] [-3.29789683e-02 9.99456046e-01 -1.82188553e-05 -3.77128806e+00] [-3.79670593e-04 5.70081050e-06 9.99999928e-01 2.30993435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.132320588 meters 0.0238658355662317 Centerline is valid? [True, True] Translation: X:48.46, Y:-3.78, Z:0.23 [[ 9.99493646e-01 3.18188632e-02 -1.09037739e-04 4.84605870e+01] [-3.18188627e-02 9.99493652e-01 6.45296696e-06 -3.77593268e+00] [ 1.09187854e-04 -2.98024263e-06 9.99999994e-01 2.28552927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.162320588 meters 0.023887433488549988 Centerline is valid? [True, True] Translation: X:48.49, Y:-3.78, Z:0.23 [[ 9.99541484e-01 3.02292995e-02 -1.73522583e-03 4.84886601e+01] [-3.02291956e-02 9.99542990e-01 8.60480649e-05 -3.77932231e+00] [ 1.73703399e-03 -3.35541294e-05 9.99998491e-01 2.29877750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.192320588 meters 0.024089890473153134 Centerline is valid? [True, True] Translation: X:48.52, Y:-3.78, Z:0.23 [[ 9.99570203e-01 2.93108795e-02 -5.30111680e-04 4.85169406e+01] [-2.93108690e-02 9.99570344e-01 2.74945667e-05 -3.78218365e+00] [ 5.30689804e-04 -1.19447156e-05 9.99999859e-01 2.30662731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222320588 meters 0.02363562573884512 Centerline is valid? [True, True] Translation: X:48.55, Y:-3.79, Z:0.23 [[ 9.99516027e-01 3.10530987e-02 1.84836402e-03 4.85450121e+01] [-3.10529943e-02 9.99517736e-01 -8.51482337e-05 -3.78994415e+00] [-1.85011674e-03 2.77097867e-05 9.99998288e-01 2.33352248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.252320588 meters 0.023186045670898 Centerline is valid? [True, True] Translation: X:48.57, Y:-3.80, Z:0.23 [[ 9.99419506e-01 3.40418978e-02 1.34206605e-03 4.85739566e+01] [-3.40418468e-02 9.99420407e-01 -6.08179731e-05 -3.79660691e+00] [-1.34335855e-03 1.50962618e-05 9.99999098e-01 2.34541602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.282320588000005 meters 0.02302123755544402 Centerline is valid? [True, True] Translation: X:48.60, Y:-3.80, Z:0.23 [[ 9.99311792e-01 3.70718102e-02 1.27390012e-03 4.86021623e+01] [-3.70717678e-02 9.99312604e-01 -5.68666301e-05 -3.80210628e+00] [-1.27513259e-03 9.60176479e-06 9.99999187e-01 2.33817588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.312320588 meters 0.022814861749788612 Centerline is valid? [True, True] Translation: X:48.63, Y:-3.81, Z:0.23 [[ 9.98993333e-01 4.48321553e-02 1.54876108e-03 4.86305974e+01] [-4.48321024e-02 9.98994533e-01 -6.88761205e-05 -3.80939253e+00] [-1.55029171e-03 -6.27429986e-07 9.99998798e-01 2.30299378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.342320588 meters 0.022610162979979784 Centerline is valid? [True, True] Translation: X:48.66, Y:-3.81, Z:0.23 [[ 9.98921088e-01 4.64214606e-02 1.30666194e-03 4.86588988e+01] [-4.64214262e-02 9.98921943e-01 -5.67158033e-05 -3.81209648e+00] [-1.30788611e-03 -4.00249855e-06 9.99999145e-01 2.30632266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372320588 meters 0.022855028413662454 Centerline is valid? [True, True] Translation: X:48.69, Y:-3.81, Z:0.23 [[ 9.98828547e-01 4.82770737e-02 3.29500942e-03 4.86877547e+01] [-4.82768554e-02 9.98833982e-01 -1.45813480e-04 -3.81411755e+00] [-3.29820683e-03 -1.34300270e-05 9.99994561e-01 2.31361195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402320588 meters 0.02278303431732386 Centerline is valid? [True, True] Translation: X:48.72, Y:-3.82, Z:0.23 [[ 9.98794891e-01 4.88900496e-02 4.30450118e-03 4.87167762e+01] [-4.88896881e-02 9.98804166e-01 -1.89239940e-04 -3.81526793e+00] [-4.30860566e-03 -2.14338341e-05 9.99990718e-01 2.32336466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.432320588 meters 0.022805859982100486 Centerline is valid? [True, True] Translation: X:48.75, Y:-3.81, Z:0.23 [[ 9.98784159e-01 4.91927814e-02 3.20532115e-03 4.87468616e+01] [-4.91925787e-02 9.98789302e-01 -1.42101408e-04 -3.81486053e+00] [-3.20843084e-03 -1.57493771e-05 9.99994853e-01 2.33241178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.462320588000004 meters 0.022811640492605454 Centerline is valid? [True, True] Translation: X:48.77, Y:-3.82, Z:0.23 [[ 9.98863276e-01 4.75290305e-02 3.62587529e-03 4.87746349e+01] [-4.75287754e-02 9.98869857e-01 -1.56555465e-04 -3.81556781e+00] [-3.62921846e-03 -1.59559072e-05 9.99993414e-01 2.32734180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.492320588 meters 0.0227185324604235 Centerline is valid? [True, True] Translation: X:48.80, Y:-3.82, Z:0.23 [[ 9.98976329e-01 4.47875022e-02 6.35396770e-03 4.88034289e+01] [-4.47866669e-02 9.98996536e-01 -2.73750732e-04 -3.81646845e+00] [-6.35985233e-03 -1.11025336e-05 9.99979776e-01 2.32882849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.522320588 meters 0.02278609897018468 Centerline is valid? [True, True] Translation: X:48.83, Y:-3.82, Z:0.23 [[ 9.99040592e-01 4.35633836e-02 4.48622707e-03 4.88343532e+01] [-4.35629447e-02 9.99050665e-01 -1.95539706e-04 -3.81796582e+00] [-4.49048651e-03 -8.11583531e-08 9.99989918e-01 2.33447909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552320588 meters 0.022695527796175553 Centerline is valid? [True, True] Translation: X:48.86, Y:-3.82, Z:0.24 [[ 9.99067963e-01 4.30528830e-02 3.10728337e-03 4.88637626e+01] [-4.30526723e-02 9.99072795e-01 -1.34680947e-04 -3.81945065e+00] [-3.11020069e-03 7.78566213e-07 9.99995163e-01 2.35453025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582320588 meters 0.02267257511995165 Centerline is valid? [True, True] Translation: X:48.89, Y:-3.82, Z:0.24 [[ 9.99078450e-01 4.27904947e-02 3.35023629e-03 4.88930097e+01] [-4.27902600e-02 9.99084067e-01 -1.41729661e-04 -3.82000344e+00] [-3.35323238e-03 -1.75843224e-06 9.99994378e-01 2.36253512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.612320588 meters 0.022728948608915372 Centerline is valid? [True, True] Translation: X:48.92, Y:-3.82, Z:0.24 [[ 9.98969515e-01 4.51661880e-02 4.46365805e-03 4.89220272e+01] [-4.51658008e-02 9.98979487e-01 -1.87547588e-04 -3.81758047e+00] [-4.46757364e-03 -1.42503677e-05 9.99990020e-01 2.37618152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.642320588000004 meters 0.022676776593471882 Centerline is valid? [True, True] Translation: X:48.95, Y:-3.82, Z:0.24 [[ 9.98822283e-01 4.83068716e-02 4.52685958e-03 4.89518272e+01] [-4.83064979e-02 9.98832541e-01 -1.91922070e-04 -3.81835154e+00] [-4.53084582e-03 -2.69806926e-05 9.99989735e-01 2.36251786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.672320588000005 meters 0.02280319934265688 Centerline is valid? [True, True] Translation: X:48.98, Y:-3.82, Z:0.24 [[ 9.98698793e-01 5.09924978e-02 6.96709394e-04 4.89812491e+01] [-5.09924899e-02 9.98699036e-01 -2.92146772e-05 -3.81988655e+00] [-6.97292730e-04 -6.35028385e-06 9.99999757e-01 2.36201462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.702320588 meters 0.022978718694855488 Centerline is valid? [True, True] Translation: X:49.01, Y:-3.82, Z:0.24 [[ 9.98549032e-01 5.38500785e-02 -1.51385819e-05 4.90097164e+01] [-5.38500785e-02 9.98549032e-01 2.95523960e-06 -3.81968923e+00] [ 1.52757563e-05 -2.13573782e-06 1.00000000e+00 2.35690340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.732320588 meters 0.023172293401797793 Centerline is valid? [True, True] Translation: X:49.04, Y:-3.82, Z:0.24 [[ 9.98543811e-01 5.39012809e-02 2.21590833e-03 4.90385388e+01] [-5.39012147e-02 9.98546269e-01 -8.96078171e-05 -3.81997727e+00] [-2.21751697e-03 -2.99628196e-05 9.99997541e-01 2.36489127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762320588 meters 0.02295125887941383 Centerline is valid? [True, True] Translation: X:49.07, Y:-3.82, Z:0.24 [[ 9.98632974e-01 5.21889899e-02 2.91435069e-03 4.90668830e+01] [-5.21888716e-02 9.98637225e-01 -1.16698098e-04 -3.82100282e+00] [-2.91646945e-03 -3.55581056e-05 9.99995746e-01 2.38452018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.792320588 meters 0.022822086742716907 Centerline is valid? [True, True] Translation: X:49.10, Y:-3.82, Z:0.24 [[ 9.98753842e-01 4.97685334e-02 3.72227618e-03 4.90950262e+01] [-4.97683280e-02 9.98760778e-01 -1.47863251e-04 -3.81898635e+00] [-3.72502239e-03 -3.75724718e-05 9.99993061e-01 2.39671024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.822320588000004 meters 0.022788805117206965 Centerline is valid? [True, True] Translation: X:49.12, Y:-3.82, Z:0.24 [[ 9.98781661e-01 4.92244832e-02 3.48493828e-03 4.91232937e+01] [-4.92243069e-02 9.98787740e-01 -1.36403321e-04 -3.81617135e+00] [-3.48742801e-03 -3.53065359e-05 9.99993918e-01 2.39321224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.852320588000005 meters 0.022761067586518455 Centerline is valid? [True, True] Translation: X:49.15, Y:-3.81, Z:0.24 [[ 9.98812344e-01 4.85944738e-02 3.53237886e-03 4.91516045e+01] [-4.85942951e-02 9.98818590e-01 -1.36459286e-04 -3.81351499e+00] [-3.53483684e-03 -3.53562409e-05 9.99993752e-01 2.38808760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.882320588 meters 0.022778497397025928 Centerline is valid? [True, True] Translation: X:49.18, Y:-3.81, Z:0.24 [[ 9.98850019e-01 4.77063314e-02 4.76911974e-03 4.91794385e+01] [-4.77060032e-02 9.98861404e-01 -1.82632845e-04 -3.81427761e+00] [-4.77240239e-03 -4.50928213e-05 9.99988611e-01 2.36875662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.912320588 meters 0.022717574519680053 Centerline is valid? [True, True] Translation: X:49.21, Y:-3.82, Z:0.24 [[ 9.98908755e-01 4.61261503e-02 7.32654531e-03 4.92078982e+01] [-4.61253448e-02 9.98935621e-01 -2.78970164e-04 -3.82060109e+00] [-7.33161491e-03 -5.92736895e-05 9.99973122e-01 2.35998534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942320588 meters 0.022733148764330257 Centerline is valid? [True, True] Translation: X:49.24, Y:-3.82, Z:0.24 [[ 9.98947881e-01 4.53430003e-02 6.86608230e-03 4.92393723e+01] [-4.53422541e-02 9.98971476e-01 -2.64379155e-04 -3.82148935e+00] [-6.87100812e-03 -4.72226517e-05 9.99976393e-01 2.37630733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.972320588 meters 0.022609138253274853 Centerline is valid? [True, True] Translation: X:49.27, Y:-3.82, Z:0.24 [[ 9.98985636e-01 4.43867036e-02 7.58418092e-03 4.92697064e+01] [-4.43857683e-02 9.99014424e-01 -2.91667781e-04 -3.81937515e+00] [-7.58965230e-03 -4.52577737e-05 9.99971197e-01 2.38292130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.002320588 meters 0.022617791061028618 Centerline is valid? [True, True] Translation: X:49.30, Y:-3.82, Z:0.24 [[ 9.98981192e-01 4.44643322e-02 7.71375841e-03 4.93010748e+01] [-4.44633607e-02 9.99010971e-01 -2.97481758e-04 -3.81689807e+00] [-7.71935661e-03 -4.58009411e-05 9.99970204e-01 2.39502004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.032320588000005 meters 0.022606637887232193 Centerline is valid? [True, True] Translation: X:49.33, Y:-3.82, Z:0.24 [[ 9.98995188e-01 4.42609769e-02 7.04136612e-03 4.93319973e+01] [-4.42601588e-02 9.99020002e-01 -2.72035026e-04 -3.81743240e+00] [-7.04650613e-03 -3.98903010e-05 9.99975172e-01 2.37772829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.062320588 meters 0.022539046280123855 Centerline is valid? [True, True] Translation: X:49.36, Y:-3.82, Z:0.24 [[ 9.99025092e-01 4.37602665e-02 5.82277152e-03 4.93621953e+01] [-4.37596981e-02 9.99042060e-01 -2.25039817e-04 -3.81798224e+00] [-5.82704146e-03 -2.99822997e-05 9.99983022e-01 2.37701463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.092320588 meters 0.02250519000447278 Centerline is valid? [True, True] Translation: X:49.39, Y:-3.82, Z:0.24 [[ 9.99051551e-01 4.31298973e-02 5.98412338e-03 4.93918788e+01] [-4.31292911e-02 9.99069473e-01 -2.30375933e-04 -3.81762500e+00] [-5.98849108e-03 -2.79335659e-05 9.99982068e-01 2.37884181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122320588 meters 0.022534074995442088 Centerline is valid? [True, True] Translation: X:49.42, Y:-3.82, Z:0.24 [[ 9.99102895e-01 4.20253647e-02 5.22237098e-03 4.94213165e+01] [-4.20248899e-02 9.99116544e-01 -2.00672290e-04 -3.81735779e+00] [-5.22619057e-03 -1.89772991e-05 9.99986343e-01 2.38049826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152320588 meters 0.022539631684465284 Centerline is valid? [True, True] Translation: X:49.45, Y:-3.82, Z:0.24 [[ 9.99135673e-01 4.14047783e-02 3.68127974e-03 4.94509857e+01] [-4.14045394e-02 9.99142454e-01 -1.41120696e-04 -3.81969418e+00] [-3.68396594e-03 -1.14229699e-05 9.99993214e-01 2.36873155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182320588 meters 0.022544726496671597 Centerline is valid? [True, True] Translation: X:49.48, Y:-3.82, Z:0.24 [[ 9.99136295e-01 4.13979135e-02 3.58844154e-03 4.94796001e+01] [-4.13976994e-02 9.99142739e-01 -1.33961656e-04 -3.82255353e+00] [-3.59091104e-03 -1.47072713e-05 9.99993553e-01 2.36180879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.212320588000004 meters 0.022452463699618237 Centerline is valid? [True, True] Translation: X:49.51, Y:-3.82, Z:0.24 [[ 9.99129173e-01 4.16085340e-02 3.10247516e-03 4.95081319e+01] [-4.16083803e-02 9.99133990e-01 -1.14106400e-04 -3.82252521e+00] [-3.10453618e-03 -1.50819336e-05 9.99995181e-01 2.36217579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.242320588 meters 0.02237178624891085 Centerline is valid? [True, True] Translation: X:49.54, Y:-3.82, Z:0.24 [[ 9.99090981e-01 4.23973089e-02 4.43629428e-03 4.95369529e+01] [-4.23970071e-02 9.99100830e-01 -1.62099116e-04 -3.81997051e+00] [-4.43917786e-03 -2.61338354e-05 9.99990146e-01 2.36791276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.272320588 meters 0.022552884128965164 Centerline is valid? [True, True] Translation: X:49.57, Y:-3.82, Z:0.24 [[ 9.98854920e-01 4.72742879e-02 7.34785659e-03 4.95653715e+01] [-4.72735784e-02 9.98881943e-01 -2.70303519e-04 -3.81652253e+00] [-7.35241967e-03 -7.73654749e-05 9.99972968e-01 2.36881921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302320588 meters 0.02272181546736795 Centerline is valid? [True, True] Translation: X:49.60, Y:-3.82, Z:0.24 [[ 9.98712459e-01 5.01262268e-02 7.79648188e-03 4.95959766e+01] [-5.01255083e-02 9.98742885e-01 -2.87668040e-04 -3.81804568e+00] [-7.80110052e-03 -1.03504961e-04 9.99969566e-01 2.36088949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332320588 meters 0.02290476497524648 Centerline is valid? [True, True] Translation: X:49.63, Y:-3.82, Z:0.23 [[ 9.98590009e-01 5.26486381e-02 6.79079870e-03 4.96263993e+01] [-5.26481513e-02 9.98613093e-01 -2.50561187e-04 -3.82025504e+00] [-6.79457220e-03 -1.07315100e-04 9.99976911e-01 2.34754809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362320588 meters 0.023140153627078424 Centerline is valid? [True, True] Translation: X:49.66, Y:-3.82, Z:0.23 [[ 9.98490700e-01 5.46903217e-02 5.02897915e-03 4.96564160e+01] [-5.46900839e-02 9.98503360e-01 -1.84901100e-04 -3.82226151e+00] [-5.03156488e-03 -9.04132626e-05 9.99987338e-01 2.33858123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.392320588000004 meters 0.023216074334549634 Centerline is valid? [True, True] Translation: X:49.69, Y:-3.82, Z:0.23 [[ 9.98385322e-01 5.64834656e-02 6.03056212e-03 4.96857203e+01] [-5.64831820e-02 9.98403527e-01 -2.17452631e-04 -3.82006965e+00] [-6.03321697e-03 -1.23523823e-04 9.99981792e-01 2.34732162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.422320588000005 meters 0.02323297561195928 Centerline is valid? [True, True] Translation: X:49.71, Y:-3.82, Z:0.24 [[ 9.98403715e-01 5.61367316e-02 6.22009337e-03 4.97139612e+01] [-5.61364466e-02 9.98423082e-01 -2.20538658e-04 -3.81876848e+00] [-6.22266511e-03 -1.28987324e-04 9.99980631e-01 2.37576840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.452320588 meters 0.02323297561195928 Centerline is valid? [True, True] Translation: X:49.74, Y:-3.82, Z:0.24 [[ 9.98432685e-01 5.56190863e-02 6.22020605e-03 4.97413426e+01] [-5.56188111e-02 9.98452052e-01 -2.17356193e-04 -3.82004505e+00] [-6.22266665e-03 -1.28944937e-04 9.99980631e-01 2.37715403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.482320588 meters 0.02298355738503698 Centerline is valid? [True, True] Translation: X:49.77, Y:-3.82, Z:0.24 [[ 9.98548894e-01 5.36177736e-02 5.02407966e-03 4.97707682e+01] [-5.36175795e-02 9.98561528e-01 -1.73429447e-04 -3.81624133e+00] [-5.02615156e-03 -9.62012078e-05 9.99987364e-01 2.39475645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512320588 meters 0.022934857504821514 Centerline is valid? [True, True] Translation: X:49.80, Y:-3.81, Z:0.24 [[ 9.98657376e-01 5.16615828e-02 3.81127831e-03 4.98001764e+01] [-5.16614660e-02 9.98664647e-01 -1.29147052e-04 -3.80649483e+00] [-3.81286085e-03 -6.79225684e-05 9.99992729e-01 2.36466541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542320588 meters 0.02298254734562626 Centerline is valid? [True, True] Translation: X:49.83, Y:-3.80, Z:0.24 [[ 9.98611920e-01 5.23598710e-02 5.71630777e-03 4.98286608e+01] [-5.23596279e-02 9.98628275e-01 -1.92284130e-04 -3.80216232e+00] [-5.71853454e-03 -1.07286524e-04 9.99983643e-01 2.35344994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.572320588000004 meters 0.023083371983733336 Centerline is valid? [True, True] Translation: X:49.86, Y:-3.80, Z:0.24 [[ 9.98563130e-01 5.27893644e-02 9.21731160e-03 4.98572462e+01] [-5.27887763e-02 9.98605653e-01 -3.07257967e-04 -3.79861154e+00] [-9.22067942e-03 -1.79754123e-04 9.99957472e-01 2.35814036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.602320588000005 meters 0.022643429581850626 Centerline is valid? [True, True] Translation: X:49.89, Y:-3.79, Z:0.24 [[ 9.98769344e-01 4.88225681e-02 8.72660958e-03 4.98869469e+01] [-4.88218784e-02 9.98807458e-01 -2.92168640e-04 -3.79337981e+00] [-8.73046715e-03 -1.34240391e-04 9.99961880e-01 2.39428132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.632320588 meters 0.022250809831627735 Centerline is valid? [True, True] Translation: X:49.92, Y:-3.79, Z:0.24 [[ 9.98987787e-01 4.46511330e-02 5.44764825e-03 4.99166501e+01] [-4.46508048e-02 9.99002639e-01 -1.81907818e-04 -3.79283428e+00] [-5.45033737e-03 -6.15181906e-05 9.99985145e-01 2.39956543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.662320588 meters 0.022112483904602624 Centerline is valid? [True, True] Translation: X:49.95, Y:-3.79, Z:0.24 [[ 9.99233887e-01 3.89773363e-02 3.52235318e-03 4.99457771e+01] [-3.89771767e-02 9.99240095e-01 -1.13981253e-04 -3.79192395e+00] [-3.52411921e-03 -2.33974511e-05 9.99993790e-01 2.38566972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692320588 meters 0.022105392798893394 Centerline is valid? [True, True] Translation: X:49.97, Y:-3.79, Z:0.24 [[ 9.99532675e-01 2.98908181e-02 6.40087093e-03 4.99746127e+01] [-2.98901112e-02 9.99553170e-01 -2.06088317e-04 -3.78520885e+00] [-6.40417098e-03 1.46692626e-05 9.99979493e-01 2.37766380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722320588 meters 0.02229438657789841 Centerline is valid? [True, True] Translation: X:50.01, Y:-3.78, Z:0.24 [[ 9.99631677e-01 2.62242998e-02 6.98541926e-03 5.00050289e+01] [-2.62233511e-02 9.99656083e-01 -2.27387281e-04 -3.78141504e+00] [-6.98897993e-03 4.41224269e-05 9.99975576e-01 2.40157483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.752320588 meters 0.022505938074285626 Centerline is valid? [True, True] Translation: X:50.04, Y:-3.78, Z:0.24 [[ 9.99693805e-01 2.34693477e-02 7.84126619e-03 5.00360714e+01] [-2.34680611e-02 9.99724554e-01 -2.56059695e-04 -3.77792169e+00] [-7.84511590e-03 7.19619764e-05 9.99969224e-01 2.42256433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.782320588000005 meters 0.02277536334575117 Centerline is valid? [True, True] Translation: X:50.07, Y:-3.77, Z:0.24 [[ 9.99789275e-01 1.93081356e-02 6.97144103e-03 5.00686695e+01] [-1.93070090e-02 9.99813576e-01 -2.28867500e-04 -3.77396438e+00] [-6.97456039e-03 9.42215975e-05 9.99975673e-01 2.44510241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.812320588 meters 0.02317714777928149 Centerline is valid? [True, True] Translation: X:50.10, Y:-3.78, Z:0.24 [[ 9.99859010e-01 1.59930315e-02 5.11688209e-03 5.01012727e+01] [-1.59923770e-02 9.99872100e-01 -1.68789626e-04 -3.77643615e+00] [-5.11892710e-03 8.69347209e-05 9.99986894e-01 2.43539850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.842320588 meters 0.02407381550863195 Centerline is valid? [True, True] Translation: X:50.13, Y:-3.78, Z:0.24 [[ 9.99928722e-01 1.15770246e-02 2.91964360e-03 5.01322718e+01] [-1.15767923e-02 9.99932982e-01 -9.64392557e-05 -3.78122197e+00] [-2.92056441e-03 6.26322740e-05 9.99995733e-01 2.41548670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872320588 meters 0.025590851818238926 Centerline is valid? [True, True] Translation: X:50.16, Y:-3.79, Z:0.24 [[ 9.99993214e-01 2.98051097e-03 2.16510288e-03 5.01629460e+01] [-2.98036313e-03 9.99995556e-01 -7.15023679e-05 -3.79212026e+00] [-2.16530637e-03 6.50490899e-05 9.99997654e-01 2.38855687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902320588 meters 0.02616542611809836 Centerline is valid? [True, True] Translation: X:50.19, Y:-3.79, Z:0.24 [[ 9.99986205e-01 1.00806519e-03 5.15496242e-03 5.01946999e+01] [-1.00719059e-03 9.99999478e-01 -1.72254904e-04 -3.79226593e+00] [-5.15513337e-03 1.67060498e-04 9.99986698e-01 2.41332805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.932320588 meters 0.026677458188105546 Centerline is valid? [True, True] Translation: X:50.23, Y:-3.79, Z:0.24 [[ 9.99975988e-01 -5.69760926e-04 6.90637113e-03 5.02270629e+01] [ 5.71391648e-04 9.99999809e-01 -2.34147654e-04 -3.79066736e+00] [-6.90623641e-03 2.38088274e-04 9.99976123e-01 2.43876294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.962320588000004 meters 0.026718911729296236 Centerline is valid? [True, True] Translation: X:50.26, Y:-3.79, Z:0.25 [[ 9.99981935e-01 -7.99207224e-04 5.95747485e-03 5.02600308e+01] [ 8.00444866e-04 9.99999659e-01 -2.05364614e-04 -3.79090049e+00] [-5.95730868e-03 2.10129534e-04 9.99982233e-01 2.46644984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.992320588 meters 0.026495046260744188 Centerline is valid? [True, True] Translation: X:50.29, Y:-3.80, Z:0.24 [[ 9.99996631e-01 4.88962009e-04 2.54944958e-03 5.02918574e+01] [-4.88739842e-04 9.99999877e-01 -8.77654745e-05 -3.79951082e+00] [-2.54949218e-03 8.65191612e-05 9.99996746e-01 2.43072503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.022320588 meters 0.02598101146126691 Centerline is valid? [True, True] Translation: X:50.32, Y:-3.81, Z:0.24 [[ 9.99997794e-01 1.88518392e-03 9.25968375e-04 5.03241804e+01] [-1.88515449e-03 9.99998223e-01 -3.26468495e-05 -3.80806469e+00] [-9.26028274e-04 3.09011840e-05 9.99999571e-01 2.40356634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052320588 meters 0.02616921902802747 Centerline is valid? [True, True] Translation: X:50.35, Y:-3.81, Z:0.24 [[ 9.99997382e-01 2.27626323e-03 -2.32258121e-04 5.03547540e+01] [-2.27626144e-03 9.99997409e-01 7.97967179e-06 -3.81487804e+00] [ 2.32275683e-04 -7.45097070e-06 9.99999973e-01 2.38459874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082320588 meters 0.02590661901362046 Centerline is valid? [True, True] Translation: X:50.38, Y:-3.83, Z:0.24 [[ 9.99992405e-01 3.60827238e-03 -1.47299118e-03 5.03843095e+01] [-3.60820144e-03 9.99993489e-01 5.08191917e-05 -3.82643273e+00] [ 1.47316496e-03 -4.55039568e-05 9.99998914e-01 2.39193858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.112320588 meters 0.025883770806659913 Centerline is valid? [True, True] Translation: X:50.41, Y:-3.83, Z:0.24 [[ 9.99993107e-01 2.44813793e-03 -2.79159346e-03 5.04134034e+01] [-2.44787754e-03 9.99996999e-01 9.66875445e-05 -3.82972442e+00] [ 2.79182179e-03 -8.98533990e-05 9.99996099e-01 2.40917261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.142320588000004 meters 0.025800322551994662 Centerline is valid? [True, True] Translation: X:50.44, Y:-3.83, Z:0.24 [[ 9.99994277e-01 1.56366795e-03 -3.00016698e-03 5.04423359e+01] [-1.56336748e-03 9.99998773e-01 1.02493931e-04 -3.83278417e+00] [ 3.00032357e-03 -9.78029809e-05 9.99995494e-01 2.42229539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.172320588000005 meters 0.025764750301519215 Centerline is valid? [True, True] Translation: X:50.47, Y:-3.84, Z:0.24 [[ 9.99996566e-01 1.39994681e-03 -2.21555212e-03 5.04704400e+01] [-1.39978298e-03 9.99999017e-01 7.54950632e-05 -3.83736994e+00] [ 2.21565563e-03 -7.23935118e-05 9.99997543e-01 2.42560368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.202320588 meters 0.025504009158442583 Centerline is valid? [True, True] Translation: X:50.50, Y:-3.85, Z:0.24 [[ 9.99995249e-01 3.02114317e-03 -6.12885203e-04 5.04985364e+01] [-3.02113020e-03 9.99995436e-01 2.20839704e-05 -3.85154872e+00] [ 6.12949125e-04 -2.02322595e-05 9.99999812e-01 2.40588464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.232320588 meters 0.02534845089820253 Centerline is valid? [True, True] Translation: X:50.53, Y:-3.86, Z:0.24 [[ 9.99989351e-01 4.34560964e-03 1.55373610e-03 5.05280395e+01] [-4.34553692e-03 9.99990557e-01 -5.01751363e-05 -3.85883900e+00] [-1.55393947e-03 4.34227844e-05 9.99998792e-01 2.40524504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262320588 meters 0.024810787515192632 Centerline is valid? [True, True] Translation: X:50.56, Y:-3.86, Z:0.24 [[ 9.99979251e-01 5.72170992e-03 2.95958475e-03 5.05579614e+01] [-5.72144967e-03 9.99983628e-01 -9.63944977e-05 -3.86361039e+00] [-2.96008784e-03 7.94593824e-05 9.99995616e-01 2.41029944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292320588 meters 0.02455479824619427 Centerline is valid? [True, True] Translation: X:50.59, Y:-3.87, Z:0.24 [[ 9.99965308e-01 7.50770983e-03 3.60784757e-03 5.05901911e+01] [-7.50733150e-03 9.99971813e-01 -1.18393812e-04 -3.86673163e+00] [-3.60863474e-03 9.13043970e-05 9.99993485e-01 2.42181843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.322320588000004 meters 0.023766213486346503 Centerline is valid? [True, True] Translation: X:50.62, Y:-3.87, Z:0.24 [[ 9.99917109e-01 1.28023286e-02 1.36945663e-03 5.06214964e+01] [-1.28022788e-02 9.99918046e-01 -4.51072743e-05 -3.87366292e+00] [-1.36992188e-03 2.75713696e-05 9.99999061e-01 2.40905649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.352320588000005 meters 0.023487559125530577 Centerline is valid? [True, True] Translation: X:50.65, Y:-3.88, Z:0.24 [[ 9.99882976e-01 1.52834820e-02 -6.71183168e-04 5.06521078e+01] [-1.52834707e-02 9.99883201e-01 2.19515599e-05 -3.87871494e+00] [ 6.71440271e-04 -1.16909827e-05 9.99999775e-01 2.40217495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.382320588 meters 0.023198411997812397 Centerline is valid? [True, True] Translation: X:50.68, Y:-3.88, Z:0.24 [[ 9.99837396e-01 1.79985110e-02 -1.11155763e-03 5.06807203e+01] [-1.79984798e-02 9.99838014e-01 3.80893974e-05 -3.88331075e+00] [ 1.11206312e-03 -1.80768564e-05 9.99999381e-01 2.39387504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.412320588 meters 0.022710971729503236 Centerline is valid? [True, True] Translation: X:50.71, Y:-3.89, Z:0.24 [[ 9.99735186e-01 2.26377091e-02 4.13423599e-03 5.07091857e+01] [-2.26373680e-02 9.99743734e-01 -1.29306426e-04 -3.88950911e+00] [-4.13610373e-03 3.56839622e-05 9.99991446e-01 2.41028529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442320588 meters 0.02247169115211916 Centerline is valid? [True, True] Translation: X:50.74, Y:-3.89, Z:0.24 [[ 9.99625726e-01 2.59703790e-02 8.59927990e-03 5.07405102e+01] [-2.59689786e-02 9.99662712e-01 -2.74494285e-04 -3.89281360e+00] [-8.60350818e-03 5.10770330e-05 9.99962988e-01 2.43602970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472320588 meters 0.022424806360525497 Centerline is valid? [True, True] Translation: X:50.77, Y:-3.90, Z:0.25 [[ 9.99500516e-01 2.98610497e-02 1.03458148e-02 5.07722009e+01] [-2.98592145e-02 9.99554059e-01 -3.31834196e-04 -3.89618815e+00] [-1.03511101e-02 2.27505471e-05 9.99946426e-01 2.46435608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.502320588 meters 0.022470377583504987 Centerline is valid? [True, True] Translation: X:50.80, Y:-3.90, Z:0.25 [[ 9.99378588e-01 3.37522389e-02 1.01599167e-02 5.08045852e+01] [-3.37506567e-02 9.99430231e-01 -3.27199358e-04 -3.89808439e+00] [-1.01651716e-02 -1.59078285e-05 9.99948333e-01 2.47229749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.532320588000005 meters 0.02281118025390777 Centerline is valid? [True, True] Translation: X:50.84, Y:-3.90, Z:0.24 [[ 9.99139036e-01 4.04778734e-02 9.09551273e-03 5.08370144e+01] [-4.04768725e-02 9.99180432e-01 -2.94165216e-04 -3.89549997e+00] [-9.09996553e-03 -7.42459592e-05 9.99958592e-01 2.43027155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.562320588 meters 0.023068541193708925 Centerline is valid? [True, True] Translation: X:50.87, Y:-3.89, Z:0.24 [[ 9.98982897e-01 4.38180558e-02 1.06372190e-02 5.08697132e+01] [-4.38168625e-02 9.99039520e-01 -3.45312584e-04 -3.89430921e+00] [-1.06421331e-02 -1.21128199e-04 9.99943364e-01 2.39769733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.592320588 meters 0.02338875633046926 Centerline is valid? [True, True] Translation: X:50.90, Y:-3.89, Z:0.24 [[ 9.98813453e-01 4.74255798e-02 1.10679864e-02 5.09018507e+01] [-4.74244880e-02 9.98874761e-01 -3.61226004e-04 -3.89320757e+00] [-1.10726636e-02 -1.64096194e-04 9.99938683e-01 2.39335177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622320588 meters 0.02352616432725341 Centerline is valid? [True, True] Translation: X:50.93, Y:-3.89, Z:0.24 [[ 9.98689373e-01 5.01422521e-02 1.02611163e-02 5.09345348e+01] [-5.01414441e-02 9.98742070e-01 -3.36150839e-04 -3.88740354e+00] [-1.02650639e-02 -1.78796921e-04 9.99947297e-01 2.43789734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652320588 meters 0.023359410420208487 Centerline is valid? [True, True] Translation: X:50.97, Y:-3.89, Z:0.25 [[ 9.98713882e-01 5.00248498e-02 8.25204757e-03 5.09666480e+01] [-5.00243133e-02 9.98747963e-01 -2.71537810e-04 -3.88552580e+00] [-8.25529935e-03 -1.41614433e-04 9.99965914e-01 2.47273653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682320588 meters 0.023171668185989383 Centerline is valid? [True, True] Translation: X:51.00, Y:-3.89, Z:0.25 [[ 9.98810751e-01 4.79992422e-02 8.55318873e-03 5.09981120e+01] [-4.79985898e-02 9.98847364e-01 -2.81648139e-04 -3.88595009e+00] [-8.55684892e-03 -1.29227809e-04 9.99963381e-01 2.47816727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.712320588000004 meters 0.02304354891083522 Centerline is valid? [True, True] Translation: X:51.03, Y:-3.89, Z:0.25 [[ 9.98962610e-01 4.43249666e-02 1.04403634e-02 5.10293921e+01] [-4.43237876e-02 9.99017159e-01 -3.44393531e-04 -3.88783910e+00] [-1.04453674e-02 -1.18720190e-04 9.99945439e-01 2.47075541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.742320588 meters 0.023196423860775504 Centerline is valid? [True, True] Translation: X:51.06, Y:-3.89, Z:0.24 [[ 9.99214384e-01 3.60759273e-02 1.64055696e-02 5.10616959e+01] [-3.60718663e-02 9.99349051e-01 -5.43478104e-04 -3.88719815e+00] [-1.64144968e-02 -4.87283736e-05 9.99865272e-01 2.42111833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.772320588 meters 0.02319681639005863 Centerline is valid? [True, True] Translation: X:51.09, Y:-3.89, Z:0.24 [[ 9.99331856e-01 3.24748306e-02 1.67698464e-02 5.10947165e+01] [-3.24700200e-02 9.99472553e-01 -5.59133611e-04 -3.88583869e+00] [-1.67791590e-02 1.42427823e-05 9.99859220e-01 2.40734297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802320588 meters 0.023089671972610585 Centerline is valid? [True, True] Translation: X:51.13, Y:-3.89, Z:0.24 [[ 9.99459193e-01 2.95789868e-02 1.43667756e-02 5.11267742e+01] [-2.95751244e-02 9.99562444e-01 -4.81270966e-04 -3.88642136e+00] [-1.43747248e-02 5.61115169e-05 9.99896677e-01 2.41411238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.832320588 meters 0.02314441745936624 Centerline is valid? [True, True] Translation: X:51.16, Y:-3.89, Z:0.24 [[ 9.99649544e-01 2.58237787e-02 5.82431153e-03 5.11593026e+01] [-2.58230719e-02 9.99666510e-01 -1.96538466e-04 -3.89198648e+00] [-5.82744454e-03 4.60679723e-05 9.99983019e-01 2.42771670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862320588 meters 0.023203838486578608 Centerline is valid? [True, True] Translation: X:51.19, Y:-3.89, Z:0.24 [[ 9.99653258e-01 2.60658959e-02 3.73276429e-03 5.11909295e+01] [-2.60656072e-02 9.99660226e-01 -1.26000340e-04 -3.89344576e+00] [-3.73478030e-03 2.86598830e-05 9.99993025e-01 2.44012032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.892320588000004 meters 0.023086910297484175 Centerline is valid? [True, True] Translation: X:51.22, Y:-3.89, Z:0.24 [[ 9.99623177e-01 2.70235123e-02 4.82008555e-03 5.12210874e+01] [-2.70230454e-02 9.99634798e-01 -1.61972326e-04 -3.89340675e+00] [-4.82270230e-03 3.16579001e-05 9.99988370e-01 2.43937922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.922320588000005 meters 0.022911983416156138 Centerline is valid? [True, True] Translation: X:51.25, Y:-3.90, Z:0.24 [[ 9.99554228e-01 2.93594686e-02 5.41920866e-03 5.12528235e+01] [-2.93589082e-02 9.99568918e-01 -1.82961842e-04 -3.89523348e+00] [-5.42224420e-03 2.37782330e-05 9.99985299e-01 2.43970985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.952320588 meters 0.022829456567026125 Centerline is valid? [True, True] Translation: X:51.28, Y:-3.91, Z:0.24 [[ 9.99434873e-01 3.27786790e-02 7.44939979e-03 5.12833686e+01] [-3.27777122e-02 9.99462635e-01 -2.51865134e-04 -3.90617814e+00] [-7.45365254e-03 7.54851578e-06 9.99972221e-01 2.43874420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982320588 meters 0.022945020452503406 Centerline is valid? [True, True] Translation: X:51.32, Y:-3.91, Z:0.24 [[ 9.99428027e-01 3.30066104e-02 7.36089657e-03 5.13158500e+01] [-3.30056630e-02 9.99455133e-01 -2.50175224e-04 -3.91251253e+00] [-7.36514330e-03 7.08085859e-06 9.99972877e-01 2.44259730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.012320588 meters 0.023043456148347054 Centerline is valid? [True, True] Translation: X:51.35, Y:-3.92, Z:0.24 [[ 9.99454867e-01 3.19065842e-02 8.48162455e-03 5.13479167e+01] [-3.19052782e-02 9.99490855e-01 -2.89280920e-04 -3.91602429e+00] [-8.48653614e-03 1.85146330e-05 9.99963989e-01 2.44027363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042320588 meters 0.02313243980084837 Centerline is valid? [True, True] Translation: X:51.38, Y:-3.92, Z:0.24 [[ 9.99534753e-01 2.95565316e-02 7.52925292e-03 5.13799559e+01] [-2.95554278e-02 9.99563110e-01 -2.57840756e-04 -3.91931416e+00] [-7.53358434e-03 3.51905052e-05 9.99971622e-01 2.42751481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.072320588000004 meters 0.023176606198695493 Centerline is valid? [True, True] Translation: X:51.41, Y:-3.92, Z:0.24 [[ 9.99537302e-01 2.97185492e-02 6.47993407e-03 5.14116337e+01] [-2.97177292e-02 9.99558306e-01 -2.22824166e-04 -3.92481097e+00] [-6.48369393e-03 3.01521404e-05 9.99978980e-01 2.42750199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102320588000005 meters 0.02316376916993509 Centerline is valid? [True, True] Translation: X:51.44, Y:-3.93, Z:0.24 [[ 9.99516350e-01 3.04896971e-02 6.11912256e-03 5.14439736e+01] [-3.04889751e-02 9.99535081e-01 -2.11251262e-04 -3.93104204e+00] [-6.12271865e-03 2.45833144e-05 9.99981256e-01 2.43504272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.132320588 meters 0.022982610777491544 Centerline is valid? [True, True] Translation: X:51.47, Y:-3.94, Z:0.24 [[ 9.99436215e-01 3.30022434e-02 6.17285359e-03 5.14746747e+01] [-3.30015540e-02 9.99455278e-01 -2.13536285e-04 -3.93591695e+00] [-6.17653828e-03 9.70213547e-06 9.99980925e-01 2.44980977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162320588 meters 0.0229017243924096 Centerline is valid? [True, True] Translation: X:51.51, Y:-3.94, Z:0.25 [[ 9.99317584e-01 3.62333713e-02 7.17691695e-03 5.15062141e+01] [-3.62325210e-02 9.99343356e-01 -2.48503309e-04 -3.93632032e+00] [-7.18120838e-03 -1.17040670e-05 9.99974215e-01 2.48212056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.192320588 meters 0.022869774157636642 Centerline is valid? [True, True] Translation: X:51.54, Y:-3.94, Z:0.25 [[ 9.99214338e-01 3.89788745e-02 7.16616671e-03 5.15382726e+01] [-3.89780883e-02 9.99240034e-01 -2.49394784e-04 -3.93911023e+00] [-7.17044180e-03 -3.01246352e-05 9.99974292e-01 2.47446592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222320588 meters 0.0229631408060646 Centerline is valid? [True, True] Translation: X:51.57, Y:-3.95, Z:0.25 [[ 9.99135575e-01 4.12146958e-02 5.42689013e-03 5.15707379e+01] [-4.12142731e-02 9.99150313e-01 -1.89750856e-04 -3.94527640e+00] [-5.43009950e-03 -3.40785013e-05 9.99985256e-01 2.46333596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.252320588 meters 0.023191724319691753 Centerline is valid? [True, True] Translation: X:51.60, Y:-3.95, Z:0.24 [[ 9.99003850e-01 4.43199467e-02 5.20096251e-03 5.16022844e+01] [-4.43196004e-02 9.99017387e-01 -1.81883578e-04 -3.95200507e+00] [-5.20391305e-03 -4.88021851e-05 9.99986458e-01 2.44693604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.282320588000005 meters 0.02377706631582469 Centerline is valid? [True, True] Translation: X:51.63, Y:-3.95, Z:0.25 [[ 9.98596963e-01 5.25306998e-02 6.68064405e-03 5.16330943e+01] [-5.25303148e-02 9.98619303e-01 -2.33205853e-04 -3.95132598e+00] [-6.68367057e-03 -1.18057678e-04 9.99977657e-01 2.48430698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.312320588 meters 0.024038431971084104 Centerline is valid? [True, True] Translation: X:51.66, Y:-3.95, Z:0.25 [[ 9.98310944e-01 5.76099244e-02 7.50705470e-03 5.16648299e+01] [-5.76095757e-02 9.98339155e-01 -2.62875149e-04 -3.94633359e+00] [-7.50973086e-03 -1.70047098e-04 9.99971787e-01 2.50899330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.342320588 meters 0.024038431971084104 Centerline is valid? [True, True] Translation: X:51.70, Y:-3.95, Z:0.25 [[ 9.98307143e-01 5.76757491e-02 7.50703727e-03 5.16956632e+01] [-5.76753984e-02 9.98335354e-01 -2.63372866e-04 -3.94739734e+00] [-7.50973094e-03 -1.70044352e-04 9.99971787e-01 2.51054787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372320588 meters 0.02472031156582226 Centerline is valid? [True, True] Translation: X:51.73, Y:-3.94, Z:0.25 [[ 9.98003651e-01 6.24871827e-02 9.16863226e-03 5.17271772e+01] [-6.24868577e-02 9.98045735e-01 -3.22193626e-04 -3.94318588e+00] [-9.17084730e-03 -2.51368604e-04 9.99957915e-01 2.51979637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402320588 meters 0.02566251196551391 Centerline is valid? [True, True] Translation: X:51.76, Y:-3.94, Z:0.25 [[ 9.97456886e-01 7.05713347e-02 9.97234151e-03 5.17586280e+01] [-7.05713475e-02 9.97506673e-01 -3.51047626e-04 -3.93889324e+00] [-9.97225109e-03 -3.53606705e-04 9.99950213e-01 2.51841358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.432320588 meters 0.026353756057549263 Centerline is valid? [True, True] Translation: X:51.79, Y:-3.94, Z:0.25 [[ 9.97201973e-01 7.41467475e-02 9.51233136e-03 5.17901007e+01] [-7.41469155e-02 9.97247272e-01 -3.35486737e-04 -3.93834047e+00] [-9.51102176e-03 -3.70761994e-04 9.99954700e-01 2.50006321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.462320588000004 meters 0.02665007447666801 Centerline is valid? [True, True] Translation: X:51.82, Y:-3.94, Z:0.25 [[ 9.97037853e-01 7.64544958e-02 8.38034513e-03 5.18209879e+01] [-7.64547100e-02 9.97073011e-01 -2.95275542e-04 -3.93741044e+00] [-8.37839110e-03 -3.46315964e-04 9.99964841e-01 2.48878660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.492320588 meters 0.026873800263817246 Centerline is valid? [True, True] Translation: X:51.85, Y:-3.94, Z:0.25 [[ 9.96951558e-01 7.75930622e-02 8.17974867e-03 5.18504172e+01] [-7.75933114e-02 9.96985053e-01 -2.87357377e-04 -3.93572352e+00] [-8.17738410e-03 -3.48212402e-04 9.99966504e-01 2.48429968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.522320588 meters 0.026542644421419345 Centerline is valid? [True, True] Translation: X:51.88, Y:-3.93, Z:0.25 [[ 9.97084358e-01 7.56303676e-02 1.01405259e-02 5.18800258e+01] [-7.56306552e-02 9.97135837e-01 -3.55663193e-04 -3.92699399e+00] [-1.01383807e-02 -4.12308408e-04 9.99948520e-01 2.49886448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552320588 meters 0.026004862211181184 Centerline is valid? [True, True] Translation: X:51.91, Y:-3.92, Z:0.25 [[ 9.97276852e-01 7.28668579e-02 1.13710386e-02 5.19108537e+01] [-7.28670361e-02 9.97341584e-01 -3.99185676e-04 -3.92103195e+00] [-1.13698971e-02 -4.30475248e-04 9.99935268e-01 2.50794780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582320588 meters 0.02579824315485608 Centerline is valid? [True, True] Translation: X:51.94, Y:-3.92, Z:0.25 [[ 9.97500549e-01 6.98803395e-02 1.04591071e-02 5.19419736e+01] [-6.98803210e-02 9.97555315e-01 -3.67676522e-04 -3.91610943e+00] [-1.04592312e-02 -3.64128228e-04 9.99945234e-01 2.50261301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612320588 meters 0.02520687198898545 Centerline is valid? [True, True] Translation: X:51.97, Y:-3.91, Z:0.25 [[ 9.97904034e-01 6.43774096e-02 6.56413154e-03 5.19726700e+01] [-6.43772840e-02 9.97925604e-01 -2.30650709e-04 -3.91169159e+00] [-6.56536363e-03 -1.92413688e-04 9.99978429e-01 2.45942453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.642320588000004 meters 0.0249354854200528 Centerline is valid? [True, True] Translation: X:52.00, Y:-3.91, Z:0.25 [[ 9.98073076e-01 6.16963699e-02 6.61000363e-03 5.20012357e+01] [-6.16962190e-02 9.98094948e-01 -2.26941098e-04 -3.91137845e+00] [-6.61141267e-03 -1.81308432e-04 9.99978128e-01 2.45325981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.672320588 meters 0.024628980194022123 Centerline is valid? [True, True] Translation: X:52.03, Y:-3.91, Z:0.25 [[ 9.98223484e-01 5.87799740e-02 9.73603120e-03 5.20304901e+01] [-5.87795407e-02 9.98270933e-01 -3.30895650e-04 -3.90969229e+00] [-9.73864699e-03 -2.41971633e-04 9.99952549e-01 2.47485113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.702320588 meters 0.024216100898003568 Centerline is valid? [True, True] Translation: X:52.06, Y:-3.90, Z:0.25 [[ 9.98394103e-01 5.45408612e-02 1.53137140e-02 5.20613356e+01] [-5.45392353e-02 9.98511491e-01 -5.24088140e-04 -3.90053791e+00] [-1.53195037e-02 -3.11951745e-04 9.99882601e-01 2.54795316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.732320588 meters 0.023851720686640605 Centerline is valid? [True, True] Translation: X:52.09, Y:-3.90, Z:0.25 [[ 9.98526036e-01 5.20364728e-02 1.54259853e-02 5.20937350e+01] [-5.20344833e-02 9.98645148e-01 -5.30576912e-04 -3.89692640e+00] [-1.54326948e-02 -2.72888315e-04 9.99880872e-01 2.54852367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762320588 meters 0.02354847373449311 Centerline is valid? [True, True] Translation: X:52.13, Y:-3.90, Z:0.25 [[ 9.98719773e-01 4.85187293e-02 1.43090423e-02 5.21256356e+01] [-4.85166293e-02 9.98822253e-01 -4.94059927e-04 -3.89542956e+00] [-1.43161610e-02 -2.00799082e-04 9.99897498e-01 2.51444247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.792320588 meters 0.023504938023587198 Centerline is valid? [True, True] Translation: X:52.16, Y:-3.90, Z:0.25 [[ 9.98877885e-01 4.59311552e-02 1.15455957e-02 5.21577148e+01] [-4.59295963e-02 9.98944599e-01 -4.00279219e-04 -3.89754345e+00] [-1.15517958e-02 -1.30454490e-04 9.99933267e-01 2.46907730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.822320588000004 meters 0.023484676017434692 Centerline is valid? [True, True] Translation: X:52.19, Y:-3.90, Z:0.24 [[ 9.99085799e-01 4.14973425e-02 1.02730747e-02 5.21896751e+01] [-4.14958594e-02 9.99138612e-01 -3.57567545e-04 -3.90207087e+00] [-1.02790637e-02 -6.90494063e-05 9.99947167e-01 2.44560998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.852320588000005 meters 0.023317522782403465 Centerline is valid? [True, True] Translation: X:52.22, Y:-3.90, Z:0.25 [[ 9.99131930e-01 4.03378656e-02 1.04040339e-02 5.22217262e+01] [-4.03362677e-02 9.99186095e-01 -3.63463273e-04 -3.90099803e+00] [-1.04102273e-02 -5.65121336e-05 9.99945811e-01 2.48836054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882320588 meters 0.02296504339008081 Centerline is valid? [True, True] Translation: X:52.25, Y:-3.90, Z:0.25 [[ 9.99126482e-01 4.08911238e-02 8.61324540e-03 5.22542469e+01] [-4.08900387e-02 9.99163607e-01 -3.02116334e-04 -3.89813088e+00] [-8.61839522e-03 -5.03435079e-05 9.99962860e-01 2.53655034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.912320588 meters 0.02297045470685549 Centerline is valid? [True, True] Translation: X:52.28, Y:-3.89, Z:0.26 [[ 9.99035636e-01 4.34068972e-02 6.60605455e-03 5.22846347e+01] [-4.34063171e-02 9.99057475e-01 -2.31216133e-04 -3.89063011e+00] [-6.60986456e-03 -5.57513429e-05 9.99978153e-01 2.55520971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942320588 meters 0.023095423663857535 Centerline is valid? [True, True] Translation: X:52.31, Y:-3.89, Z:0.25 [[ 9.99014064e-01 4.39478827e-02 6.28357373e-03 5.23139986e+01] [-4.39473732e-02 9.99033823e-01 -2.19202172e-04 -3.88869651e+00] [-6.28713616e-03 -5.71605072e-05 9.99980234e-01 2.53165627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.972320588 meters 0.023097209200142067 Centerline is valid? [True, True] Translation: X:52.34, Y:-3.89, Z:0.25 [[ 9.98992831e-01 4.41497357e-02 8.00782123e-03 5.23432040e+01] [-4.41489215e-02 9.99024922e-01 -2.78507979e-04 -3.88805338e+00] [-8.01230903e-03 -7.53091963e-05 9.99967898e-01 2.49831621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.002320588 meters 0.023259409712019025 Centerline is valid? [True, True] Translation: X:52.37, Y:-3.89, Z:0.25 [[ 9.99048921e-01 4.29734465e-02 7.38490614e-03 5.23726131e+01] [-4.29727215e-02 9.99076213e-01 -2.56895629e-04 -3.88821539e+00] [-7.38912375e-03 -6.06982143e-05 9.99972698e-01 2.48139371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.032320588000005 meters 0.022975308397806135 Centerline is valid? [True, True] Translation: X:52.40, Y:-3.89, Z:0.25 [[ 9.99120632e-01 4.13616602e-02 6.86851437e-03 5.24025040e+01] [-4.13609992e-02 9.99144239e-01 -2.38311438e-04 -3.88887953e+00] [-6.87249352e-03 -4.59867428e-05 9.99976383e-01 2.49655683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062320588 meters 0.022967822155876696 Centerline is valid? [True, True] Translation: X:52.43, Y:-3.89, Z:0.25 [[ 9.99209230e-01 3.92211843e-02 6.52787288e-03 5.24318369e+01] [-3.92205444e-02 9.99230553e-01 -2.26059339e-04 -3.88873406e+00] [-6.53171634e-03 -3.01461504e-05 9.99978668e-01 2.50558280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.092320588 meters 0.022946735043460183 Centerline is valid? [True, True] Translation: X:52.46, Y:-3.89, Z:0.25 [[ 9.99383764e-01 3.42277160e-02 7.78169268e-03 5.24619411e+01] [-3.42266587e-02 9.99414060e-01 -2.69039199e-04 -3.88704582e+00] [-7.78634167e-03 2.53206793e-06 9.99969686e-01 2.50121358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122320588 meters 0.022948919284476767 Centerline is valid? [True, True] Translation: X:52.49, Y:-3.89, Z:0.25 [[ 9.99422100e-01 3.26401255e-02 9.49151444e-03 5.24929200e+01] [-3.26384684e-02 9.99467169e-01 -3.29470172e-04 -3.88545785e+00] [-9.49721101e-03 1.94912772e-05 9.99954900e-01 2.49263844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152320588 meters 0.023004573231174358 Centerline is valid? [True, True] Translation: X:52.52, Y:-3.88, Z:0.25 [[ 9.99414708e-01 3.24720260e-02 1.07614747e-02 5.25249161e+01] [-3.24698681e-02 9.99472644e-01 -3.75224301e-04 -3.88333441e+00] [-1.07679838e-02 2.55810217e-05 9.99942023e-01 2.49052370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182320588 meters 0.022892101651438273 Centerline is valid? [True, True] Translation: X:52.56, Y:-3.88, Z:0.25 [[ 9.99346799e-01 3.38302386e-02 1.27078639e-02 5.25574325e+01] [-3.38273204e-02 9.99427594e-01 -4.44571632e-04 -3.87996074e+00] [-1.27156298e-02 1.44082522e-05 9.99919153e-01 2.47707054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.212320588000004 meters 0.022620432923782414 Centerline is valid? [True, True] Translation: X:52.59, Y:-3.88, Z:0.25 [[ 9.99324698e-01 3.51770151e-02 1.06172567e-02 5.25893251e+01] [-3.51750385e-02 9.99381097e-01 -3.72900975e-04 -3.88280430e+00] [-1.06238032e-02 -8.13260658e-07 9.99943566e-01 2.48430380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242320588 meters 0.02258558953135629 Centerline is valid? [True, True] Translation: X:52.62, Y:-3.89, Z:0.25 [[ 9.99293930e-01 3.59822497e-02 1.08129212e-02 5.26216639e+01] [-3.59802319e-02 9.99352429e-01 -3.81139812e-04 -3.88660512e+00] [-1.08196334e-02 -8.18071353e-06 9.99941466e-01 2.49216788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.272320588 meters 0.02254728184512337 Centerline is valid? [True, True] Translation: X:52.65, Y:-3.89, Z:0.25 [[ 9.99294368e-01 3.60180610e-02 1.06520318e-02 5.26533846e+01] [-3.60160901e-02 9.99351139e-01 -3.76851539e-04 -3.88909078e+00] [-1.06586936e-02 -7.05891716e-06 9.99943194e-01 2.50557657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302320588 meters 0.02249872552382144 Centerline is valid? [True, True] Translation: X:52.69, Y:-3.89, Z:0.25 [[ 9.99320442e-01 3.53489313e-02 1.04454404e-02 5.26853266e+01] [-3.53469854e-02 9.99375031e-01 -3.70901188e-04 -3.88973742e+00] [-1.04520233e-02 1.43430791e-06 9.99945376e-01 2.50173933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.332320588 meters 0.022685649960359263 Centerline is valid? [True, True] Translation: X:52.72, Y:-3.89, Z:0.25 [[ 9.99289302e-01 3.55421664e-02 1.25557078e-02 5.27177537e+01] [-3.55393513e-02 9.99368178e-01 -4.47326160e-04 -3.89094976e+00] [-1.25636738e-02 7.86534284e-07 9.99921074e-01 2.48933873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362320588 meters 0.02263175630633435 Centerline is valid? [True, True] Translation: X:52.75, Y:-3.89, Z:0.25 [[ 9.99309879e-01 3.48874767e-02 1.27526487e-02 5.27496469e+01] [-3.48844987e-02 9.99391247e-01 -4.55953225e-04 -3.89278337e+00] [-1.27607926e-02 1.07688039e-05 9.99918578e-01 2.48493504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.392320588000004 meters 0.022743711821229574 Centerline is valid? [True, True] Translation: X:52.78, Y:-3.90, Z:0.25 [[ 9.99343615e-01 3.38980063e-02 1.27775073e-02 5.27818603e+01] [-3.38949150e-02 9.99425297e-01 -4.58474330e-04 -3.89602786e+00] [-1.27857054e-02 2.50808714e-05 9.99918259e-01 2.51106574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.422320588 meters 0.022741106990052565 Centerline is valid? [True, True] Translation: X:52.81, Y:-3.90, Z:0.25 [[ 9.99319104e-01 3.47940975e-02 1.22759872e-02 5.28143898e+01] [-3.47912923e-02 9.99394502e-01 -4.42062523e-04 -3.89713125e+00] [-1.22839352e-02 1.46640675e-05 9.99924550e-01 2.51668706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.452320588 meters 0.02258907350770121 Centerline is valid? [True, True] Translation: X:52.85, Y:-3.90, Z:0.25 [[ 9.99295918e-01 3.58939874e-02 1.09220012e-02 5.28464846e+01] [-3.58918166e-02 9.99355603e-01 -3.94764351e-04 -3.89824852e+00] [-1.09291328e-02 2.47594141e-06 9.99940275e-01 2.52005696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.482320588 meters 0.022601620459941088 Centerline is valid? [True, True] Translation: X:52.88, Y:-3.90, Z:0.25 [[ 9.99248890e-01 3.75065791e-02 9.74229606e-03 5.28785348e+01] [-3.75049157e-02 9.99296381e-01 -3.53448310e-04 -3.90054144e+00] [-9.74869783e-03 -1.22011606e-05 9.99952480e-01 2.50768941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.512320588 meters 0.022688641440062586 Centerline is valid? [True, True] Translation: X:52.91, Y:-3.91, Z:0.25 [[ 9.99126776e-01 4.13747352e-02 5.81523984e-03 5.29093913e+01] [-4.13742063e-02 9.99143699e-01 -2.11282934e-04 -3.90548285e+00] [-5.81900202e-03 -2.95024958e-05 9.99983069e-01 2.49556882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542320588 meters 0.02259038616163604 Centerline is valid? [True, True] Translation: X:52.94, Y:-3.91, Z:0.25 [[ 9.99041300e-01 4.35723913e-02 4.23414670e-03 5.29377270e+01] [-4.35721479e-02 9.99050272e-01 -1.49758619e-04 -3.90644299e+00] [-4.23665076e-03 -3.48758206e-05 9.99991025e-01 2.51168976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.572320588000004 meters 0.022740735964369783 Centerline is valid? [True, True] Translation: X:52.97, Y:-3.91, Z:0.25 [[ 9.98983739e-01 4.47736329e-02 5.17800062e-03 5.29663439e+01] [-4.47732957e-02 9.98997157e-01 -1.81077054e-04 -3.90531593e+00] [-5.18091538e-03 -5.09431211e-05 9.99986578e-01 2.52261946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602320588000005 meters 0.022836523413564094 Centerline is valid? [True, True] Translation: X:53.00, Y:-3.91, Z:0.25 [[ 9.98927253e-01 4.59070924e-02 6.07311238e-03 5.29950497e+01] [-4.59066635e-02 9.98945711e-01 -2.10061691e-04 -3.90541530e+00] [-6.07635289e-03 -6.89599793e-05 9.99981536e-01 2.52706738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.632320588 meters 0.02291507020682091 Centerline is valid? [True, True] Translation: X:53.02, Y:-3.91, Z:0.25 [[ 9.98962598e-01 4.48085987e-02 8.11888943e-03 5.30236381e+01] [-4.48078199e-02 9.98995587e-01 -2.77892473e-04 -3.90911945e+00] [-8.12318668e-03 -8.61855479e-05 9.99967003e-01 2.51157498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.662320588 meters 0.02286496840737498 Centerline is valid? [True, True] Translation: X:53.05, Y:-3.91, Z:0.25 [[ 9.99035030e-01 4.32972486e-02 7.37273448e-03 5.30536229e+01] [-4.32965499e-02 9.99062232e-01 -2.54423076e-04 -3.91180220e+00] [-7.37683639e-03 -6.50364014e-05 9.99972789e-01 2.51527378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.692320588 meters 0.022797430990009887 Centerline is valid? [True, True] Translation: X:53.08, Y:-3.91, Z:0.25 [[ 9.99114300e-01 4.11201632e-02 8.93015229e-03 5.30828071e+01] [-4.11190593e-02 9.99154207e-01 -3.07271125e-04 -3.91226168e+00] [-8.93523427e-03 -6.02004860e-05 9.99960078e-01 2.49866313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722320588 meters 0.022610562967446058 Centerline is valid? [True, True] Translation: X:53.11, Y:-3.91, Z:0.25 [[ 9.99252317e-01 3.75197851e-02 9.33125809e-03 5.31139957e+01] [-3.75184108e-02 9.99295885e-01 -3.22341518e-04 -3.90824105e+00] [-9.33678199e-03 -2.79934653e-05 9.99956411e-01 2.51396689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.752320588 meters 0.02260940178452294 Centerline is valid? [True, True] Translation: X:53.15, Y:-3.91, Z:0.25 [[ 9.99217595e-01 3.76325768e-02 1.21649778e-02 5.31453192e+01] [-3.76302413e-02 9.99291643e-01 -4.20908558e-04 -3.90708947e+00] [-1.21722005e-02 -3.71918110e-05 9.99925915e-01 2.51393903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.782320588000005 meters 0.022577100395438997 Centerline is valid? [True, True] Translation: X:53.18, Y:-3.91, Z:0.25 [[ 9.99209703e-01 3.81179262e-02 1.12691469e-02 5.31772747e+01] [-3.81159326e-02 9.99273247e-01 -3.91705268e-04 -3.90573167e+00] [-1.12758880e-02 -3.81383404e-05 9.99936424e-01 2.52938828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.812320588 meters 0.022490719037273357 Centerline is valid? [True, True] Translation: X:53.21, Y:-3.90, Z:0.25 [[ 9.99204965e-01 3.91184058e-02 7.69340319e-03 5.32091593e+01] [-3.91174972e-02 9.99234582e-01 -2.68598585e-04 -3.90463596e+00] [-7.69802166e-03 -3.25616384e-05 9.99970369e-01 2.54329821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842320588 meters 0.022360770262888956 Centerline is valid? [True, True] Translation: X:53.24, Y:-3.91, Z:0.25 [[ 9.99219883e-01 3.89775620e-02 6.35413586e-03 5.32397914e+01] [-3.89769427e-02 9.99240086e-01 -2.21310286e-04 -3.90724858e+00] [-6.35793340e-03 -2.65271513e-05 9.99979788e-01 2.53428466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872320588 meters 0.02239441829084516 Centerline is valid? [True, True] Translation: X:53.27, Y:-3.91, Z:0.25 [[ 9.99190019e-01 3.94363374e-02 8.00505397e-03 5.32689904e+01] [-3.94353760e-02 9.99222084e-01 -2.77973198e-04 -3.91119152e+00] [-8.00978896e-03 -3.79342679e-05 9.99967920e-01 2.52229748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902320588 meters 0.02243894819266992 Centerline is valid? [True, True] Translation: X:53.30, Y:-3.91, Z:0.25 [[ 9.99194606e-01 3.88501162e-02 1.00403393e-02 5.32990845e+01] [-3.88485701e-02 9.99245048e-01 -3.49053535e-04 -3.91405557e+00] [-1.00463201e-02 -4.12804167e-05 9.99949534e-01 2.52054453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.932320588 meters 0.02251706912362898 Centerline is valid? [True, True] Translation: X:53.33, Y:-3.92, Z:0.25 [[ 9.99299390e-01 3.54204727e-02 1.20879734e-02 5.33306544e+01] [-3.54179675e-02 9.99372498e-01 -4.21327412e-04 -3.91608679e+00] [-1.20953118e-02 -7.09922334e-06 9.99926849e-01 2.52787975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962320588000004 meters 0.022640823118348523 Centerline is valid? [True, True] Translation: X:53.36, Y:-3.92, Z:0.25 [[ 9.99374282e-01 3.35204964e-02 1.12881015e-02 5.33628689e+01] [-3.35181705e-02 9.99438030e-01 -3.95223124e-04 -3.91860272e+00] [-1.12950060e-02 1.66193153e-05 9.99936209e-01 2.52924404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.992320588 meters 0.022501086352951425 Centerline is valid? [True, True] Translation: X:53.40, Y:-3.92, Z:0.25 [[ 9.99426172e-01 3.23132486e-02 1.01577912e-02 5.33952300e+01] [-3.23112891e-02 9.99477790e-01 -3.56999706e-04 -3.92228061e+00] [-1.01640225e-02 2.85835223e-05 9.99948345e-01 2.53501313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022320588 meters 0.02260667226454389 Centerline is valid? [True, True] Translation: X:53.43, Y:-3.93, Z:0.25 [[ 9.99428997e-01 3.21986187e-02 1.02434780e-02 5.34272661e+01] [-3.21966065e-02 9.99481490e-01 -3.61325509e-04 -3.92628206e+00] [-1.02498009e-02 3.13139605e-05 9.99947469e-01 2.53494387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052320588 meters 0.022375133968709424 Centerline is valid? [True, True] Translation: X:53.46, Y:-3.93, Z:0.25 [[ 9.99359690e-01 3.47275219e-02 8.61446012e-03 5.34596630e+01] [-3.47261824e-02 9.99396818e-01 -3.05065637e-04 -3.92817520e+00] [-8.61985820e-03 5.72298720e-06 9.99962848e-01 2.54888985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082320588 meters 0.02229216301970176 Centerline is valid? [True, True] Translation: X:53.49, Y:-3.93, Z:0.26 [[ 9.99290448e-01 3.66777525e-02 8.56411038e-03 5.34906697e+01] [-3.66764983e-02 9.99327145e-01 -3.03510666e-04 -3.92898048e+00] [-8.56948006e-03 -1.08062705e-05 9.99963281e-01 2.55113972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112320588 meters 0.022473343268568174 Centerline is valid? [True, True] Translation: X:53.52, Y:-3.93, Z:0.26 [[ 9.99190686e-01 3.89791291e-02 9.92972919e-03 5.35220078e+01] [-3.89775509e-02 9.99240024e-01 -3.52488078e-04 -3.93224626e+00] [-9.93592251e-03 -3.48337200e-05 9.99950637e-01 2.55055688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142320588000004 meters 0.022703698161222946 Centerline is valid? [True, True] Translation: X:53.55, Y:-3.94, Z:0.25 [[ 9.98999764e-01 4.38455818e-02 8.77705872e-03 5.35541527e+01] [-4.38445234e-02 9.99038317e-01 -3.13064836e-04 -3.94226680e+00] [-8.78234448e-03 -7.20742589e-05 9.99961432e-01 2.53198847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.172320588 meters 0.02284280468176236 Centerline is valid? [True, True] Translation: X:53.58, Y:-3.95, Z:0.25 [[ 9.98893863e-01 4.64688561e-02 7.19000275e-03 5.35847577e+01] [-4.64682175e-02 9.98919736e-01 -2.55925862e-04 -3.94560062e+00] [-7.19412824e-03 -7.84638387e-05 9.99974119e-01 2.53213530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202320588 meters 0.023120314789348825 Centerline is valid? [True, True] Translation: X:53.61, Y:-3.95, Z:0.25 [[ 9.98739390e-01 4.96818913e-02 7.16518669e-03 5.36140595e+01] [-4.96813456e-02 9.98765087e-01 -2.54250475e-04 -3.94672153e+00] [-7.16896996e-03 -1.02046152e-04 9.99974297e-01 2.54113393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.232320588 meters 0.023120314789348825 Centerline is valid? [True, True] Translation: X:53.64, Y:-3.95, Z:0.25 [[ 9.98742591e-01 4.96175055e-02 7.16520301e-03 5.36431992e+01] [-4.96169614e-02 9.98768288e-01 -2.53790425e-04 -3.94777346e+00] [-7.16896999e-03 -1.02044295e-04 9.99974297e-01 2.54260404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262320588 meters 0.023405691470290153 Centerline is valid? [True, True] Translation: X:53.67, Y:-3.94, Z:0.26 [[ 9.98486484e-01 5.45061561e-02 7.33627891e-03 5.36718540e+01] [-5.45057384e-02 9.98513424e-01 -2.57002305e-04 -3.94426352e+00] [-7.33938119e-03 -1.43255972e-04 9.99973056e-01 2.56474014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292320588 meters 0.023498143128385343 Centerline is valid? [True, True] Translation: X:53.70, Y:-3.94, Z:0.26 [[ 9.98440672e-01 5.55994779e-02 4.99218156e-03 5.37004346e+01] [-5.55993167e-02 9.98453147e-01 -1.71181353e-04 -3.94357520e+00] [-4.99397699e-03 -1.06647459e-04 9.99987524e-01 2.57866133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.322320588000004 meters 0.02356548493354967 Centerline is valid? [True, True] Translation: X:53.73, Y:-3.94, Z:0.26 [[ 9.98390816e-01 5.64854538e-02 5.01708914e-03 5.37291004e+01] [-5.64853134e-02 9.98403416e-01 -1.69780194e-04 -3.94339317e+00] [-5.01866905e-03 -1.13884866e-04 9.99987400e-01 2.56419201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.352320588000005 meters 0.0240016416985389 Centerline is valid? [True, True] Translation: X:53.76, Y:-3.94, Z:0.26 [[ 9.98264026e-01 5.85352779e-02 6.52344954e-03 5.37579000e+01] [-5.85350989e-02 9.98285327e-01 -2.18519636e-04 -3.94099591e+00] [-6.52505507e-03 -1.63710473e-04 9.99978698e-01 2.57046710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382320588 meters 0.023914320384697967 Centerline is valid? [True, True] Translation: X:53.79, Y:-3.94, Z:0.26 [[ 9.98304027e-01 5.74172920e-02 9.60860086e-03 5.37869516e+01] [-5.74168835e-02 9.98350239e-01 -3.18590109e-04 -3.93913417e+00] [-9.61104155e-03 -2.33646127e-04 9.99953786e-01 2.57351859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.412320588 meters 0.023771795188054057 Centerline is valid? [True, True] Translation: X:53.82, Y:-3.94, Z:0.26 [[ 9.98380197e-01 5.60767731e-02 9.61138723e-03 5.38168211e+01] [-5.60762894e-02 9.98426436e-01 -3.20015196e-04 -3.93573709e+00] [-9.61420851e-03 -2.19474098e-04 9.99953758e-01 2.57890849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442320588 meters 0.023433978920437942 Centerline is valid? [True, True] Translation: X:53.85, Y:-3.93, Z:0.26 [[ 9.98587644e-01 5.26940100e-02 6.78669112e-03 5.38464727e+01] [-5.26937231e-02 9.98610696e-01 -2.21194847e-04 -3.92618343e+00] [-6.78891799e-03 -1.36733582e-04 9.99976946e-01 2.56651006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.472320588 meters 0.023265098463705385 Centerline is valid? [True, True] Translation: X:53.87, Y:-3.92, Z:0.26 [[ 9.98663831e-01 5.13226812e-02 6.04434829e-03 5.38749959e+01] [-5.13224474e-02 9.98682116e-01 -1.93896972e-04 -3.92139943e+00] [-6.04633385e-03 -1.16572854e-04 9.99981714e-01 2.56310383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.502320588 meters 0.02328985399825654 Centerline is valid? [True, True] Translation: X:53.90, Y:-3.92, Z:0.26 [[ 9.98714417e-01 5.03565523e-02 5.80785351e-03 5.39030270e+01] [-5.03563402e-02 9.98731298e-01 -1.82835369e-04 -3.91709584e+00] [-5.80969203e-03 -1.09861929e-04 9.99983118e-01 2.56861313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.532320588000005 meters 0.02312244907122207 Centerline is valid? [True, True] Translation: X:53.93, Y:-3.91, Z:0.26 [[ 9.98787434e-01 4.88592400e-02 6.03632828e-03 5.39311445e+01] [-4.88590013e-02 9.98805668e-01 -1.87088189e-04 -3.91325813e+00] [-6.03825989e-03 -1.08067639e-04 9.99981764e-01 2.57792647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.562320588 meters 0.022642394058378677 Centerline is valid? [True, True] Translation: X:53.96, Y:-3.91, Z:0.26 [[ 9.99022494e-01 4.34525831e-02 8.11966838e-03 5.39595735e+01] [-4.34519928e-02 9.99055485e-01 -2.49185303e-04 -3.90973451e+00] [-8.12282697e-03 -1.03874048e-04 9.99967004e-01 2.59964205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.592320588 meters 0.02251165592644216 Centerline is valid? [True, True] Translation: X:53.99, Y:-3.91, Z:0.26 [[ 9.99173752e-01 3.96564337e-02 8.89838723e-03 5.39885071e+01] [-3.96556074e-02 9.99213371e-01 -2.69348585e-04 -3.90993113e+00] [-8.90206890e-03 -8.37449143e-05 9.99960372e-01 2.61289379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622320588 meters 0.022329811198917335 Centerline is valid? [True, True] Translation: X:54.02, Y:-3.91, Z:0.26 [[ 9.99313983e-01 3.60186273e-02 8.61522569e-03 5.40186125e+01] [-3.60176988e-02 9.99351118e-01 -2.62957132e-04 -3.90893960e+00] [-8.61910677e-03 -4.75238646e-05 9.99962854e-01 2.61669877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.652320588 meters 0.022318072441788142 Centerline is valid? [True, True] Translation: X:54.05, Y:-3.90, Z:0.26 [[ 9.99553495e-01 2.85936164e-02 8.67267869e-03 5.40488840e+01] [-2.85923959e-02 9.99591119e-01 -2.64710734e-04 -3.90464073e+00] [-8.67670164e-03 1.66198765e-05 9.99962357e-01 2.60151412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682320588 meters 0.022520164521239446 Centerline is valid? [True, True] Translation: X:54.08, Y:-3.90, Z:0.26 [[ 9.99616467e-01 2.57915290e-02 1.00854567e-02 5.40801717e+01] [-2.57897262e-02 9.99667342e-01 -3.08787511e-04 -3.90419970e+00] [-1.00900658e-02 4.85679143e-05 9.99949093e-01 2.58218432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.712320588000004 meters 0.022654977070802607 Centerline is valid? [True, True] Translation: X:54.11, Y:-3.90, Z:0.26 [[ 9.99662604e-01 2.38013197e-02 1.04007710e-02 5.41120806e+01] [-2.37992780e-02 9.99716706e-01 -3.20047869e-04 -3.90451754e+00] [-1.04054421e-02 7.24090464e-05 9.99945859e-01 2.57913507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.742320588 meters 0.022821349049399687 Centerline is valid? [True, True] Translation: X:54.14, Y:-3.91, Z:0.26 [[ 9.99713793e-01 2.12644511e-02 1.09615679e-02 5.41441149e+01] [-2.12620162e-02 9.99773880e-01 -3.38632670e-04 -3.90503532e+00] [-1.09662901e-02 1.05470717e-04 9.99939863e-01 2.59229092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.772320588 meters 0.022728103267496115 Centerline is valid? [True, True] Translation: X:54.18, Y:-3.91, Z:0.26 [[ 9.99745669e-01 2.08287277e-02 8.64643658e-03 5.41760340e+01] [-2.08271861e-02 9.99783055e-01 -2.68309833e-04 -3.90723802e+00] [-8.65014933e-03 8.81606494e-05 9.99962583e-01 2.61447334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802320588 meters 0.022859820985885546 Centerline is valid? [True, True] Translation: X:54.21, Y:-3.91, Z:0.26 [[ 9.99779178e-01 1.93124222e-02 8.28401076e-03 5.42079660e+01] [-1.93109463e-02 9.99813493e-01 -2.58131260e-04 -3.91059128e+00] [-8.28745087e-03 9.81021725e-05 9.99965654e-01 2.61546997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.832320588 meters 0.02302229986365907 Centerline is valid? [True, True] Translation: X:54.24, Y:-3.92, Z:0.26 [[ 9.99817550e-01 1.78369514e-02 6.83442286e-03 5.42400530e+01] [-1.78359058e-02 9.99840905e-01 -2.13908790e-04 -3.91574179e+00] [-6.83715101e-03 9.19716398e-05 9.99976622e-01 2.61622938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862320588 meters 0.0236755647244082 Centerline is valid? [True, True] Translation: X:54.27, Y:-3.92, Z:0.26 [[ 9.99886053e-01 1.34595496e-02 6.83529118e-03 5.42723363e+01] [-1.34583957e-02 9.99909409e-01 -2.14783654e-04 -3.92422407e+00] [-6.83756285e-03 1.22767127e-04 9.99976616e-01 2.58713949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.892320588000004 meters 0.02396850183979518 Centerline is valid? [True, True] Translation: X:54.30, Y:-3.93, Z:0.26 [[ 9.99923266e-01 1.11738115e-02 5.34858675e-03 5.43049202e+01] [-1.11730681e-02 9.99937565e-01 -1.68849279e-04 -3.92647866e+00] [-5.35013950e-03 1.09076199e-04 9.99985682e-01 2.58461787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.922320588 meters 0.02434442171838978 Centerline is valid? [True, True] Translation: X:54.34, Y:-3.93, Z:0.26 [[ 9.99938186e-01 9.61180097e-03 5.58899891e-03 5.43371073e+01] [-9.61096122e-03 9.99953798e-01 -1.77090390e-04 -3.92788806e+00] [-5.59044285e-03 1.23363791e-04 9.99984366e-01 2.57711043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.952320588 meters 0.02421694510113197 Centerline is valid? [True, True] Translation: X:54.37, Y:-3.93, Z:0.26 [[ 9.99951244e-01 9.15993796e-03 3.68846610e-03 5.43688115e+01] [-9.15956676e-03 9.99958043e-01 -1.17518823e-04 -3.93043956e+00] [-3.68938781e-03 8.37283420e-05 9.99993191e-01 2.58238807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982320588 meters 0.023794097886291995 Centerline is valid? [True, True] Translation: X:54.40, Y:-3.94, Z:0.26 [[ 9.99933063e-01 1.14541136e-02 1.63462750e-03 5.44000242e+01] [-1.14540435e-02 9.99934399e-01 -5.22161226e-05 -3.93514201e+00] [-1.63511836e-03 3.34895329e-05 9.99998663e-01 2.62048961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012320588 meters 0.023531463285161872 Centerline is valid? [True, True] Translation: X:54.43, Y:-3.94, Z:0.26 [[ 9.99904703e-01 1.36752531e-02 1.89033701e-03 5.44299152e+01] [-1.36751649e-02 9.99906489e-01 -5.96076211e-05 -3.93797501e+00] [-1.89097539e-03 3.37512705e-05 9.99998212e-01 2.63462024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042320588 meters 0.022646892362075875 Centerline is valid? [True, True] Translation: X:54.46, Y:-3.95, Z:0.26 [[ 9.99756504e-01 2.20144297e-02 1.51571519e-03 5.44591745e+01] [-2.20143828e-02 9.99757653e-01 -4.76360093e-05 -3.94705262e+00] [-1.51639654e-03 1.42568757e-05 9.99998850e-01 2.64113064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.072320588000004 meters 0.022364773730696536 Centerline is valid? [True, True] Translation: X:54.49, Y:-3.95, Z:0.26 [[ 9.99673462e-01 2.54966580e-02 1.69986631e-03 5.44877499e+01] [-2.54966062e-02 9.99674907e-01 -5.21251425e-05 -3.95394981e+00] [-1.70064272e-03 8.76729967e-06 9.99998554e-01 2.63321910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102320588000005 meters 0.022493582961895315 Centerline is valid? [True, True] Translation: X:54.52, Y:-3.96, Z:0.26 [[ 9.99613304e-01 2.75145824e-02 4.02371016e-03 5.45159523e+01] [-2.75143157e-02 9.99621402e-01 -1.21639891e-04 -3.95995679e+00] [-4.02553366e-03 1.08832215e-05 9.99991897e-01 2.62459505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.132320588 meters 0.022421533773363023 Centerline is valid? [True, True] Translation: X:54.55, Y:-3.96, Z:0.26 [[ 9.99559550e-01 2.91270501e-02 5.68520193e-03 5.45454682e+01] [-2.91265267e-02 9.99575717e-01 -1.74846056e-04 -3.96365134e+00] [-5.68788254e-03 9.17885968e-06 9.99983824e-01 2.63412252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162320588 meters 0.022316890980145162 Centerline is valid? [True, True] Translation: X:54.58, Y:-3.97, Z:0.26 [[ 9.99465265e-01 3.23038707e-02 5.06408727e-03 5.45760023e+01] [-3.23034948e-02 9.99478094e-01 -1.56029876e-04 -3.96661593e+00] [-5.06648466e-03 -7.64127572e-06 9.99987165e-01 2.64369460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.192320588 meters 0.022513492683578253 Centerline is valid? [True, True] Translation: X:54.61, Y:-3.97, Z:0.26 [[ 9.99384523e-01 3.49050796e-02 3.49439284e-03 5.46061176e+01] [-3.49049175e-02 9.99390632e-01 -1.07392155e-04 -3.96864882e+00] [-3.49601200e-03 -1.46454357e-05 9.99993889e-01 2.63706386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222320588 meters 0.022471008886573905 Centerline is valid? [True, True] Translation: X:54.63, Y:-3.97, Z:0.26 [[ 9.99272158e-01 3.80957124e-02 1.96730080e-03 5.46342904e+01] [-3.80956741e-02 9.99274095e-01 -5.69416963e-05 -3.97121544e+00] [-1.96804196e-03 -1.80453986e-05 9.99998063e-01 2.63584714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.252320588 meters 0.022782147414565062 Centerline is valid? [True, True] Translation: X:54.66, Y:-3.97, Z:0.26 [[ 9.99107133e-01 4.22181767e-02 1.60093997e-03 5.46628795e+01] [-4.22181580e-02 9.99108415e-01 -4.54577347e-05 -3.97335238e+00] [-1.60143174e-03 -2.21715897e-05 9.99998717e-01 2.62924959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282320588000005 meters 0.023771346080308193 Centerline is valid? [True, True] Translation: X:54.69, Y:-3.97, Z:0.26 [[ 9.98640800e-01 5.20561806e-02 2.58972072e-03 5.46923204e+01] [-5.20561566e-02 9.98644156e-01 -7.67175652e-05 -3.97452582e+00] [-2.59020309e-03 -5.81976169e-05 9.99996644e-01 2.62845809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.312320588 meters 0.024154150704387884 Centerline is valid? [True, True] Translation: X:54.72, Y:-3.97, Z:0.26 [[ 9.98438128e-01 5.55898810e-02 5.57398921e-03 5.47211262e+01] [-5.55898477e-02 9.98453676e-01 -1.61023667e-04 -3.97490188e+00] [-5.57432130e-03 -1.49085043e-04 9.99984452e-01 2.63609189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342320588 meters 0.024414143174831118 Centerline is valid? [True, True] Translation: X:54.75, Y:-3.97, Z:0.26 [[ 9.98321372e-01 5.72257642e-02 8.92466493e-03 5.47502836e+01] [-5.72257682e-02 9.98361230e-01 -2.55134227e-04 -3.97480287e+00] [-8.92463971e-03 -2.56014855e-04 9.99960142e-01 2.64310191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372320588 meters 0.02458787066730652 Centerline is valid? [True, True] Translation: X:54.78, Y:-3.97, Z:0.27 [[ 9.98200513e-01 5.90466955e-02 1.04510087e-02 5.47791839e+01] [-5.90468462e-02 9.98255169e-01 -2.94403921e-04 -3.97171771e+00] [-1.04501571e-02 -3.23224961e-04 9.99945343e-01 2.65733740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402320588 meters 0.02501744466234421 Centerline is valid? [True, True] Translation: X:54.81, Y:-3.97, Z:0.27 [[ 9.98133462e-01 6.04208386e-02 8.88338372e-03 5.48086574e+01] [-6.04209925e-02 9.98172951e-01 -2.51294696e-04 -3.97024232e+00] [-8.88233679e-03 -2.85917216e-04 9.99960510e-01 2.65292438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.432320588 meters 0.025032201558792152 Centerline is valid? [True, True] Translation: X:54.84, Y:-3.97, Z:0.26 [[ 9.98102402e-01 6.10245375e-02 8.22198765e-03 5.48375761e+01] [-6.10247361e-02 9.98136228e-01 -2.26954453e-04 -3.96890702e+00] [-8.22051353e-03 -2.75220842e-04 9.99966173e-01 2.63421104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462320588000004 meters 0.02506135895588609 Centerline is valid? [True, True] Translation: X:54.87, Y:-3.97, Z:0.26 [[ 9.98130947e-01 6.05412956e-02 8.32856085e-03 5.48656204e+01] [-6.05415209e-02 9.98165654e-01 -2.25297716e-04 -3.96737233e+00] [-8.32692321e-03 -2.79347118e-04 9.99965292e-01 2.62423934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.492320588 meters 0.024792393043947435 Centerline is valid? [True, True] Translation: X:54.89, Y:-3.96, Z:0.26 [[ 9.98221322e-01 5.87759282e-02 9.97906367e-03 5.48944606e+01] [-5.87761999e-02 9.98271149e-01 -2.66298678e-04 -3.96226614e+00] [-9.97746331e-03 -3.20706422e-04 9.99950172e-01 2.64712061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522320588 meters 0.02490224884298577 Centerline is valid? [True, True] Translation: X:54.92, Y:-3.96, Z:0.27 [[ 9.98270162e-01 5.79704206e-02 9.80372879e-03 5.49236962e+01] [-5.79706875e-02 9.98318252e-01 -2.57184039e-04 -3.95980969e+00] [-9.80215046e-03 -3.11589746e-04 9.99951909e-01 2.66776456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552320588 meters 0.024555599569264282 Centerline is valid? [True, True] Translation: X:54.95, Y:-3.96, Z:0.27 [[ 9.98361977e-01 5.63124848e-02 1.01127583e-02 5.49526856e+01] [-5.63127285e-02 9.98413145e-01 -2.60872637e-04 -3.95701024e+00] [-1.01114012e-02 -3.09031691e-04 9.99948831e-01 2.68551141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582320588 meters 0.024284557286151743 Centerline is valid? [True, True] Translation: X:54.98, Y:-3.96, Z:0.27 [[ 9.98519461e-01 5.35201282e-02 9.72020845e-03 5.49816123e+01] [-5.35202649e-02 9.98566733e-01 -2.46249945e-04 -3.95545331e+00] [-9.71945613e-03 -2.74342769e-04 9.99952727e-01 2.68260276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.612320588 meters 0.02424714810487713 Centerline is valid? [True, True] Translation: X:55.01, Y:-3.96, Z:0.27 [[ 9.98562543e-01 5.29654319e-02 8.21644620e-03 5.50100424e+01] [-5.29655437e-02 9.98596320e-01 -2.04139432e-04 -3.95589522e+00] [-8.21572526e-03 -2.31342550e-04 9.99966224e-01 2.66954135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.642320588000004 meters 0.024336626394968114 Centerline is valid? [True, True] Translation: X:55.04, Y:-3.95, Z:0.27 [[ 9.98574018e-01 5.30642817e-02 5.84054610e-03 5.50376371e+01] [-5.30643631e-02 9.98591084e-01 -1.41138519e-04 -3.95376782e+00] [-5.83980668e-03 -1.68987601e-04 9.99982934e-01 2.66097965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.672320588 meters 0.024873236142293826 Centerline is valid? [True, True] Translation: X:55.07, Y:-3.94, Z:0.27 [[ 9.98329621e-01 5.77190210e-02 2.54621103e-03 5.50662630e+01] [-5.77190517e-02 9.98332864e-01 -6.14557210e-05 -3.94437234e+00] [-2.54551332e-03 -8.56118198e-05 9.99996757e-01 2.65536534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702320588 meters 0.0250327107912822 Centerline is valid? [True, True] Translation: X:55.09, Y:-3.94, Z:0.27 [[ 9.98224226e-01 5.94898830e-02 3.05742263e-03 5.50946670e+01] [-5.94899438e-02 9.98228902e-01 -7.11297678e-05 -3.94244205e+00] [-3.05623914e-03 -1.10882443e-04 9.99995324e-01 2.66060981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.732320588 meters 0.025008158507559258 Centerline is valid? [True, True] Translation: X:55.12, Y:-3.94, Z:0.27 [[ 9.98311994e-01 5.76736675e-02 6.84919533e-03 5.51221926e+01] [-5.76739376e-02 9.98335461e-01 -1.58231999e-04 -3.94381599e+00] [-6.84692040e-03 -2.37055162e-04 9.99976531e-01 2.67119437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762320588 meters 0.024610920713468612 Centerline is valid? [True, True] Translation: X:55.15, Y:-3.94, Z:0.27 [[ 9.98490660e-01 5.43967477e-02 7.57597927e-03 5.51508182e+01] [-5.43970050e-02 9.98519372e-01 -1.72242529e-04 -3.94413854e+00] [-7.57413150e-03 -2.40128026e-04 9.99971287e-01 2.66951001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.792320588 meters 0.02426818157510913 Centerline is valid? [True, True] Translation: X:55.18, Y:-3.94, Z:0.27 [[ 9.98710391e-01 5.01541973e-02 7.88112945e-03 5.51797200e+01] [-5.01543712e-02 9.98741462e-01 -1.75687200e-04 -3.94312121e+00] [-7.88002220e-03 -2.19812460e-04 9.99968928e-01 2.65867519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.822320588000004 meters 0.02381699624879518 Centerline is valid? [True, True] Translation: X:55.21, Y:-3.94, Z:0.26 [[ 9.98920212e-01 4.58444503e-02 7.52969629e-03 5.52083103e+01] [-4.58445127e-02 9.98948574e-01 -1.64405565e-04 -3.94083785e+00] [-7.52931645e-03 -1.80967216e-04 9.99971638e-01 2.63528682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.852320588000005 meters 0.023183109939380202 Centerline is valid? [True, True] Translation: X:55.24, Y:-3.93, Z:0.26 [[ 9.99194516e-01 3.98717322e-02 4.53468390e-03 5.52370385e+01] [-3.98716927e-02 9.99204803e-01 -9.91508954e-05 -3.93153760e+00] [-4.53503125e-03 -8.17344918e-05 9.99989713e-01 2.61924792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882320588 meters 0.02279108258430855 Centerline is valid? [True, True] Translation: X:55.27, Y:-3.93, Z:0.26 [[ 9.99313582e-01 3.70175970e-02 1.43584285e-03 5.52658372e+01] [-3.70175939e-02 9.99314614e-01 -2.87077742e-05 -3.92768459e+00] [-1.43592144e-03 -2.44633790e-05 9.99998969e-01 2.62916096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.912320588 meters 0.0226065191197754 Centerline is valid? [True, True] Translation: X:55.29, Y:-3.93, Z:0.26 [[ 9.99403839e-01 3.45248660e-02 1.23442524e-05 5.52946974e+01] [-3.45248661e-02 9.99403839e-01 2.00509194e-06 -3.92573933e+00] [-1.22676676e-05 -2.43008024e-06 1.00000000e+00 2.64848700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942320588 meters 0.022386278798610718 Centerline is valid? [True, True] Translation: X:55.32, Y:-3.93, Z:0.27 [[ 9.99473882e-01 3.24330326e-02 -2.39239928e-04 5.53234423e+01] [-3.24330318e-02 9.99473911e-01 7.20326721e-06 -3.92514091e+00] [ 2.39347691e-04 5.59798763e-07 9.99999971e-01 2.68163501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.972320588 meters 0.022236456598690592 Centerline is valid? [True, True] Translation: X:55.35, Y:-3.93, Z:0.27 [[ 9.99551332e-01 2.98985902e-02 1.79149966e-03 5.53509199e+01] [-2.98985782e-02 9.99552937e-01 -3.35195887e-05 -3.92615784e+00] [-1.79170094e-03 -2.00587431e-05 9.99998395e-01 2.70384251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.002320588 meters 0.022152735297967942 Centerline is valid? [True, True] Translation: X:55.38, Y:-3.93, Z:0.27 [[ 9.99619163e-01 2.73620404e-02 3.58434190e-03 5.53791574e+01] [-2.73619730e-02 9.99625589e-01 -6.78495808e-05 -3.92780466e+00] [-3.58485639e-03 -3.02509253e-05 9.99993574e-01 2.71513756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.032320588000005 meters 0.02216604101432328 Centerline is valid? [True, True] Translation: X:55.41, Y:-3.93, Z:0.27 [[ 9.99753256e-01 2.16483810e-02 4.97742185e-03 5.54068104e+01] [-2.16481881e-02 9.99765646e-01 -9.26407246e-05 -3.92801478e+00] [-4.97826090e-03 -1.51342985e-05 9.99987608e-01 2.68325493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062320588 meters 0.022281686476226567 Centerline is valid? [True, True] Translation: X:55.44, Y:-3.92, Z:0.27 [[ 9.99775789e-01 2.01541742e-02 6.49467413e-03 5.54361400e+01] [-2.01537971e-02 9.99796884e-01 -1.23518597e-04 -3.92479913e+00] [-6.49584437e-03 -7.40144149e-06 9.99978902e-01 2.67452498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.092320588 meters 0.022171087443606744 Centerline is valid? [True, True] Translation: X:55.47, Y:-3.92, Z:0.27 [[ 9.99793978e-01 1.89601757e-02 7.24666148e-03 5.54670852e+01] [-1.89596694e-02 9.99820240e-01 -1.38562948e-04 -3.91906013e+00] [-7.24798600e-03 1.14009540e-06 9.99973733e-01 2.68658032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122320588 meters 0.022085417978032557 Centerline is valid? [True, True] Translation: X:55.50, Y:-3.91, Z:0.27 [[ 9.99813447e-01 1.81454694e-02 6.61911567e-03 5.54991129e+01] [-1.81450204e-02 9.99835357e-01 -1.27886238e-04 -3.91438081e+00] [-6.62034644e-03 7.75839142e-06 9.99978085e-01 2.70087850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152320588 meters 0.021915817746361962 Centerline is valid? [True, True] Translation: X:55.53, Y:-3.92, Z:0.27 [[ 9.99871472e-01 1.56426952e-02 3.51370810e-03 5.55309244e+01] [-1.56425516e-02 9.99877645e-01 -6.83507272e-05 -3.91748513e+00] [-3.51434737e-03 1.33785819e-05 9.99993825e-01 2.70858937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182320588 meters 0.021915817746361962 Centerline is valid? [True, True] Translation: X:55.56, Y:-3.92, Z:0.27 [[ 9.99872453e-01 1.55798375e-02 3.51372757e-03 5.55600677e+01] [-1.55796971e-02 9.99878627e-01 -6.73418696e-05 -3.91806797e+00] [-3.51435027e-03 1.25904693e-05 9.99993825e-01 2.71005723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.212320588000004 meters 0.022051612319932686 Centerline is valid? [True, True] Translation: X:55.59, Y:-3.92, Z:0.27 [[ 9.99906855e-01 1.32783067e-02 3.15708327e-03 5.55898481e+01] [-1.32781826e-02 9.99911839e-01 -6.02767833e-05 -3.92424942e+00] [-3.15760531e-03 1.83508406e-05 9.99995015e-01 2.70437062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242320588 meters 0.022403933851354387 Centerline is valid? [True, True] Translation: X:55.62, Y:-3.93, Z:0.27 [[ 9.99948313e-01 9.58421560e-03 3.39315665e-03 5.56206327e+01] [-9.58404979e-03 9.99954070e-01 -6.51240562e-05 -3.92720117e+00] [-3.39362497e-03 3.26005078e-05 9.99994241e-01 2.70744937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.272320588 meters 0.022914635272720005 Centerline is valid? [True, True] Translation: X:55.65, Y:-3.93, Z:0.27 [[ 9.99976788e-01 5.36093060e-03 4.20510461e-03 5.56524249e+01] [-5.36063621e-03 9.99985628e-01 -8.12749648e-05 -3.92725924e+00] [-4.20547988e-03 5.87310423e-05 9.99991155e-01 2.71156525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302320588 meters 0.023423334399923064 Centerline is valid? [True, True] Translation: X:55.68, Y:-3.93, Z:0.27 [[ 9.99981101e-01 1.69213509e-03 5.91059251e-03 5.56844226e+01] [-1.69146456e-03 9.99998562e-01 -1.18443127e-04 -3.92700639e+00] [-5.91078443e-03 1.08443330e-04 9.99982525e-01 2.70888372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.332320588 meters 0.024619135067603076 Centerline is valid? [True, True] Translation: X:55.72, Y:-3.93, Z:0.27 [[ 9.99957441e-01 -4.19929750e-03 8.21474323e-03 5.57160541e+01] [ 4.20078988e-03 9.99991163e-01 -1.64424606e-04 -3.92843630e+00] [-8.21398016e-03 1.98926018e-04 9.99966245e-01 2.67296279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362320588 meters 0.024570210434617042 Centerline is valid? [True, True] Translation: X:55.75, Y:-3.93, Z:0.27 [[ 9.99962736e-01 -4.30115691e-03 7.48510907e-03 5.57491699e+01] [ 4.30243627e-03 9.99990732e-01 -1.54827053e-04 -3.92947971e+00] [-7.48437376e-03 1.87025488e-04 9.99971974e-01 2.67354911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.392320588000004 meters 0.024329999564339205 Centerline is valid? [True, True] Translation: X:55.78, Y:-3.93, Z:0.27 [[ 9.99971669e-01 -3.53659734e-03 6.64479904e-03 5.57810008e+01] [ 3.53760699e-03 9.99993733e-01 -1.40199094e-04 -3.92970268e+00] [-6.64426157e-03 1.63701809e-04 9.99977913e-01 2.68428372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422320588 meters 0.02401131938037174 Centerline is valid? [True, True] Translation: X:55.81, Y:-3.93, Z:0.27 [[ 9.99992268e-01 -2.14611754e-03 3.29508659e-03 5.58135325e+01] [ 2.14635815e-03 9.99997694e-01 -6.94845978e-05 -3.93109677e+00] [-3.29492987e-03 7.65564965e-05 9.99994569e-01 2.70046130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.452320588 meters 0.023726260593838373 Centerline is valid? [True, True] Translation: X:55.85, Y:-3.94, Z:0.27 [[ 9.99999231e-01 -8.93905762e-04 8.59970856e-04 5.58459041e+01] [ 8.93922167e-04 9.99999600e-01 -1.86916307e-05 -3.93501569e+00] [-8.59953803e-04 1.94603633e-05 9.99999630e-01 2.70932994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482320588 meters 0.02346851122422888 Centerline is valid? [True, True] Translation: X:55.88, Y:-3.94, Z:0.27 [[ 9.99999498e-01 9.90278981e-04 -1.55002301e-04 5.58767643e+01] [-9.90278534e-04 9.99999510e-01 2.96018918e-06 -3.94107157e+00] [ 1.55005157e-04 -2.80669224e-06 9.99999988e-01 2.71553532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512320588 meters 0.02349257507530972 Centerline is valid? [True, True] Translation: X:55.91, Y:-3.95, Z:0.27 [[ 9.99991997e-01 2.17282120e-03 3.35915591e-03 5.59066932e+01] [-2.17259553e-03 9.99997637e-01 -7.08286418e-05 -3.95139557e+00] [-3.35930187e-03 6.35299879e-05 9.99994356e-01 2.73063539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542320588 meters 0.023612379339666287 Centerline is valid? [True, True] Translation: X:55.94, Y:-3.95, Z:0.27 [[ 9.99978400e-01 1.99253633e-03 6.26340492e-03 5.59383528e+01] [-1.99174171e-03 9.99998008e-01 -1.33103187e-04 -3.95434091e+00] [-6.26365765e-03 1.20625227e-04 9.99980376e-01 2.72725123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.572320588000004 meters 0.023864502893948033 Centerline is valid? [True, True] Translation: X:55.97, Y:-3.96, Z:0.27 [[ 9.99981832e-01 4.56591645e-04 6.01060018e-03 5.59700817e+01] [-4.55808778e-04 9.99999887e-01 -1.31616934e-04 -3.95516317e+00] [-6.01065960e-03 1.28874858e-04 9.99981928e-01 2.73201897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602320588000005 meters 0.024152526305272294 Centerline is valid? [True, True] Translation: X:56.00, Y:-3.96, Z:0.27 [[ 9.99984281e-01 -1.25915324e-03 5.46364611e-03 5.60026780e+01] [ 1.25984013e-03 9.99999199e-01 -1.22280507e-04 -3.95646449e+00] [-5.46348776e-03 1.29161906e-04 9.99985067e-01 2.72054062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.632320588 meters 0.02441971763253519 Centerline is valid? [True, True] Translation: X:56.03, Y:-3.96, Z:0.27 [[ 9.99984507e-01 -3.02265171e-03 4.67434500e-03 5.60345608e+01] [ 3.02318433e-03 9.99995424e-01 -1.06884345e-04 -3.96496811e+00] [-4.67400054e-03 1.21014096e-04 9.99989069e-01 2.70108188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662320588 meters 0.02436619174072012 Centerline is valid? [True, True] Translation: X:56.07, Y:-3.97, Z:0.27 [[ 9.99979756e-01 -1.80895505e-03 6.10036248e-03 5.60680280e+01] [ 1.80985580e-03 9.99998352e-01 -1.42138471e-04 -3.97133296e+00] [-6.10009530e-03 1.53176370e-04 9.99981383e-01 2.70744519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.692320588 meters 0.02440085782796078 Centerline is valid? [True, True] Translation: X:56.10, Y:-3.98, Z:0.27 [[ 9.99980011e-01 -9.28135057e-04 6.25432977e-03 5.61004810e+01] [ 9.29057534e-04 9.99999558e-01 -1.44590487e-04 -3.97683852e+00] [-6.25419281e-03 1.50398229e-04 9.99980431e-01 2.71729314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722320588 meters 0.02411257701085499 Centerline is valid? [True, True] Translation: X:56.13, Y:-3.98, Z:0.27 [[ 9.99975440e-01 1.42939511e-03 6.86120899e-03 5.61321578e+01] [-1.42833508e-03 9.99998967e-01 -1.59393862e-04 -3.98098961e+00] [-6.86142975e-03 1.49589842e-04 9.99976449e-01 2.73585391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.752320588 meters 0.02353943957901211 Centerline is valid? [True, True] Translation: X:56.16, Y:-3.98, Z:0.27 [[ 9.99976804e-01 3.48439275e-03 5.85241512e-03 5.61647291e+01] [-3.48364949e-03 9.99993923e-01 -1.37190882e-04 -3.98423433e+00] [-5.85285758e-03 1.16799936e-04 9.99982865e-01 2.74259991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782320588000005 meters 0.02326833983122564 Centerline is valid? [True, True] Translation: X:56.20, Y:-3.99, Z:0.27 [[ 9.99967754e-01 6.20582547e-03 5.09688089e-03 5.61969833e+01] [-6.20529428e-03 9.99980740e-01 -1.20026191e-04 -3.98654038e+00] [-5.09752759e-03 8.83946751e-05 9.99987004e-01 2.72639574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.812320588 meters 0.022506917894342723 Centerline is valid? [True, True] Translation: X:56.23, Y:-3.99, Z:0.27 [[ 9.99893197e-01 1.38245344e-02 4.74092575e-03 5.62283333e+01] [-1.38241588e-02 9.99904435e-01 -1.11986754e-04 -3.99382588e+00] [-4.74202085e-03 4.64354834e-05 9.99988755e-01 2.70829146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842320588 meters 0.022294970860364947 Centerline is valid? [True, True] Translation: X:56.26, Y:-4.00, Z:0.27 [[ 9.99801596e-01 1.86069002e-02 7.11002143e-03 5.62600031e+01] [-1.86061704e-02 9.99826876e-01 -1.68791108e-04 -3.99894408e+00] [-7.11193120e-03 3.64673491e-05 9.99974709e-01 2.70525398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872320588 meters 0.022179302427555506 Centerline is valid? [True, True] Translation: X:56.29, Y:-4.00, Z:0.27 [[ 9.99695241e-01 2.33386302e-02 8.04571370e-03 5.62923197e+01] [-2.33378412e-02 9.99727617e-01 -1.91949980e-04 -4.00446190e+00] [-8.04800203e-03 4.12189274e-06 9.99967614e-01 2.71968269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902320588 meters 0.022255837183733165 Centerline is valid? [True, True] Translation: X:56.32, Y:-4.01, Z:0.27 [[ 9.99583235e-01 2.74979017e-02 8.78757502e-03 5.63243658e+01] [-2.74971118e-02 9.99621861e-01 -2.10710657e-04 -4.00846424e+00] [-8.79004620e-03 -3.10100925e-05 9.99961366e-01 2.73381562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.932320588 meters 0.022487285049900434 Centerline is valid? [True, True] Translation: X:56.36, Y:-4.01, Z:0.27 [[ 9.99462583e-01 3.13795220e-02 9.47997836e-03 5.63565104e+01] [-3.13787662e-02 9.99507539e-01 -2.28487565e-04 -4.00981626e+00] [-9.48247967e-03 -6.91052533e-05 9.99955038e-01 2.74242296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.962320588000004 meters 0.02303448103900883 Centerline is valid? [True, True] Translation: X:56.39, Y:-4.01, Z:0.27 [[ 9.99190665e-01 3.92147680e-02 8.95638021e-03 5.63877261e+01] [-3.92144055e-02 9.99230796e-01 -2.16143216e-04 -4.00659996e+00] [-8.95796693e-03 -1.35250841e-04 9.99959867e-01 2.72468202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.992320588 meters 0.023287740058901146 Centerline is valid? [True, True] Translation: X:56.42, Y:-4.00, Z:0.27 [[ 9.99041619e-01 4.31557038e-02 7.30952943e-03 5.64192253e+01] [-4.31555640e-02 9.99068349e-01 -1.76921492e-04 -4.00480132e+00] [-7.31035467e-03 -1.38694931e-04 9.99973269e-01 2.71501457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.022320588 meters 0.02368847143726258 Centerline is valid? [True, True] Translation: X:56.45, Y:-4.01, Z:0.27 [[ 9.98864264e-01 4.73793987e-02 5.03731928e-03 5.64483337e+01] [-4.73793920e-02 9.98876959e-01 -1.20736735e-04 -4.00571733e+00] [-5.03738260e-03 -1.18065515e-04 9.99987305e-01 2.71848486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052320588 meters 0.024528775969912937 Centerline is valid? [True, True] Translation: X:56.48, Y:-4.01, Z:0.27 [[ 9.98533947e-01 5.41118350e-02 1.36580427e-03 5.64775407e+01] [-5.41118418e-02 9.98534880e-01 -3.20478717e-05 -4.00888937e+00] [-1.36553738e-03 -4.19052969e-05 9.99999067e-01 2.74997985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082320588 meters 0.024891670889031308 Centerline is valid? [True, True] Translation: X:56.51, Y:-4.01, Z:0.28 [[ 9.98403426e-01 5.64432199e-02 2.18213313e-03 5.65059869e+01] [-5.64432430e-02 9.98405808e-01 -5.10692324e-05 -4.00613288e+00] [-2.18153691e-03 -7.21789741e-05 9.99997618e-01 2.76865909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112320588 meters 0.025025690294533953 Centerline is valid? [True, True] Translation: X:56.53, Y:-4.00, Z:0.28 [[ 9.98319799e-01 5.79104763e-02 1.98864945e-03 5.65345859e+01] [-5.79105032e-02 9.98321778e-01 -4.41065620e-05 -4.00077805e+00] [-1.98786629e-03 -7.11312366e-05 9.99998022e-01 2.77969332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.142320588000004 meters 0.025135576223385733 Centerline is valid? [True, True] Translation: X:56.56, Y:-4.00, Z:0.28 [[ 9.98237708e-01 5.92618131e-02 3.08463575e-03 5.65633884e+01] [-5.92618846e-02 9.98242468e-01 -6.82816115e-05 -3.99543052e+00] [-3.08326090e-03 -1.14640049e-04 9.99995240e-01 2.77943968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.172320588 meters 0.025548264493187308 Centerline is valid? [True, True] Translation: X:56.59, Y:-3.99, Z:0.27 [[ 9.98102756e-01 6.15576667e-02 1.24174059e-03 5.65923064e+01] [-6.15576825e-02 9.98103527e-01 -2.55696849e-05 -3.99139861e+00] [-1.24095967e-03 -5.09174997e-05 9.99999229e-01 2.74255911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.202320588 meters 0.025595488010511567 Centerline is valid? [True, True] Translation: X:56.62, Y:-3.99, Z:0.27 [[ 9.98082969e-01 6.18898976e-02 1.64046898e-04 5.66206554e+01] [-6.18898982e-02 9.98082983e-01 -1.32233756e-06 -3.98977806e+00] [-1.63814257e-04 -8.83304324e-06 9.99999987e-01 2.74276524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.232320588 meters 0.025726660246881698 Centerline is valid? [True, True] Translation: X:56.65, Y:-3.98, Z:0.27 [[ 9.98095359e-01 6.16840895e-02 8.52763798e-04 5.66497661e+01] [-6.16840983e-02 9.98095723e-01 -1.60698502e-05 -3.98481961e+00] [-8.52131153e-04 -3.65627230e-05 9.99999636e-01 2.74117686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262320588 meters 0.025777006372714406 Centerline is valid? [True, True] Translation: X:56.68, Y:-3.98, Z:0.28 [[ 9.98104142e-01 6.15357633e-02 1.21292158e-03 5.66788997e+01] [-6.15357803e-02 9.98104878e-01 -2.32730021e-05 -3.97760204e+00] [-1.21205507e-03 -5.14091961e-05 9.99999264e-01 2.75063873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292320588 meters 0.02588435748479056 Centerline is valid? [True, True] Translation: X:56.71, Y:-3.97, Z:0.27 [[ 9.98176468e-01 6.03375483e-02 1.76629622e-03 5.67072718e+01] [-6.03375822e-02 9.98178028e-01 -3.41416127e-05 -3.97166908e+00] [-1.76513810e-03 -7.24946888e-05 9.99998440e-01 2.74742330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.322320588000004 meters 0.025471944288099884 Centerline is valid? [True, True] Translation: X:56.74, Y:-3.97, Z:0.27 [[ 9.98344442e-01 5.75174904e-02 3.38239474e-04 5.67361480e+01] [-5.75174921e-02 9.98344499e-01 -4.56665332e-06 -3.96823673e+00] [-3.37942181e-04 -1.48955933e-05 9.99999943e-01 2.74788407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.352320588000005 meters 0.024664765161919882 Centerline is valid? [True, True] Translation: X:56.77, Y:-3.97, Z:0.28 [[ 9.98711436e-01 5.07404491e-02 9.35269954e-04 5.67656774e+01] [-5.07404540e-02 9.98711873e-01 -1.84764738e-05 -3.96674008e+00] [-9.35002713e-04 -2.90033564e-05 9.99999562e-01 2.76128408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382320588 meters 0.023989094038928994 Centerline is valid? [True, True] Translation: X:56.79, Y:-3.96, Z:0.28 [[ 9.98929386e-01 4.61239326e-02 3.55885300e-03 5.67946308e+01] [-4.61239840e-02 9.98935720e-01 -6.76788917e-05 -3.96414464e+00] [-3.55818701e-03 -9.65420451e-05 9.99993665e-01 2.78328376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.412320588 meters 0.023358620021004927 Centerline is valid? [True, True] Translation: X:56.82, Y:-3.96, Z:0.28 [[ 9.99172859e-01 4.01486005e-02 6.45657699e-03 5.68230058e+01] [-4.01486519e-02 9.99193710e-01 -1.21697934e-04 -3.96058882e+00] [-6.45625712e-03 -1.37625589e-04 9.99979149e-01 2.80443695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442320588 meters 0.02239902809092419 Centerline is valid? [True, True] Translation: X:56.85, Y:-3.96, Z:0.27 [[ 9.99531495e-01 2.94495455e-02 8.33756456e-03 5.68524167e+01] [-2.94492809e-02 9.99566264e-01 -1.54533762e-04 -3.95827299e+00] [-8.33849920e-03 -9.10739186e-05 9.99965230e-01 2.74531169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.472320588 meters 0.022259196378967235 Centerline is valid? [True, True] Translation: X:56.88, Y:-3.96, Z:0.27 [[ 9.99637159e-01 2.56108749e-02 8.34465842e-03 5.68830547e+01] [-2.56104586e-02 9.99671986e-01 -1.56760666e-04 -3.95982655e+00] [-8.34593603e-03 -5.70067422e-05 9.99965170e-01 2.71263860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.502320588 meters 0.022196531141575392 Centerline is valid? [True, True] Translation: X:56.91, Y:-3.96, Z:0.27 [[ 9.99677097e-01 2.40049482e-02 8.33447880e-03 5.69141705e+01] [-2.40044700e-02 9.99711839e-01 -1.57414484e-04 -3.95889926e+00] [-8.33585586e-03 -4.27010922e-05 9.99965255e-01 2.71011682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.532320588000005 meters 0.022100505614086198 Centerline is valid? [True, True] Translation: X:56.95, Y:-3.95, Z:0.27 [[ 9.99720092e-01 2.26728074e-02 6.75881009e-03 5.69454776e+01] [-2.26724593e-02 9.99742939e-01 -1.28134362e-04 -3.95452142e+00] [-6.75997783e-03 -2.51403508e-05 9.99977151e-01 2.74274016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562320588 meters 0.021871255242752647 Centerline is valid? [True, True] Translation: X:56.98, Y:-3.95, Z:0.28 [[ 9.99737119e-01 2.23332822e-02 5.18814842e-03 5.69764532e+01] [-2.23330738e-02 9.99750581e-01 -9.81156324e-05 -3.95058883e+00] [-5.18904564e-03 -1.77774619e-05 9.99986537e-01 2.77884387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.592320588 meters 0.021838604626419917 Centerline is valid? [True, True] Translation: X:57.01, Y:-3.95, Z:0.28 [[ 9.99763554e-01 2.16317064e-02 2.21501126e-03 5.70064393e+01] [-2.16316677e-02 9.99766007e-01 -4.14305061e-05 -3.95031458e+00] [-2.21538918e-03 -6.49367761e-06 9.99997546e-01 2.80489013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622320588 meters 0.021940438452639356 Centerline is valid? [True, True] Translation: X:57.03, Y:-3.96, Z:0.28 [[ 9.99843840e-01 1.75838548e-02 1.76190188e-03 5.70341661e+01] [-1.75838297e-02 9.99845392e-01 -2.97402497e-05 -3.95867273e+00] [-1.76215242e-03 -1.24537712e-06 9.99998447e-01 2.77085686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.652320588 meters 0.021989607847155684 Centerline is valid? [True, True] Translation: X:57.06, Y:-3.96, Z:0.27 [[ 9.99879730e-01 1.52162045e-02 2.99888580e-03 5.70619057e+01] [-1.52161201e-02 9.99884227e-01 -5.09592392e-05 -3.96266371e+00] [-2.99931401e-03 5.32170398e-06 9.99995502e-01 2.74610766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682320588 meters 0.022132601868898677 Centerline is valid? [True, True] Translation: X:57.09, Y:-3.96, Z:0.27 [[ 9.99919957e-01 1.19430260e-02 4.17651037e-03 5.70918757e+01] [-1.19428215e-02 9.99928679e-01 -7.39113553e-05 -3.96286138e+00] [-4.17709522e-03 2.40261217e-05 9.99991276e-01 2.73534390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.712320588000004 meters 0.022273811770831854 Centerline is valid? [True, True] Translation: X:57.12, Y:-3.96, Z:0.27 [[ 9.99935651e-01 9.53748272e-03 6.14247129e-03 5.71235316e+01] [-9.53698776e-03 9.99954516e-01 -1.09864947e-04 -3.96149283e+00] [-6.14323974e-03 5.12772040e-05 9.99981129e-01 2.73519344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.742320588 meters 0.02265694854731679 Centerline is valid? [True, True] Translation: X:57.16, Y:-3.96, Z:0.28 [[ 9.99981409e-01 5.41405894e-03 2.80534333e-03 5.71551997e+01] [-5.41393717e-03 9.99985343e-01 -5.09991143e-05 -3.96394344e+00] [-2.80557833e-03 3.58102136e-05 9.99996064e-01 2.77679052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.772320588 meters 0.02252185025954747 Centerline is valid? [True, True] Translation: X:57.19, Y:-3.97, Z:0.28 [[ 9.99992181e-01 3.83933913e-03 9.47231360e-04 5.71860533e+01] [-3.83932440e-03 9.99992630e-01 -1.73754546e-05 -3.96726729e+00] [-9.47291089e-04 1.37385903e-05 9.99999551e-01 2.77886004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802320588 meters 0.02286958458809776 Centerline is valid? [True, True] Translation: X:57.22, Y:-3.97, Z:0.28 [[ 9.99997056e-01 2.39735849e-03 -3.74258149e-04 5.72168487e+01] [-2.39735613e-03 9.99997126e-01 6.74382824e-06 -3.97025487e+00] [ 3.74273241e-04 -5.84657832e-06 9.99999930e-01 2.78327704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.832320588 meters 0.022974270373861072 Centerline is valid? [True, True] Translation: X:57.25, Y:-3.97, Z:0.28 [[ 9.99998591e-01 1.23861917e-03 1.13323251e-03 5.72466109e+01] [-1.23859725e-03 9.99999233e-01 -2.00429777e-05 -3.97283892e+00] [-1.13325647e-03 1.86393308e-05 9.99999358e-01 2.76698347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862320588 meters 0.023160743451582592 Centerline is valid? [True, True] Translation: X:57.28, Y:-3.98, Z:0.28 [[ 9.99997548e-01 9.92067144e-04 1.97965978e-03 5.72775655e+01] [-9.91997857e-04 9.99999507e-01 -3.59810389e-05 -3.97618021e+00] [-1.97969450e-03 3.40171325e-05 9.99998040e-01 2.76008629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.892320588000004 meters 0.02281885156873442 Centerline is valid? [True, True] Translation: X:57.31, Y:-3.98, Z:0.28 [[ 9.99991680e-01 2.51757826e-03 3.20955548e-03 5.73093082e+01] [-2.51740235e-03 9.99996830e-01 -5.88445531e-05 -3.98221867e+00] [-3.20969345e-03 5.07643210e-05 9.99994848e-01 2.75422882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.922320588 meters 0.022268609330684856 Centerline is valid? [True, True] Translation: X:57.34, Y:-3.99, Z:0.27 [[ 9.99963816e-01 8.49433475e-03 4.62393908e-04 5.73400840e+01] [-8.49433162e-03 9.99963922e-01 -8.72843445e-06 -3.99452111e+00] [-4.62451369e-04 4.80039142e-06 9.99999893e-01 2.74490530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.952320588 meters 0.02214798370050633 Centerline is valid? [True, True] Translation: X:57.37, Y:-4.00, Z:0.27 [[ 9.99935125e-01 1.13904279e-02 -5.85742396e-05 5.73695645e+01] [-1.13904278e-02 9.99935127e-01 1.37798042e-06 -3.99768866e+00] [ 5.85861356e-05 -7.10705375e-07 9.99999998e-01 2.74889692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.982320588 meters 0.02195863903668996 Centerline is valid? [True, True] Translation: X:57.40, Y:-4.00, Z:0.28 [[ 9.99895811e-01 1.43959501e-02 1.05963649e-03 5.73988200e+01] [-1.43959394e-02 9.99896373e-01 -1.77284305e-05 -3.99895230e+00] [-1.05978190e-03 2.47212071e-06 9.99999438e-01 2.75143573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012320588 meters 0.022076144125637978 Centerline is valid? [True, True] Translation: X:57.43, Y:-4.00, Z:0.27 [[ 9.99834045e-01 1.76069837e-02 4.67720610e-03 5.74270811e+01] [-1.76067958e-02 9.99844985e-01 -8.13570923e-05 -4.00084261e+00] [-4.67791351e-03 -1.00702183e-06 9.99989059e-01 2.74686785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042320588 meters 0.02194421396820611 Centerline is valid? [True, True] Translation: X:57.46, Y:-4.00, Z:0.28 [[ 9.99749035e-01 2.14438269e-02 6.48293922e-03 5.74582016e+01] [-2.14435309e-02 9.99770054e-01 -1.15181192e-04 -4.00475590e+00] [-6.48391842e-03 -2.38648217e-05 9.99978979e-01 2.75268759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.072320588000004 meters 0.02194421396820611 Centerline is valid? [True, True] Translation: X:57.49, Y:-4.01, Z:0.28 [[ 9.99747679e-01 2.15069810e-02 6.48293194e-03 5.74890476e+01] [-2.15066836e-02 9.99768698e-01 -1.15590710e-04 -4.00528363e+00] [-6.48391843e-03 -2.38648218e-05 9.99978979e-01 2.75424173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.102320588000005 meters 0.02221320888411208 Centerline is valid? [True, True] Translation: X:57.52, Y:-4.02, Z:0.28 [[ 9.99575946e-01 2.81442102e-02 7.47206772e-03 5.75201819e+01] [-2.81439944e-02 9.99603870e-01 -1.34047264e-04 -4.01584015e+00] [-7.47288047e-03 -7.63034117e-05 9.99972075e-01 2.75497074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.132320588 meters 0.02259031690756795 Centerline is valid? [True, True] Translation: X:57.55, Y:-4.02, Z:0.27 [[ 9.99502906e-01 3.10714233e-02 5.33919922e-03 5.75511272e+01] [-3.10713532e-02 9.99517164e-01 -9.61058051e-05 -4.01975535e+00] [-5.33960741e-03 -6.98381132e-05 9.99985742e-01 2.74924411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.162320588 meters 0.022884727659254787 Centerline is valid? [True, True] Translation: X:57.58, Y:-4.02, Z:0.27 [[ 9.99384676e-01 3.47681356e-02 4.63092641e-03 5.75808994e+01] [-3.47681266e-02 9.99395403e-01 -8.24610601e-05 -4.02201939e+00] [-4.63099358e-03 -7.85983160e-05 9.99989274e-01 2.74150513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192320588 meters 0.023000302266840047 Centerline is valid? [True, True] Translation: X:57.61, Y:-4.02, Z:0.27 [[ 9.99306059e-01 3.69377787e-02 4.79590561e-03 5.76097251e+01] [-3.69378136e-02 9.99317563e-01 -8.13223545e-05 -4.02327233e+00] [-4.79563658e-03 -9.58843462e-05 9.99988496e-01 2.74368494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222320588 meters 0.023632157244210115 Centerline is valid? [True, True] Translation: X:57.64, Y:-4.02, Z:0.28 [[ 9.99035063e-01 4.32204278e-02 7.80619211e-03 5.76391997e+01] [-4.32206897e-02 9.99065540e-01 -1.35222083e-04 -4.02374941e+00] [-7.80474190e-03 -2.02297405e-04 9.99969522e-01 2.77130203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.252320588 meters 0.02414057844023809 Centerline is valid? [True, True] Translation: X:57.67, Y:-4.02, Z:0.28 [[ 9.98928074e-01 4.54595214e-02 8.72558167e-03 5.76690709e+01] [-4.54599385e-02 9.98966151e-01 -1.50630052e-04 -4.02252161e+00] [-8.72340831e-03 -2.46195819e-04 9.99961920e-01 2.77937959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.282320588000005 meters 0.024181631980682926 Centerline is valid? [True, True] Translation: X:57.70, Y:-4.02, Z:0.28 [[ 9.98879044e-01 4.65494113e-02 8.59115887e-03 5.76986618e+01] [-4.65498606e-02 9.98915957e-01 -1.47758643e-04 -4.02176462e+00] [-8.58872376e-03 -2.52324236e-04 9.99963084e-01 2.77727619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.312320588 meters 0.024347242432437893 Centerline is valid? [True, True] Translation: X:57.73, Y:-4.02, Z:0.28 [[ 9.98871917e-01 4.66383529e-02 8.93064823e-03 5.77280926e+01] [-4.66388471e-02 9.98911805e-01 -1.53035283e-04 -4.02255632e+00] [-8.92806726e-03 -2.63652490e-04 9.99960109e-01 2.75622791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.342320588 meters 0.02431017801332323 Centerline is valid? [True, True] Translation: X:57.76, Y:-4.02, Z:0.27 [[ 9.98826613e-01 4.72687867e-02 1.05384173e-02 5.77577584e+01] [-4.72695163e-02 9.98882155e-01 -1.79977286e-04 -4.02377849e+00] [-1.05351443e-02 -3.18379785e-04 9.99944453e-01 2.73949853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372320588 meters 0.024457810658823284 Centerline is valid? [True, True] Translation: X:57.79, Y:-4.02, Z:0.27 [[ 9.98803631e-01 4.73959949e-02 1.20385414e-02 5.77878858e+01] [-4.73969518e-02 9.98876112e-01 -2.05962463e-04 -4.02443463e+00] [-1.20347732e-02 -3.64874109e-04 9.99927513e-01 2.73638266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402320588 meters 0.024323082746879866 Centerline is valid? [True, True] Translation: X:57.82, Y:-4.02, Z:0.28 [[ 9.98836382e-01 4.68701609e-02 1.13608781e-02 5.78191382e+01] [-4.68709672e-02 9.98900933e-01 -1.95412570e-04 -4.01831700e+00] [-1.13575508e-02 -3.37310163e-04 9.99935444e-01 2.77907170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.432320588 meters 0.024175273445231977 Centerline is valid? [True, True] Translation: X:57.85, Y:-4.01, Z:0.28 [[ 9.98937772e-01 4.51683023e-02 9.11877322e-03 5.78503342e+01] [-4.51687450e-02 9.98979359e-01 -1.57492612e-04 -4.01487635e+00] [-9.11657990e-03 -2.54558223e-04 9.99958411e-01 2.78826745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.462320588000004 meters 0.02374760179589403 Centerline is valid? [True, True] Translation: X:57.88, Y:-4.01, Z:0.28 [[ 9.99069450e-01 4.28018596e-02 5.31369358e-03 5.78797179e+01] [-4.28019809e-02 9.99083571e-01 -9.09274533e-05 -4.01174194e+00] [-5.31271582e-03 -1.36593770e-04 9.99985878e-01 2.79105970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.492320588 meters 0.023564869317526962 Centerline is valid? [True, True] Translation: X:57.91, Y:-4.01, Z:0.28 [[ 9.99162401e-01 4.07390711e-02 3.85028486e-03 5.79081928e+01] [-4.07391339e-02 9.99169815e-01 -6.21316007e-05 -4.00925339e+00] [-3.84961960e-03 -9.47777114e-05 9.99992586e-01 2.78554718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.522320588 meters 0.023111125083090767 Centerline is valid? [True, True] Translation: X:57.94, Y:-4.01, Z:0.28 [[ 9.99281735e-01 3.76562348e-02 4.24512978e-03 5.79366845e+01] [-3.76562905e-02 9.99290748e-01 -6.68242358e-05 -4.00605286e+00] [-4.24463526e-03 -9.30796018e-05 9.99990987e-01 2.77841678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552320588 meters 0.023027177537715243 Centerline is valid? [True, True] Translation: X:57.97, Y:-4.00, Z:0.28 [[ 9.99368717e-01 3.49384399e-02 6.43997721e-03 5.79654856e+01] [-3.49385234e-02 9.99389458e-01 -9.95703871e-05 -4.00373690e+00] [-6.43952417e-03 -1.25495764e-04 9.99979258e-01 2.78195763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582320588 meters 0.02271369220192466 Centerline is valid? [True, True] Translation: X:57.99, Y:-4.00, Z:0.28 [[ 9.99463771e-01 3.13814625e-02 9.34737820e-03 5.79939810e+01] [-3.13815119e-02 9.99507469e-01 -1.41418548e-04 -4.00035711e+00] [-9.34721225e-03 -1.51992145e-04 9.99956302e-01 2.79803255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612320588 meters 0.022647466944313292 Centerline is valid? [True, True] Translation: X:58.03, Y:-4.00, Z:0.28 [[ 9.99492044e-01 3.00105519e-02 1.07248060e-02 5.80258231e+01] [-3.00104996e-02 9.99549570e-01 -1.65844976e-04 -3.99822867e+00] [-1.07249523e-02 -1.56096053e-04 9.99942474e-01 2.80520906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.642320588000004 meters 0.02244099494057321 Centerline is valid? [True, True] Translation: X:58.06, Y:-4.00, Z:0.28 [[ 9.99536983e-01 2.85446243e-02 1.05367622e-02 5.80584711e+01] [-2.85444748e-02 9.99592510e-01 -1.64612000e-04 -3.99545092e+00] [-1.05371674e-02 -1.36230561e-04 9.99944473e-01 2.80820658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.672320588 meters 0.022195443404331473 Centerline is valid? [True, True] Translation: X:58.09, Y:-3.99, Z:0.28 [[ 9.99629861e-01 2.55048635e-02 9.46795951e-03 5.80906718e+01] [-2.55045944e-02 9.99674694e-01 -1.49188121e-04 -3.99202099e+00] [-9.46868455e-03 -9.23435666e-05 9.99955167e-01 2.80336905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.702320588 meters 0.021781284056654464 Centerline is valid? [True, True] Translation: X:58.12, Y:-3.99, Z:0.28 [[ 9.99836044e-01 1.68507454e-02 6.62858369e-03 5.81225711e+01] [-1.68504163e-02 9.99858016e-01 -1.05495340e-04 -3.98925417e+00] [-6.62942021e-03 -6.21635185e-06 9.99978025e-01 2.78258163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.732320588 meters 0.02197646114224322 Centerline is valid? [True, True] Translation: X:58.15, Y:-3.99, Z:0.28 [[ 9.99910168e-01 1.22592796e-02 5.41909018e-03 5.81548373e+01] [-1.22589879e-02 9.99924852e-01 -8.70422942e-05 -3.99185745e+00] [-5.41975002e-03 2.06019140e-05 9.99985313e-01 2.77535440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762320588 meters 0.022094168831356495 Centerline is valid? [True, True] Translation: X:58.19, Y:-3.99, Z:0.28 [[ 9.99958649e-01 8.00302415e-03 4.31881430e-03 5.81872681e+01] [-8.00279631e-03 9.99967975e-01 -7.00333191e-05 -3.99441320e+00] [-4.31923647e-03 3.54678319e-05 9.99990671e-01 2.77710662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792320588 meters 0.022368640135734207 Centerline is valid? [True, True] Translation: X:58.22, Y:-4.00, Z:0.28 [[ 9.99979403e-01 4.82743646e-03 4.22967057e-03 5.82193318e+01] [-4.82718729e-03 9.99988347e-01 -6.91171380e-05 -3.99512521e+00] [-4.22995493e-03 4.86983024e-05 9.99991053e-01 2.78820476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.822320588000004 meters 0.022556009093605202 Centerline is valid? [True, True] Translation: X:58.25, Y:-3.99, Z:0.28 [[ 9.99978665e-01 2.49725571e-03 6.03601427e-03 5.82513220e+01] [-2.49670294e-03 9.99996878e-01 -9.91111355e-05 -3.99436068e+00] [-6.03624293e-03 8.40388864e-05 9.99981778e-01 2.80180891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.852320588000005 meters 0.022835699357018156 Centerline is valid? [True, True] Translation: X:58.28, Y:-3.99, Z:0.28 [[ 9.99982564e-01 1.08477317e-04 5.90414775e-03 5.82837725e+01] [-1.07882850e-04 9.99999989e-01 -1.01004712e-04 -3.99449881e+00] [-5.90415865e-03 1.00365995e-04 9.99982565e-01 2.82146828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.882320588 meters 0.023046086848732848 Centerline is valid? [True, True] Translation: X:58.32, Y:-4.00, Z:0.28 [[ 9.99979309e-01 -2.21285097e-04 6.42902218e-03 5.83157262e+01] [ 2.21990793e-04 9.99999969e-01 -1.09053737e-04 -3.99752950e+00] [-6.42899785e-03 1.10478664e-04 9.99979328e-01 2.80704390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.912320588 meters 0.023020807891915438 Centerline is valid? [True, True] Translation: X:58.35, Y:-4.00, Z:0.28 [[ 9.99978728e-01 -2.14007577e-04 6.51910576e-03 5.83485227e+01] [ 2.14765779e-04 9.99999970e-01 -1.15604725e-04 -4.00052831e+00] [-6.51908082e-03 1.17002347e-04 9.99978744e-01 2.79807584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942320588 meters 0.022991700829631128 Centerline is valid? [True, True] Translation: X:58.38, Y:-4.00, Z:0.28 [[ 9.99969866e-01 6.02434857e-04 7.73975262e-03 5.83816159e+01] [-6.01394930e-04 9.99999810e-01 -1.36688503e-04 -4.00432250e+00] [-7.73983349e-03 1.32029736e-04 9.99970038e-01 2.79761435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.972320588 meters 0.023001236667313206 Centerline is valid? [True, True] Translation: X:58.41, Y:-4.01, Z:0.28 [[ 9.99967917e-01 6.05598314e-04 7.98734218e-03 5.84148359e+01] [-6.04479284e-04 9.99999807e-01 -1.42513822e-04 -4.00782960e+00] [-7.98742695e-03 1.37681067e-04 9.99968091e-01 2.79877534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.002320588 meters 0.022979759740220967 Centerline is valid? [True, True] Translation: X:58.45, Y:-4.01, Z:0.28 [[ 9.99964309e-01 1.04711812e-03 8.38357077e-03 5.84476890e+01] [-1.04588817e-03 9.99999442e-01 -1.51091522e-04 -4.01143312e+00] [-8.38372430e-03 1.42317852e-04 9.99964846e-01 2.81103077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.032320588000005 meters 0.022915094615866594 Centerline is valid? [True, True] Translation: X:58.48, Y:-4.02, Z:0.28 [[ 9.99962579e-01 1.07693507e-03 8.58378113e-03 5.84807252e+01] [-1.07563334e-03 9.99999409e-01 -1.56264586e-04 -4.01920046e+00] [-8.58394435e-03 1.47025737e-04 9.99963146e-01 2.84069617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.062320588 meters 0.023169685833080142 Centerline is valid? [True, True] Translation: X:58.51, Y:-4.02, Z:0.28 [[ 9.99977094e-01 -1.42587772e-04 6.76694353e-03 5.85138457e+01] [ 1.43458728e-04 9.99999981e-01 -1.28222133e-04 -4.02277081e+00] [-6.76692512e-03 1.29189973e-04 9.99977096e-01 2.84077098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.092320588 meters 0.023426182878094465 Centerline is valid? [True, True] Translation: X:58.55, Y:-4.03, Z:0.28 [[ 9.99983863e-01 -1.27344905e-03 5.53649786e-03 5.85464707e+01] [ 1.27406676e-03 9.99999183e-01 -1.08045584e-04 -4.02649574e+00] [-5.53635574e-03 1.15097708e-04 9.99984668e-01 2.82713149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122320588 meters 0.02376674139912745 Centerline is valid? [True, True] Translation: X:58.58, Y:-4.03, Z:0.28 [[ 9.99989224e-01 -2.58422526e-03 3.85669057e-03 5.85792709e+01] [ 2.58454472e-03 9.99996657e-01 -7.78510419e-05 -4.03115065e+00] [-3.85647649e-03 8.78179922e-05 9.99992560e-01 2.80990558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152320588 meters 0.023864269252232184 Centerline is valid? [True, True] Translation: X:58.61, Y:-4.04, Z:0.28 [[ 9.99986671e-01 -2.38200742e-03 4.58075955e-03 5.86127690e+01] [ 2.38246397e-03 9.99997157e-01 -9.42128334e-05 -4.03616718e+00] [-4.58052211e-03 1.05125072e-04 9.99989504e-01 2.80148555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182320588 meters 0.023742111024901785 Centerline is valid? [True, True] Translation: X:58.65, Y:-4.04, Z:0.28 [[ 9.99979072e-01 -1.92341835e-03 6.17707746e-03 5.86460697e+01] [ 1.92425312e-03 9.99998140e-01 -1.29198333e-04 -4.03984809e+00] [-6.17681747e-03 1.41081890e-04 9.99980913e-01 2.81085576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.212320588000004 meters 0.023251080358904233 Centerline is valid? [True, True] Translation: X:58.68, Y:-4.04, Z:0.29 [[ 9.99949359e-01 1.37691099e-03 9.96915522e-03 5.86777641e+01] [-1.37492153e-03 9.99999033e-01 -2.06411739e-04 -4.04451108e+00] [-9.96942980e-03 1.92694480e-04 9.99950285e-01 2.85930579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.242320588 meters 0.02289889617336653 Centerline is valid? [True, True] Translation: X:58.71, Y:-4.05, Z:0.29 [[ 9.99937079e-01 4.10267553e-03 1.04406456e-02 5.87102116e+01] [-4.10062887e-03 9.99991569e-01 -2.17427500e-04 -4.04907665e+00] [-1.04414496e-02 1.74600606e-04 9.99945471e-01 2.87072483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.272320588 meters 0.022449190058796798 Centerline is valid? [True, True] Translation: X:58.74, Y:-4.06, Z:0.29 [[ 9.99918213e-01 7.34687061e-03 1.04685449e-02 5.87428115e+01] [-7.34495959e-03 9.99973001e-01 -2.20984120e-04 -4.05507625e+00] [-1.04698858e-02 1.44075007e-04 9.99945179e-01 2.86402670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302320588 meters 0.02243800168503193 Centerline is valid? [True, True] Translation: X:58.78, Y:-4.06, Z:0.28 [[ 9.99907098e-01 1.06921636e-02 8.45419634e-03 5.87752462e+01] [-1.06910307e-02 9.99942833e-01 -1.79197091e-04 -4.06225290e+00] [-8.45562905e-03 8.87963714e-05 9.99964247e-01 2.83901867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332320588 meters 0.022195371760334863 Centerline is valid? [True, True] Translation: X:58.81, Y:-4.07, Z:0.28 [[ 9.99881600e-01 1.42072367e-02 5.91110384e-03 5.88077958e+01] [-1.42067352e-02 9.99899071e-01 -1.26828954e-04 -4.06975255e+00] [-5.91230913e-03 4.28364506e-05 9.99982521e-01 2.81372353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362320588 meters 0.02202675986980011 Centerline is valid? [True, True] Translation: X:58.84, Y:-4.08, Z:0.28 [[ 9.99804617e-01 1.91375489e-02 4.94800237e-03 5.88400518e+01] [-1.91372553e-02 9.99816860e-01 -1.06680198e-04 -4.07733006e+00] [-4.94913779e-03 1.19681694e-05 9.99987753e-01 2.79412675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.392320588000004 meters 0.021875536970618146 Centerline is valid? [True, True] Translation: X:58.87, Y:-4.08, Z:0.28 [[ 9.99764301e-01 2.11160264e-02 5.04537075e-03 5.88709747e+01] [-2.11157464e-02 9.99777032e-01 -1.08769843e-04 -4.07699615e+00] [-5.04654258e-03 2.20743653e-06 9.99987266e-01 2.82876866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.422320588 meters 0.021797383516381615 Centerline is valid? [True, True] Translation: X:58.90, Y:-4.08, Z:0.28 [[ 9.99708647e-01 2.30603900e-02 7.13016978e-03 5.89019404e+01] [-2.30598779e-02 9.99734074e-01 -1.54041684e-04 -4.07678551e+00] [-7.13182594e-03 -1.04240406e-05 9.99974568e-01 2.84914556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.452320588 meters 0.02179253751331745 Centerline is valid? [True, True] Translation: X:58.93, Y:-4.08, Z:0.29 [[ 9.99671411e-01 2.49117476e-02 6.03950661e-03 5.89340746e+01] [-2.49114070e-02 9.99689654e-01 -1.31643859e-04 -4.07924122e+00] [-6.04091176e-03 -1.88520044e-05 9.99981753e-01 2.86178080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.482320588 meters 0.02191891655258427 Centerline is valid? [True, True] Translation: X:58.97, Y:-4.09, Z:0.28 [[ 9.99614119e-01 2.75411198e-02 3.61936704e-03 5.89657164e+01] [-2.75410131e-02 9.99620671e-01 -7.93351700e-05 -4.08938044e+00] [-3.62017909e-03 -2.03764792e-05 9.99993447e-01 2.83511930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512320588 meters 0.022034624213511923 Centerline is valid? [True, True] Translation: X:59.00, Y:-4.09, Z:0.28 [[ 9.99606588e-01 2.76389378e-02 4.77056012e-03 5.89956491e+01] [-2.76387581e-02 9.99617971e-01 -1.03608534e-04 -4.09333290e+00] [-4.77160126e-03 -2.82845842e-05 9.99988615e-01 2.82292603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542320588 meters 0.022059643850623537 Centerline is valid? [True, True] Translation: X:59.03, Y:-4.10, Z:0.28 [[ 9.99572458e-01 2.81834179e-02 7.78429525e-03 5.90263389e+01] [-2.81829538e-02 9.99602767e-01 -1.69329332e-04 -4.09611053e+00] [-7.78597535e-03 -5.01274972e-05 9.99969688e-01 2.82286233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.572320588000004 meters 0.022112080660042464 Centerline is valid? [True, True] Translation: X:59.06, Y:-4.10, Z:0.28 [[ 9.99514232e-01 2.96692291e-02 9.54127586e-03 5.90585062e+01] [-2.96685814e-02 9.99559769e-01 -2.09447151e-04 -4.09812665e+00] [-9.54328963e-03 -7.37307119e-05 9.99954459e-01 2.84360980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.602320588 meters 0.02203819339963839 Centerline is valid? [True, True] Translation: X:59.09, Y:-4.10, Z:0.29 [[ 9.99497062e-01 3.06590258e-02 8.10225797e-03 5.90906442e+01] [-3.06585817e-02 9.99529899e-01 -1.79030620e-04 -4.09909884e+00] [-8.10393800e-03 -6.94631598e-05 9.99967160e-01 2.85360217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.632320588 meters 0.022075780638190566 Centerline is valid? [True, True] Translation: X:59.12, Y:-4.10, Z:0.29 [[ 9.99473451e-01 3.18753000e-02 6.06521283e-03 5.91230845e+01] [-3.18750678e-02 9.99491852e-01 -1.34976213e-04 -4.09885917e+00] [-6.06643321e-03 -5.84239285e-05 9.99981597e-01 2.85359835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.662320588 meters 0.022218642095839628 Centerline is valid? [True, True] Translation: X:59.15, Y:-4.10, Z:0.28 [[ 9.99421460e-01 3.39986011e-02 9.16665668e-04 5.91538839e+01] [-3.39985966e-02 9.99421880e-01 -2.04971850e-05 -4.09787982e+00] [-9.16832601e-04 -1.06800197e-05 9.99999580e-01 2.82879091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692320588 meters 0.022284501401607787 Centerline is valid? [True, True] Translation: X:59.18, Y:-4.10, Z:0.28 [[ 9.99433721e-01 3.36287468e-02 -1.15954300e-03 5.91815457e+01] [-3.36287371e-02 9.99434394e-01 2.78129897e-05 -4.10345407e+00] [ 1.15982247e-03 1.11967270e-05 9.99999327e-01 2.80768116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722320588 meters 0.022336953097536402 Centerline is valid? [True, True] Translation: X:59.21, Y:-4.11, Z:0.28 [[ 9.99441838e-01 3.33574418e-02 -1.81503584e-03 5.92092019e+01] [-3.33574224e-02 9.99443485e-01 4.09655446e-05 -4.11182083e+00] [ 1.81539226e-03 1.96022382e-05 9.99998352e-01 2.80047830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.752320588 meters 0.02234032757438525 Centerline is valid? [True, True] Translation: X:59.24, Y:-4.12, Z:0.28 [[ 9.99466171e-01 3.26343058e-02 -1.54133793e-03 5.92370076e+01] [-3.26342915e-02 9.99467359e-01 3.43889900e-05 -4.11920239e+00] [ 1.54163921e-03 1.59298392e-05 9.99998812e-01 2.82528792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.782320588000005 meters 0.022243025511809303 Centerline is valid? [True, True] Translation: X:59.27, Y:-4.12, Z:0.29 [[ 9.99473206e-01 3.24240020e-02 1.41208906e-03 5.92656920e+01] [-3.24239975e-02 9.99474204e-01 -2.60802746e-05 -4.12213947e+00] [-1.41219222e-03 -1.97190366e-05 9.99999003e-01 2.85727111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.812320588 meters 0.022397813353709786 Centerline is valid? [True, True] Translation: X:59.29, Y:-4.12, Z:0.29 [[ 9.99454226e-01 3.26732181e-02 4.86934461e-03 5.92942513e+01] [-3.26731507e-02 9.99466086e-01 -9.33965437e-05 -4.12015830e+00] [-4.86979637e-03 -6.57512602e-05 9.99988140e-01 2.87603334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.842320588 meters 0.02262176669550091 Centerline is valid? [True, True] Translation: X:59.32, Y:-4.11, Z:0.29 [[ 9.99352389e-01 3.49920035e-02 8.38818900e-03 5.93245587e+01] [-3.49918517e-02 9.99387584e-01 -1.64907499e-04 -4.11413863e+00] [-8.38882238e-03 -1.28717562e-04 9.99964805e-01 2.86113847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872320588 meters 0.02251216174090002 Centerline is valid? [True, True] Translation: X:59.36, Y:-4.12, Z:0.28 [[ 9.99364223e-01 3.46076574e-02 8.57083665e-03 5.93572280e+01] [-3.46074695e-02 9.99400968e-01 -1.70275924e-04 -4.11539990e+00] [-8.57159529e-03 -1.26447301e-04 9.99963255e-01 2.84096560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902320588 meters 0.02246567020721022 Centerline is valid? [True, True] Translation: X:59.39, Y:-4.12, Z:0.28 [[ 9.99427097e-01 3.27509547e-02 8.53536311e-03 5.93891384e+01] [-3.27506910e-02 9.99463538e-01 -1.70707060e-04 -4.11908408e+00] [-8.53637503e-03 -1.08929778e-04 9.99963559e-01 2.82759045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.932320588 meters 0.02237694707833347 Centerline is valid? [True, True] Translation: X:59.42, Y:-4.12, Z:0.28 [[ 9.99493757e-01 3.07392583e-02 8.20532455e-03 5.94217040e+01] [-3.07389377e-02 9.99527434e-01 -1.65217914e-04 -4.12349559e+00] [-8.20652567e-03 -8.70886866e-05 9.99966322e-01 2.83410141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.962320588000004 meters 0.02213976940807005 Centerline is valid? [True, True] Translation: X:59.45, Y:-4.13, Z:0.29 [[ 9.99577234e-01 2.80021708e-02 7.82504372e-03 5.94535386e+01] [-2.80017871e-02 9.99607860e-01 -1.58606219e-04 -4.12722103e+00] [-7.82641653e-03 -6.05760423e-05 9.99969371e-01 2.85464320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.992320588 meters 0.02213976940807005 Centerline is valid? [True, True] Translation: X:59.49, Y:-4.13, Z:0.29 [[ 9.99573559e-01 2.81330448e-02 7.82502290e-03 5.94852239e+01] [-2.81326571e-02 9.99604186e-01 -1.59632363e-04 -4.12782558e+00] [-7.82641659e-03 -6.05743969e-05 9.99969371e-01 2.85623954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.022320588 meters 0.022116595124330857 Centerline is valid? [True, True] Translation: X:59.52, Y:-4.13, Z:0.29 [[ 9.99732553e-01 2.14691962e-02 8.59632166e-03 5.95170609e+01] [-2.14684726e-02 9.99769510e-01 -1.76444209e-04 -4.13398801e+00] [-8.59812841e-03 -8.15287704e-06 9.99963035e-01 2.88094554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052320588 meters 0.022119248833501647 Centerline is valid? [True, True] Translation: X:59.55, Y:-4.14, Z:0.29 [[ 9.99799430e-01 1.80444461e-02 8.68896100e-03 5.95489148e+01] [-1.80435678e-02 9.99837185e-01 -1.79474708e-04 -4.13675413e+00] [-8.69078483e-03 2.26588533e-05 9.99962234e-01 2.88553385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082320588 meters 0.022146284162792934 Centerline is valid? [True, True] Translation: X:59.58, Y:-4.14, Z:0.29 [[ 9.99840256e-01 1.56725545e-02 8.59258705e-03 5.95814603e+01] [-1.56715909e-02 9.99877177e-01 -1.79468584e-04 -4.13811529e+00] [-8.59434441e-03 4.47804069e-05 9.99963067e-01 2.88701775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112320588 meters 0.022160329745297355 Centerline is valid? [True, True] Translation: X:59.61, Y:-4.14, Z:0.29 [[ 9.99845229e-01 1.54581724e-02 8.40018265e-03 5.96140849e+01] [-1.54572299e-02 9.99880514e-01 -1.77117251e-04 -4.13811982e+00] [-8.40191685e-03 4.72462837e-05 9.99964702e-01 2.88687812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.142320588000004 meters 0.02210489505840966 Centerline is valid? [True, True] Translation: X:59.65, Y:-4.14, Z:0.29 [[ 9.99800539e-01 1.74817607e-02 9.65764846e-03 5.96466941e+01] [-1.74805926e-02 9.99847182e-01 -2.05354274e-04 -4.13862138e+00] [-9.65976255e-03 3.64918957e-05 9.99953343e-01 2.88040205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.172320588 meters 0.022083499233056192 Centerline is valid? [True, True] Translation: X:59.68, Y:-4.14, Z:0.29 [[ 9.99753885e-01 1.99065375e-02 9.79277948e-03 5.96795420e+01] [-1.99054341e-02 9.99801845e-01 -2.10140414e-04 -4.14124127e+00] [-9.79502216e-03 1.51591684e-05 9.99952028e-01 2.86938291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.202320588 meters 0.022139003993093553 Centerline is valid? [True, True] Translation: X:59.71, Y:-4.15, Z:0.29 [[ 9.99608694e-01 2.66653377e-02 8.45090690e-03 5.97111285e+01] [-2.66647463e-02 9.99644416e-01 -1.82664593e-04 -4.15050657e+00] [-8.45277270e-03 -4.27481730e-05 9.99964274e-01 2.87393132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.232320588 meters 0.022400130143997544 Centerline is valid? [True, True] Translation: X:59.74, Y:-4.15, Z:0.29 [[ 9.99547182e-01 2.91030252e-02 7.64492403e-03 5.97431705e+01] [-2.91026055e-02 9.99576416e-01 -1.66167241e-04 -4.15102626e+00] [-7.64652172e-03 -5.63952103e-05 9.99970763e-01 2.88051906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262320588 meters 0.022204254702306064 Centerline is valid? [True, True] Translation: X:59.78, Y:-4.15, Z:0.29 [[ 9.99469677e-01 3.19009300e-02 6.53417408e-03 5.97757765e+01] [-3.19006745e-02 9.99491034e-01 -1.43348496e-04 -4.14863127e+00] [-6.53542135e-03 -6.51720859e-05 9.99978642e-01 2.89641328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292320588 meters 0.022357652013756626 Centerline is valid? [True, True] Translation: X:59.81, Y:-4.15, Z:0.29 [[ 9.99404933e-01 3.36594923e-02 7.53785527e-03 5.98072868e+01] [-3.36592032e-02 9.99433355e-01 -1.65248067e-04 -4.14635337e+00] [-7.53914615e-03 -8.85684693e-05 9.99971576e-01 2.89476063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.322320588000004 meters 0.02232237581905768 Centerline is valid? [True, True] Translation: X:59.84, Y:-4.15, Z:0.29 [[ 9.99388759e-01 3.38598162e-02 8.69603241e-03 5.98390312e+01] [-3.38594264e-02 9.99426587e-01 -1.92081400e-04 -4.14692962e+00] [-8.69754983e-03 -1.02478678e-04 9.99962170e-01 2.89285556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.352320588 meters 0.022422859337857756 Centerline is valid? [True, True] Translation: X:59.87, Y:-4.15, Z:0.29 [[ 9.99394530e-01 3.36007356e-02 9.03130679e-03 5.98706444e+01] [-3.36002941e-02 9.99435331e-01 -2.00656234e-04 -4.15102200e+00] [-9.03294929e-03 -1.02919822e-04 9.99959197e-01 2.89292231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.382320588 meters 0.022415513358058636 Centerline is valid? [True, True] Translation: X:59.90, Y:-4.16, Z:0.29 [[ 9.99470234e-01 3.18890042e-02 6.50706987e-03 5.99029718e+01] [-3.18887319e-02 9.99491414e-01 -1.45624633e-04 -4.15561667e+00] [-6.50840429e-03 -6.19547204e-05 9.99978818e-01 2.88808625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.412320588 meters 0.022287444701478372 Centerline is valid? [True, True] Translation: X:59.93, Y:-4.15, Z:0.29 [[ 9.99465544e-01 3.23512270e-02 4.69293281e-03 5.99348936e+01] [-3.23510867e-02 9.99476561e-01 -1.05820512e-04 -4.15312406e+00] [-4.69389977e-03 -4.60575202e-05 9.99988983e-01 2.87666643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442320588 meters 0.022598688431815193 Centerline is valid? [True, True] Translation: X:59.97, Y:-4.15, Z:0.29 [[ 9.99446146e-01 3.30396692e-02 3.97257832e-03 5.99665556e+01] [-3.30395740e-02 9.99454040e-01 -8.96054001e-05 -4.14936282e+00] [-3.97336998e-03 -4.16965237e-05 9.99992105e-01 2.87223201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.472320588 meters 0.022606202986904154 Centerline is valid? [True, True] Translation: X:60.00, Y:-4.15, Z:0.29 [[ 9.99404528e-01 3.42436792e-02 4.23784172e-03 5.99975309e+01] [-3.42435831e-02 9.99413512e-01 -9.52379239e-05 -4.14779523e+00] [-4.23861758e-03 -4.99376729e-05 9.99991016e-01 2.86238843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.502320588 meters 0.023000538825898056 Centerline is valid? [True, True] Translation: X:60.03, Y:-4.15, Z:0.29 [[ 9.99190358e-01 4.00742244e-02 3.56146864e-03 6.00280749e+01] [-4.00741936e-02 9.99196704e-01 -8.00376469e-05 -4.14923551e+00] [-3.56181517e-03 -6.27501386e-05 9.99993655e-01 2.89992197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.532320588000005 meters 0.02315983931141541 Centerline is valid? [True, True] Translation: X:60.06, Y:-4.15, Z:0.29 [[ 9.99071393e-01 4.30306673e-02 2.17084667e-03 6.00580368e+01] [-4.30306638e-02 9.99073751e-01 -4.83162966e-05 -4.14854036e+00] [-2.17091501e-03 -4.51415435e-05 9.99997643e-01 2.92849654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.562320588 meters 0.023338452288397135 Centerline is valid? [True, True] Translation: X:60.09, Y:-4.15, Z:0.29 [[ 9.98988941e-01 4.49559460e-02 2.41200218e-04 6.00872453e+01] [-4.49559466e-02 9.98988970e-01 -2.97298403e-06 -4.14799003e+00] [-2.41090011e-04 -7.87340594e-06 9.99999971e-01 2.94108732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.592320588 meters 0.02346296959910273 Centerline is valid? [True, True] Translation: X:60.12, Y:-4.15, Z:0.29 [[ 9.98977781e-01 4.52002300e-02 5.76620778e-04 6.01156512e+01] [-4.52002317e-02 9.98977947e-01 -1.00723239e-05 -4.14884589e+00] [-5.76486712e-04 -1.60013650e-05 9.99999834e-01 2.92733001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622320588 meters 0.023465504404131657 Centerline is valid? [True, True] Translation: X:60.14, Y:-4.15, Z:0.29 [[ 9.99007503e-01 4.45301977e-02 1.03487579e-03 6.01430705e+01] [-4.45302018e-02 9.99008038e-01 -1.90435390e-05 -4.15097934e+00] [-1.03469724e-03 -2.70585893e-05 9.99999464e-01 2.92227657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.652320588 meters 0.023397063565099487 Centerline is valid? [True, True] Translation: X:60.17, Y:-4.15, Z:0.29 [[ 9.99033310e-01 4.35528745e-02 5.96592974e-03 6.01716163e+01] [-4.35529342e-02 9.99051114e-01 -1.19968361e-04 -4.14802971e+00] [-5.96549372e-03 -1.39981357e-04 9.99982196e-01 2.91640289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682320588 meters 0.023600632625135513 Centerline is valid? [True, True] Translation: X:60.20, Y:-4.14, Z:0.29 [[ 9.98974803e-01 4.46686810e-02 7.35194773e-03 6.02025626e+01] [-4.46687778e-02 9.99001841e-01 -1.51115543e-04 -4.14421382e+00] [-7.35135944e-03 -1.77441900e-04 9.99972963e-01 2.90877569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.712320588000004 meters 0.023707846378755393 Centerline is valid? [True, True] Translation: X:60.23, Y:-4.14, Z:0.29 [[ 9.98904444e-01 4.62518622e-02 7.11870941e-03 6.02336536e+01] [-4.62519887e-02 9.98929793e-01 -1.46946703e-04 -4.14027786e+00] [-7.11788748e-03 -1.82468752e-04 9.99974651e-01 2.90347689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.742320588 meters 0.023955075323816365 Centerline is valid? [True, True] Translation: X:60.27, Y:-4.14, Z:0.29 [[ 9.98828774e-01 4.79588799e-02 6.40522618e-03 6.02652388e+01] [-4.79590145e-02 9.98849296e-01 -1.32672817e-04 -4.13896915e+00] [-6.40421850e-03 -1.74670908e-04 9.99979478e-01 2.90477366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.772320588 meters 0.0240029981933148 Centerline is valid? [True, True] Translation: X:60.30, Y:-4.14, Z:0.29 [[ 9.98776072e-01 4.92514893e-02 4.54412807e-03 6.02952595e+01] [-4.92515712e-02 9.98786401e-01 -9.39331971e-05 -4.13900739e+00] [-4.54323967e-03 -1.29987218e-04 9.99989671e-01 2.91036747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802320588 meters 0.024169287180315108 Centerline is valid? [True, True] Translation: X:60.32, Y:-4.14, Z:0.29 [[ 9.98733072e-01 5.01562576e-02 4.07447781e-03 6.03241869e+01] [-5.01563481e-02 9.98741375e-01 -8.00284383e-05 -4.14037030e+00] [-4.07336350e-03 -1.24433879e-04 9.99991696e-01 2.91951023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832320588 meters 0.024064744708510034 Centerline is valid? [True, True] Translation: X:60.35, Y:-4.14, Z:0.29 [[ 9.98811791e-01 4.81968756e-02 7.21583032e-03 6.03518497e+01] [-4.81971256e-02 9.98837834e-01 -1.39339969e-04 -4.14126742e+00] [-7.21416008e-03 -2.08607877e-04 9.99973956e-01 2.93367089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862320588 meters 0.023910381554369937 Centerline is valid? [True, True] Translation: X:60.38, Y:-4.14, Z:0.29 [[ 9.98807660e-01 4.76472032e-02 1.06302827e-02 6.03827063e+01] [-4.76476559e-02 9.98864183e-01 -2.10814994e-04 -4.14023572e+00] [-1.06282534e-02 -2.95944424e-04 9.99943475e-01 2.93957966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.892320588000004 meters 0.024197058976217226 Centerline is valid? [True, True] Translation: X:60.41, Y:-4.14, Z:0.29 [[ 9.98727157e-01 4.85814843e-02 1.35611913e-02 6.04145183e+01] [-4.85822914e-02 9.98819147e-01 -2.70106213e-04 -4.13758594e+00] [-1.35582997e-02 -3.89071339e-04 9.99908006e-01 2.94024445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.922320588 meters 0.02427349951613453 Centerline is valid? [True, True] Translation: X:60.45, Y:-4.13, Z:0.29 [[ 9.98638526e-01 5.00489246e-02 1.47037210e-02 6.04466219e+01] [-5.00500027e-02 9.98746670e-01 -2.94885277e-04 -4.13172785e+00] [-1.47000511e-02 -4.41437477e-04 9.99891851e-01 2.94246324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.952320588 meters 0.024780943050554557 Centerline is valid? [True, True] Translation: X:60.48, Y:-4.12, Z:0.29 [[ 9.98434483e-01 5.51098835e-02 9.56471449e-03 6.04785270e+01] [-5.51105619e-02 9.98480240e-01 -1.92825385e-04 -4.12122487e+00] [-9.56080500e-03 -3.34593276e-04 9.99954238e-01 2.92818754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.982320588 meters 0.02500823826375885 Centerline is valid? [True, True] Translation: X:60.51, Y:-4.12, Z:0.29 [[ 9.98369153e-01 5.67585373e-02 6.12395019e-03 6.05094262e+01] [-5.67588483e-02 9.98387910e-01 -1.23143729e-04 -4.12126117e+00] [-6.12106729e-03 -2.24645460e-04 9.99981241e-01 2.91646893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012320588 meters 0.024924979960549234 Centerline is valid? [True, True] Translation: X:60.54, Y:-4.12, Z:0.29 [[ 9.98328091e-01 5.77332898e-02 2.80886399e-03 6.05386241e+01] [-5.77333684e-02 9.98332037e-01 -5.31504676e-05 -4.12148024e+00] [-2.80724745e-03 -1.09103574e-04 9.99996054e-01 2.92114888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042320588 meters 0.025039890936556466 Centerline is valid? [True, True] Translation: X:60.57, Y:-4.12, Z:0.29 [[ 9.98303505e-01 5.81956534e-02 1.83777315e-03 6.05671357e+01] [-5.81956911e-02 9.98305194e-01 -3.29877297e-05 -4.12172586e+00] [-1.83657823e-03 -7.40187126e-05 9.99998311e-01 2.93243548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.072320588000004 meters 0.02524797088977092 Centerline is valid? [True, True] Translation: X:60.60, Y:-4.12, Z:0.29 [[ 9.98277279e-01 5.86185507e-02 2.51774301e-03 6.05954862e+01] [-5.86186179e-02 9.98280449e-01 -4.71567202e-05 -4.11908443e+00] [-2.51617789e-03 -1.00511133e-04 9.99996829e-01 2.94566349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.102320588 meters 0.02528640017445413 Centerline is valid? [True, True] Translation: X:60.62, Y:-4.11, Z:0.30 [[ 9.98233441e-01 5.93325087e-02 3.10658645e-03 6.06243083e+01] [-5.93326228e-02 9.98238267e-01 -5.54944697e-05 -4.11477874e+00] [-3.10440609e-03 -1.28925486e-04 9.99995173e-01 2.95628498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.132320588 meters 0.025167694912792343 Centerline is valid? [True, True] Translation: X:60.65, Y:-4.11, Z:0.30 [[ 9.98280158e-01 5.82228143e-02 6.84326632e-03 6.06528704e+01] [-5.82233501e-02 9.98303574e-01 -1.21067642e-04 -4.10541970e+00] [-6.83870613e-03 -2.77578466e-04 9.99976577e-01 2.95257721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.162320588 meters 0.025032531049272305 Centerline is valid? [True, True] Translation: X:60.68, Y:-4.10, Z:0.30 [[ 9.98400092e-01 5.57690300e-02 9.33125374e-03 6.06816132e+01] [-5.57699470e-02 9.98443632e-01 -1.62115069e-04 -4.10120141e+00] [-9.32577188e-03 -3.58547826e-04 9.99956450e-01 2.95674957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192320588 meters 0.0248089499885813 Centerline is valid? [True, True] Translation: X:60.71, Y:-4.10, Z:0.30 [[ 9.98505937e-01 5.36771036e-02 1.02305017e-02 6.07103852e+01] [-5.36781413e-02 9.98558274e-01 -1.73328234e-04 -4.09647223e+00] [-1.02250559e-02 -3.76085044e-04 9.99947652e-01 2.96274043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222320588 meters 0.02484378723474401 Centerline is valid? [True, True] Translation: X:60.74, Y:-4.09, Z:0.30 [[ 9.98562889e-01 5.26303865e-02 1.01093864e-02 6.07401044e+01] [-5.26313332e-02 9.98613996e-01 -1.72556930e-04 -4.09138786e+00] [-1.01044565e-02 -3.59761537e-04 9.99948884e-01 2.96320065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.252320588 meters 0.02448564453833969 Centerline is valid? [True, True] Translation: X:60.77, Y:-4.09, Z:0.30 [[ 9.98685217e-01 5.04396534e-02 9.14760714e-03 6.07700963e+01] [-5.04403424e-02 9.98727064e-01 -1.55517820e-04 -4.08583958e+00] [-9.14380708e-03 -3.06095088e-04 9.99958148e-01 2.96060834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.282320588000005 meters 0.02390739569534884 Centerline is valid? [True, True] Translation: X:60.80, Y:-4.08, Z:0.29 [[ 9.98968072e-01 4.49768497e-02 6.31456717e-03 6.07992867e+01] [-4.49770768e-02 9.98988014e-01 -1.06099625e-04 -4.07598800e+00] [-6.31294894e-03 -1.78020635e-04 9.99980057e-01 2.92548214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.312320588 meters 0.023567393577268753 Centerline is valid? [True, True] Translation: X:60.83, Y:-4.07, Z:0.29 [[ 9.99128851e-01 4.12192638e-02 6.52003983e-03 6.08277017e+01] [-4.12194555e-02 9.99150112e-01 -1.05020301e-04 -4.07161546e+00] [-6.51882739e-03 -1.63823679e-04 9.99978739e-01 2.92384186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.342320588 meters 0.023080743821907928 Centerline is valid? [True, True] Translation: X:60.86, Y:-4.07, Z:0.29 [[ 9.99289751e-01 3.70517116e-02 6.86766118e-03 6.08570292e+01] [-3.70518292e-02 9.99313339e-01 -1.10163244e-04 -4.06710437e+00] [-6.86702717e-03 -1.44374408e-04 9.99976411e-01 2.93049309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372320588 meters 0.022790428526540136 Centerline is valid? [True, True] Translation: X:60.89, Y:-4.06, Z:0.29 [[ 9.99409235e-01 3.35539167e-02 7.43743056e-03 6.08858400e+01] [-3.35539898e-02 9.99436900e-01 -1.14980865e-04 -4.06310028e+00] [-7.43710060e-03 -1.34642531e-04 9.99972335e-01 2.93883357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402320588 meters 0.022325223368388124 Centerline is valid? [True, True] Translation: X:60.92, Y:-4.06, Z:0.29 [[ 9.99596735e-01 2.69824308e-02 8.84958210e-03 6.09154347e+01] [-2.69822608e-02 9.99635903e-01 -1.38622612e-04 -4.05707624e+00] [-8.85010037e-03 -1.00215021e-04 9.99960832e-01 2.92572101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.432320588 meters 0.02214272816129912 Centerline is valid? [True, True] Translation: X:60.95, Y:-4.06, Z:0.29 [[ 9.99677065e-01 2.40266919e-02 8.27553378e-03 6.09480483e+01] [-2.40264254e-02 9.99711315e-01 -1.31633654e-04 -4.05614029e+00] [-8.27630748e-03 -6.72403500e-05 9.99965749e-01 2.92048786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.462320588000004 meters 0.022061261872986713 Centerline is valid? [True, True] Translation: X:60.98, Y:-4.06, Z:0.29 [[ 9.99739354e-01 2.11210200e-02 8.66755712e-03 6.09804374e+01] [-2.11206091e-02 9.99776925e-01 -1.38950648e-04 -4.05557150e+00] [-8.66855839e-03 -4.41496547e-05 9.99962426e-01 2.91563528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.492320588 meters 0.02196885180535337 Centerline is valid? [True, True] Translation: X:61.01, Y:-4.05, Z:0.29 [[ 9.99804027e-01 1.81985258e-02 7.79235691e-03 6.10131109e+01] [-1.81980965e-02 9.99834393e-01 -1.25998502e-04 -4.05399176e+00] [-7.79335942e-03 -1.58322529e-05 9.99969631e-01 2.92388867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.522320588 meters 0.021990155734683353 Centerline is valid? [True, True] Translation: X:61.04, Y:-4.05, Z:0.29 [[ 9.99854056e-01 1.53452973e-02 7.50923279e-03 6.10449464e+01] [-1.53448109e-02 9.99882254e-01 -1.22390736e-04 -4.05117529e+00] [-7.51022673e-03 7.14511669e-06 9.99971798e-01 2.93897254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.552320588 meters 0.021956609507096814 Centerline is valid? [True, True] Translation: X:61.08, Y:-4.05, Z:0.30 [[ 9.99907973e-01 1.24862264e-02 5.30475988e-03 6.10776361e+01] [-1.24859390e-02 9.99922044e-01 -8.73077666e-05 -4.04859630e+00] [-5.30543649e-03 2.10648239e-05 9.99985926e-01 2.96148519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582320588 meters 0.022365276887401548 Centerline is valid? [True, True] Translation: X:61.11, Y:-4.05, Z:0.30 [[ 9.99960347e-01 6.54482670e-03 6.03906944e-03 6.11099578e+01] [-6.54432091e-03 9.99978580e-01 -1.03509463e-04 -4.04731858e+00] [-6.03961753e-03 6.39837496e-05 9.99981759e-01 2.96738600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612320588 meters 0.022710553807516912 Centerline is valid? [True, True] Translation: X:61.14, Y:-4.05, Z:0.30 [[ 9.99973119e-01 4.05103306e-03 6.11144480e-03 6.11421415e+01] [-4.05047367e-03 9.99991791e-01 -1.03906199e-04 -4.04937442e+00] [-6.11181556e-03 7.91491596e-05 9.99981320e-01 2.95473881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.642320588000004 meters 0.022952540602146874 Centerline is valid? [True, True] Translation: X:61.17, Y:-4.05, Z:0.29 [[ 9.99987025e-01 1.16621649e-03 4.95876544e-03 6.11742285e+01] [-1.16580769e-03 9.99999317e-01 -8.53295330e-05 -4.05181041e+00] [-4.95886156e-03 7.95474590e-05 9.99987702e-01 2.94995218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.672320588 meters 0.023204112227277564 Centerline is valid? [True, True] Translation: X:61.21, Y:-4.05, Z:0.30 [[ 9.99993346e-01 6.16652780e-04 3.59553107e-03 6.12072703e+01] [-6.16420923e-04 9.99999808e-01 -6.55926296e-05 -4.05472363e+00] [-3.59557083e-03 6.33758325e-05 9.99993534e-01 2.96272967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.702320588 meters 0.022910378746854344 Centerline is valid? [True, True] Translation: X:61.24, Y:-4.06, Z:0.30 [[ 9.99993212e-01 2.19618030e-03 2.95858547e-03 6.12396849e+01] [-2.19603341e-03 9.99997587e-01 -5.28980312e-05 -4.05763068e+00] [-2.95869451e-03 4.64005196e-05 9.99995622e-01 2.97058082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.732320588 meters 0.02276643408321107 Centerline is valid? [True, True] Translation: X:61.27, Y:-4.06, Z:0.30 [[ 9.99993747e-01 3.51837187e-03 3.57177455e-04 6.12723515e+01] [-3.51836954e-03 9.99993810e-01 -7.14027192e-06 -4.05936533e+00] [-3.57200366e-04 5.88354499e-06 9.99999936e-01 2.97484209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762320588 meters 0.022712281921604044 Centerline is valid? [True, True] Translation: X:61.30, Y:-4.06, Z:0.30 [[ 9.99986236e-01 4.98108852e-03 -1.64797731e-03 6.13030572e+01] [-4.98104687e-03 9.99987594e-01 2.93740684e-05 -4.06029309e+00] [ 1.64810318e-03 -2.11650119e-05 9.99998642e-01 2.97005450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792320588 meters 0.022572407229087828 Centerline is valid? [True, True] Translation: X:61.33, Y:-4.06, Z:0.30 [[ 9.99983124e-01 5.64070615e-03 -1.39073336e-03 6.13304777e+01] [-5.64067460e-03 9.99984091e-01 2.66072221e-05 -4.06313921e+00] [ 1.39086131e-03 -1.87620987e-05 9.99999033e-01 2.96261203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.822320588000004 meters 0.02256269712814199 Centerline is valid? [True, True] Translation: X:61.36, Y:-4.07, Z:0.30 [[ 9.99972463e-01 6.58988417e-03 3.41266067e-03 6.13586944e+01] [-6.58972525e-03 9.99978286e-01 -5.78081121e-05 -4.06749044e+00] [-3.41296752e-03 3.53180241e-05 9.99994175e-01 2.96901089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.852320588 meters 0.02256269712814199 Centerline is valid? [True, True] Translation: X:61.39, Y:-4.07, Z:0.30 [[ 9.99971634e-01 6.71456406e-03 3.41262901e-03 6.13903923e+01] [-6.71439960e-03 9.99977456e-01 -5.96482609e-05 -4.06799540e+00] [-3.41295259e-03 3.67328141e-05 9.99994175e-01 2.97061041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.882320588 meters 0.02242523373479467 Centerline is valid? [True, True] Translation: X:61.42, Y:-4.07, Z:0.30 [[ 9.99957058e-01 6.79537484e-03 6.30117524e-03 6.14226268e+01] [-6.79481411e-03 9.99976909e-01 -1.10392254e-04 -4.07229374e+00] [-6.30177989e-03 6.75721996e-05 9.99980141e-01 2.98761427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.912320588 meters 0.02259786313831333 Centerline is valid? [True, True] Translation: X:61.46, Y:-4.08, Z:0.30 [[ 9.99957900e-01 6.48648237e-03 6.49022084e-03 6.14552261e+01] [-6.48587588e-03 9.99978960e-01 -1.14490215e-04 -4.07553982e+00] [-6.49082692e-03 7.23906287e-05 9.99978932e-01 3.00637311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942320588 meters 0.022700397012621783 Centerline is valid? [True, True] Translation: X:61.49, Y:-4.08, Z:0.30 [[ 9.99969970e-01 5.31682327e-03 5.63833820e-03 6.14873953e+01] [-5.31634259e-03 9.99985863e-01 -1.00236296e-04 -4.07791246e+00] [-5.63879143e-03 7.02579480e-05 9.99984099e-01 2.99745812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972320588 meters 0.023020574600252443 Centerline is valid? [True, True] Translation: X:61.52, Y:-4.08, Z:0.30 [[ 9.99979095e-01 3.99628724e-03 5.08315536e-03 6.15195306e+01] [-3.99587598e-03 9.99992012e-01 -9.10580080e-05 -4.08065314e+00] [-5.08347865e-03 7.07444460e-05 9.99987077e-01 2.95680516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.002320588 meters 0.023248453476133756 Centerline is valid? [True, True] Translation: X:61.55, Y:-4.09, Z:0.29 [[ 9.99985726e-01 2.68907570e-03 4.61703154e-03 6.15514869e+01] [-2.68871963e-03 9.99996382e-01 -8.33252759e-05 -4.08811428e+00] [-4.61723890e-03 7.09101832e-05 9.99989338e-01 2.90416321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.032320588000005 meters 0.023055941217632638 Centerline is valid? [True, True] Translation: X:61.58, Y:-4.09, Z:0.29 [[ 9.99989028e-01 3.58519158e-03 3.01497655e-03 6.15832228e+01] [-3.58504202e-03 9.99993572e-01 -5.50081518e-05 -4.08912696e+00] [-3.01515439e-03 4.41987306e-05 9.99995453e-01 2.93043914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.062320588 meters 0.02268821785239107 Centerline is valid? [True, True] Translation: X:61.62, Y:-4.09, Z:0.30 [[ 9.99977527e-01 6.27697547e-03 2.35494843e-03 6.16155262e+01] [-6.27689068e-03 9.99980299e-01 -4.33927628e-05 -4.08859999e+00] [-2.35517441e-03 2.86100338e-05 9.99997226e-01 2.96590959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.092320588 meters 0.02194771475441343 Centerline is valid? [True, True] Translation: X:61.65, Y:-4.09, Z:0.30 [[ 9.99901556e-01 1.39573297e-02 1.43946161e-03 6.16469539e+01] [-1.39573059e-02 9.99902592e-01 -2.65474987e-05 -4.08948576e+00] [-1.43969193e-03 6.45387924e-06 9.99998964e-01 3.00679888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122320588 meters 0.021804196048670614 Centerline is valid? [True, True] Translation: X:61.68, Y:-4.09, Z:0.30 [[ 9.99829069e-01 1.81109382e-02 3.71831108e-03 6.16755227e+01] [-1.81108260e-02 9.99835984e-01 -6.38567873e-05 -4.09413254e+00] [-3.71885773e-03 -3.49581266e-06 9.99993085e-01 2.98500123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152320588 meters 0.021818684106216235 Centerline is valid? [True, True] Translation: X:61.71, Y:-4.10, Z:0.30 [[ 9.99738602e-01 2.21958841e-02 5.48360026e-03 6.17057161e+01] [-2.21956832e-02 9.99753641e-01 -9.74870896e-05 -4.09845489e+00] [-5.48441313e-03 -2.42506476e-05 9.99984960e-01 2.97829130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182320588 meters 0.022218367689934973 Centerline is valid? [True, True] Translation: X:61.74, Y:-4.10, Z:0.30 [[ 9.99606604e-01 2.63674734e-02 9.55998756e-03 6.17369903e+01] [-2.63670448e-02 9.99652314e-01 -1.70883935e-04 -4.10091241e+00] [-9.56116947e-03 -8.12519101e-05 9.99954288e-01 2.96915106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.212320588000004 meters 0.022648478364358602 Centerline is valid? [True, True] Translation: X:61.77, Y:-4.10, Z:0.30 [[ 9.99467652e-01 3.01863245e-02 1.23773108e-02 6.17686931e+01] [-3.01858642e-02 9.99544278e-01 -2.24045915e-04 -4.10144343e+00] [-1.23784333e-02 -1.49693179e-04 9.99923373e-01 2.97870077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.242320588 meters 0.022585920067084923 Centerline is valid? [True, True] Translation: X:61.80, Y:-4.10, Z:0.30 [[ 9.99381631e-01 3.28395665e-02 1.25665312e-02 6.18009077e+01] [-3.28392853e-02 9.99460619e-01 -2.28778987e-04 -4.10148882e+00] [-1.25672661e-02 -1.84038386e-04 9.99921012e-01 2.98999822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.272320588 meters 0.022784552138210665 Centerline is valid? [True, True] Translation: X:61.83, Y:-4.10, Z:0.30 [[ 9.99406509e-01 3.37152905e-02 7.06457596e-03 6.18330589e+01] [-3.37152151e-02 9.99431472e-01 -1.29793531e-04 -4.09730891e+00] [-7.06493558e-03 -1.08467199e-04 9.99975037e-01 3.01468893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302320588 meters 0.022486206631474156 Centerline is valid? [True, True] Translation: X:61.86, Y:-4.09, Z:0.30 [[ 9.99428482e-01 3.32025101e-02 6.34846432e-03 6.18640909e+01] [-3.32024426e-02 9.99448640e-01 -1.16059795e-04 -4.09439359e+00] [-6.34881751e-03 -9.47910572e-05 9.99979842e-01 3.01739231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332320588 meters 0.022362590323424414 Centerline is valid? [True, True] Translation: X:61.89, Y:-4.09, Z:0.30 [[ 9.99460095e-01 3.21376963e-02 6.83275976e-03 6.18935304e+01] [-3.21375984e-02 9.99483446e-01 -1.24152965e-04 -4.09212598e+00] [-6.83322026e-03 -9.55025551e-05 9.99976649e-01 3.01440903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362320588 meters 0.02252280855749022 Centerline is valid? [True, True] Translation: X:61.92, Y:-4.09, Z:0.30 [[ 9.99468951e-01 3.15221853e-02 8.25635055e-03 6.19237290e+01] [-3.15220182e-02 9.99503046e-01 -1.50410001e-04 -4.09341918e+00] [-8.25698878e-03 -1.09926706e-04 9.99965904e-01 3.00274241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.392320588000004 meters 0.022346960453669778 Centerline is valid? [True, True] Translation: X:61.96, Y:-4.10, Z:0.30 [[ 9.99505545e-01 3.05846047e-02 7.29703393e-03 6.19554949e+01] [-3.05844406e-02 9.99532178e-01 -1.34108208e-04 -4.09659671e+00] [-7.29772186e-03 -8.91338034e-05 9.99973367e-01 3.01763286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.422320588 meters 0.022209266705542713 Centerline is valid? [True, True] Translation: X:61.99, Y:-4.10, Z:0.30 [[ 9.99505856e-01 3.07344355e-02 6.59083950e-03 6.19863995e+01] [-3.07343077e-02 9.99527582e-01 -1.20696122e-04 -4.09514461e+00] [-6.59143539e-03 -8.19284087e-05 9.99978273e-01 3.04590223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.452320588 meters 0.022182121208629755 Centerline is valid? [True, True] Translation: X:62.02, Y:-4.09, Z:0.31 [[ 9.99528821e-01 2.99586854e-02 6.67934588e-03 6.20159566e+01] [-2.99585418e-02 9.99551135e-01 -1.21565102e-04 -4.09196609e+00] [-6.67998969e-03 -7.85956400e-05 9.99977686e-01 3.05570637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.482320588 meters 0.022399235606370846 Centerline is valid? [True, True] Translation: X:62.05, Y:-4.09, Z:0.31 [[ 9.99493260e-01 3.08274569e-02 7.93040576e-03 6.20463875e+01] [-3.08272788e-02 9.99524716e-01 -1.44718401e-04 -4.09057840e+00] [-7.93109786e-03 -9.98277632e-05 9.99968543e-01 3.05148339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512320588 meters 0.022509783730510075 Centerline is valid? [True, True] Translation: X:62.08, Y:-4.09, Z:0.30 [[ 9.99409760e-01 3.32822215e-02 8.51025146e-03 6.20780449e+01] [-3.32820981e-02 9.99445985e-01 -1.56157316e-04 -4.09497381e+00] [-8.51073391e-03 -1.27173878e-04 9.99963775e-01 3.02987062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542320588 meters 0.022339342892569964 Centerline is valid? [True, True] Translation: X:62.11, Y:-4.09, Z:0.30 [[ 9.99426359e-01 3.28967616e-02 8.04713832e-03 6.21090202e+01] [-3.28966345e-02 9.99458748e-01 -1.48192260e-04 -4.09396609e+00] [-8.04765784e-03 -1.16616517e-04 9.99967610e-01 3.03061093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.572320588000004 meters 0.022242634145019945 Centerline is valid? [True, True] Translation: X:62.14, Y:-4.09, Z:0.30 [[ 9.99411087e-01 3.39001220e-02 5.31608697e-03 6.21391659e+01] [-3.39000818e-02 9.99425222e-01 -9.76863015e-05 -4.09070030e+00] [-5.31634298e-03 -8.25870106e-05 9.99985865e-01 3.04031295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.602320588 meters 0.022264213610079953 Centerline is valid? [True, True] Translation: X:62.17, Y:-4.09, Z:0.30 [[ 9.99427797e-01 3.35551173e-02 4.25831806e-03 6.21673997e+01] [-3.35551088e-02 9.99436866e-01 -7.34577131e-05 -4.08759186e+00] [-4.25838494e-03 -6.94726453e-05 9.99990931e-01 3.04067636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.632320588 meters 0.022077854260293447 Centerline is valid? [True, True] Translation: X:62.20, Y:-4.09, Z:0.30 [[ 9.99502045e-01 3.14710700e-02 2.28765364e-03 6.21963326e+01] [-3.14710664e-02 9.99504663e-01 -3.75707382e-05 -4.09383669e+00] [-2.28770287e-03 -3.44428700e-05 9.99997383e-01 3.02916679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.662320588 meters 0.022008161998629535 Centerline is valid? [True, True] Translation: X:62.22, Y:-4.10, Z:0.30 [[ 9.99573326e-01 2.90750223e-02 2.79436646e-03 6.22249901e+01] [-2.90750097e-02 9.99577232e-01 -4.51353089e-05 -4.09875450e+00] [-2.79449740e-03 -3.61301811e-05 9.99996095e-01 3.03816887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692320588 meters 0.02176783265646314 Centerline is valid? [True, True] Translation: X:62.25, Y:-4.10, Z:0.31 [[ 9.99651862e-01 2.59613347e-02 4.70795961e-03 6.22523737e+01] [-2.59612700e-02 9.99662947e-01 -7.48572554e-05 -4.09885234e+00] [-4.70831617e-03 -4.73934159e-05 9.99988915e-01 3.05827755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722320588 meters 0.021605361248439356 Centerline is valid? [True, True] Translation: X:62.28, Y:-4.10, Z:0.31 [[ 9.99699922e-01 2.36572071e-02 6.35635272e-03 6.22823278e+01] [-2.36570251e-02 9.99720128e-01 -1.03830215e-04 -4.09503911e+00] [-6.35703009e-03 -4.65733384e-05 9.99979793e-01 3.06512273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.752320588 meters 0.02150962185976144 Centerline is valid? [True, True] Translation: X:62.31, Y:-4.09, Z:0.31 [[ 9.99733625e-01 2.18308955e-02 7.48938012e-03 6.23135568e+01] [-2.18305828e-02 9.99761677e-01 -1.23511867e-04 -4.09165510e+00] [-7.49029160e-03 -4.00185663e-05 9.99971947e-01 3.05740209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782320588000005 meters 0.021513969333139937 Centerline is valid? [True, True] Translation: X:62.35, Y:-4.09, Z:0.30 [[ 9.99788391e-01 1.88576605e-02 8.21964548e-03 6.23453979e+01] [-1.88571723e-02 9.99822178e-01 -1.36888690e-04 -4.08963471e+00] [-8.22076525e-03 -1.81395484e-05 9.99966209e-01 3.01897144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.812320588 meters 0.02153991249180561 Centerline is valid? [True, True] Translation: X:62.38, Y:-4.09, Z:0.30 [[ 9.99784991e-01 1.88081844e-02 8.73064577e-03 6.23775355e+01] [-1.88076225e-02 9.99823110e-01 -1.46463671e-04 -4.08943454e+00] [-8.73185613e-03 -1.77705104e-05 9.99961876e-01 3.01816531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.842320588 meters 0.02142772942116311 Centerline is valid? [True, True] Translation: X:62.41, Y:-4.09, Z:0.30 [[ 9.99776051e-01 1.97618924e-02 7.57069421e-03 6.24097530e+01] [-1.97614893e-02 9.99804715e-01 -1.28054128e-04 -4.08869345e+00] [-7.57174635e-03 -2.15827424e-05 9.99971334e-01 3.03451484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872320588 meters 0.02139371867448273 Centerline is valid? [True, True] Translation: X:62.44, Y:-4.09, Z:0.30 [[ 9.99745840e-01 2.14919217e-02 6.80826895e-03 6.24420629e+01] [-2.14916295e-02 9.99769022e-01 -1.16095345e-04 -4.08952749e+00] [-6.80919149e-03 -3.02549550e-05 9.99976817e-01 3.04013555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902320588 meters 0.02135465566563292 Centerline is valid? [True, True] Translation: X:62.47, Y:-4.09, Z:0.30 [[ 9.99732251e-01 2.21799660e-02 6.59362601e-03 6.24737187e+01] [-2.21797061e-02 9.99753994e-01 -1.12545110e-04 -4.09195996e+00] [-6.59450019e-03 -3.37297109e-05 9.99978255e-01 3.04177287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.932320588 meters 0.02151847578711524 Centerline is valid? [True, True] Translation: X:62.50, Y:-4.09, Z:0.31 [[ 9.99702719e-01 2.35212862e-02 6.42051403e-03 6.25048441e+01] [-2.35210648e-02 9.99723335e-01 -1.10004562e-04 -4.09443978e+00] [-6.42132515e-03 -4.10454673e-05 9.99979382e-01 3.05177286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.962320588000004 meters 0.021575771109558394 Centerline is valid? [True, True] Translation: X:62.54, Y:-4.09, Z:0.30 [[ 9.99690664e-01 2.40728304e-02 6.25101153e-03 6.25365194e+01] [-2.40726287e-02 9.99710207e-01 -1.07507635e-04 -4.09228701e+00] [-6.25178804e-03 -4.30039009e-05 9.99980456e-01 3.04338496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.992320588 meters 0.021683290634208454 Centerline is valid? [True, True] Translation: X:62.57, Y:-4.09, Z:0.30 [[ 9.99685046e-01 2.41297571e-02 6.89656836e-03 6.25673977e+01] [-2.41295155e-02 9.99708834e-01 -1.18257174e-04 -4.09014862e+00] [-6.89741383e-03 -4.81909243e-05 9.99976211e-01 3.03674562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.022320588 meters 0.021633378655757672 Centerline is valid? [True, True] Translation: X:62.60, Y:-4.09, Z:0.30 [[ 9.99724736e-01 2.15941827e-02 9.17299089e-03 6.25988185e+01] [-2.15936400e-02 9.99766818e-01 -1.58202737e-04 -4.09294507e+00] [-9.17426817e-03 -3.99190740e-05 9.99957915e-01 3.01793983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052320588 meters 0.021695807538472008 Centerline is valid? [True, True] Translation: X:62.63, Y:-4.10, Z:0.30 [[ 9.99768834e-01 2.00607469e-02 7.73599212e-03 6.26314782e+01] [-2.00602997e-02 9.99798763e-01 -1.35399233e-04 -4.09535463e+00] [-7.73715156e-03 -1.98183875e-05 9.99970068e-01 3.03485195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082320588 meters 0.021502726577531238 Centerline is valid? [True, True] Translation: X:62.66, Y:-4.09, Z:0.31 [[ 9.99814494e-01 1.77411454e-02 7.49860434e-03 6.26641256e+01] [-1.77406545e-02 9.99842613e-01 -1.31985156e-04 -4.09398360e+00] [-7.49976573e-03 -1.06947647e-06 9.99971876e-01 3.05510746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112320588 meters 0.021336863226016828 Centerline is valid? [True, True] Translation: X:62.70, Y:-4.09, Z:0.31 [[ 9.99847471e-01 1.62800682e-02 6.32415001e-03 6.26967178e+01] [-1.62796842e-02 9.99867471e-01 -1.12206743e-04 -4.09034164e+00] [-6.32513861e-03 9.23446341e-06 9.99979996e-01 3.07936402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.142320588000004 meters 0.021459825827926896 Centerline is valid? [True, True] Translation: X:62.73, Y:-4.09, Z:0.31 [[ 9.99872316e-01 1.43268579e-02 7.07766409e-03 6.27290453e+01] [-1.43263221e-02 9.99897365e-01 -1.26394873e-04 -4.08721961e+00] [-7.07874851e-03 2.49818389e-05 9.99974945e-01 3.07283446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.172320588 meters 0.02156128642710467 Centerline is valid? [True, True] Translation: X:62.76, Y:-4.09, Z:0.31 [[ 9.99896931e-01 1.30283555e-02 6.03241650e-03 6.27611420e+01] [-1.30279375e-02 9.99915127e-01 -1.08583182e-04 -4.08752954e+00] [-6.03331917e-03 2.99820455e-05 9.99981799e-01 3.05387717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.202320588 meters 0.02186074586987872 Centerline is valid? [True, True] Translation: X:62.79, Y:-4.09, Z:0.30 [[ 9.99932353e-01 1.08058498e-02 4.30377577e-03 6.27935358e+01] [-1.08056134e-02 9.99941615e-01 -7.81884978e-05 -4.09471249e+00] [-4.30436939e-03 3.16782717e-05 9.99990736e-01 3.03190656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.232320588 meters 0.02197474280778556 Centerline is valid? [True, True] Translation: X:62.82, Y:-4.10, Z:0.30 [[ 9.99944229e-01 9.21368031e-03 5.16212061e-03 6.28249422e+01] [-9.21331958e-03 9.99957552e-01 -9.36560106e-05 -4.09734695e+00] [-5.16276441e-03 4.60905203e-05 9.99986672e-01 3.03841314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262320588 meters 0.021993038695012918 Centerline is valid? [True, True] Translation: X:62.86, Y:-4.10, Z:0.31 [[ 9.99948157e-01 8.25829976e-03 5.95676501e-03 6.28573545e+01] [-8.25779643e-03 9.99965898e-01 -1.09086895e-04 -4.09893999e+00] [-5.95746274e-03 5.98914870e-05 9.99982252e-01 3.06125243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.292320588 meters 0.02224054875067473 Centerline is valid? [True, True] Translation: X:62.89, Y:-4.10, Z:0.31 [[ 9.99939837e-01 6.96377369e-03 8.47518415e-03 6.28897680e+01] [-6.96270164e-03 9.99975748e-01 -1.55991905e-04 -4.09941074e+00] [-8.47606490e-03 9.69723416e-05 9.99964073e-01 3.07593273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.322320588000004 meters 0.022237685416323063 Centerline is valid? [True, True] Translation: X:62.92, Y:-4.10, Z:0.31 [[ 9.99881058e-01 6.56016767e-03 1.39583218e-02 6.29216246e+01] [-6.55720179e-03 9.99978468e-01 -2.58237157e-04 -4.10328030e+00] [-1.39597153e-02 1.66678909e-04 9.99902545e-01 3.08188049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.352320588 meters 0.022678050339609672 Centerline is valid? [True, True] Translation: X:62.95, Y:-4.11, Z:0.31 [[ 9.99834709e-01 6.76154399e-03 1.68770848e-02 6.29538491e+01] [-6.75720365e-03 9.99977120e-01 -3.14186077e-04 -4.10556300e+00] [-1.68788230e-02 2.00092245e-04 9.99857522e-01 3.06869909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.382320588 meters 0.022712450190325646 Centerline is valid? [True, True] Translation: X:62.99, Y:-4.11, Z:0.31 [[ 9.99843872e-01 6.22026238e-03 1.65390195e-02 6.29867839e+01] [-6.21585552e-03 9.99980631e-01 -3.17844596e-04 -4.10691465e+00] [-1.65406763e-02 2.14990816e-04 9.99863171e-01 3.05515359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.412320588 meters 0.022844629445625663 Centerline is valid? [True, True] Translation: X:63.02, Y:-4.11, Z:0.30 [[ 9.99890667e-01 4.72256741e-03 1.40125105e-02 6.30194669e+01] [-4.71924571e-03 9.99988828e-01 -2.70109200e-04 -4.10749601e+00] [-1.40136296e-02 2.03951188e-04 9.99901783e-01 3.03846126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442320588 meters 0.02303735679936685 Centerline is valid? [True, True] Translation: X:63.05, Y:-4.11, Z:0.30 [[ 9.99936232e-01 2.84417451e-03 1.09290108e-02 6.30522101e+01] [-2.84197442e-03 9.99995938e-01 -2.16831927e-04 -4.10854400e+00] [-1.09295831e-02 1.85758131e-04 9.99940253e-01 3.02028310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.472320588 meters 0.023514535063220158 Centerline is valid? [True, True] Translation: X:63.09, Y:-4.11, Z:0.30 [[ 9.99968973e-01 -5.40630385e-05 7.87719156e-03 6.30853454e+01] [ 5.53331017e-05 9.99999986e-01 -1.61015149e-04 -4.11161331e+00] [-7.87718274e-03 1.61446022e-04 9.99968961e-01 3.01978403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.502320588 meters 0.023920720101162016 Centerline is valid? [True, True] Translation: X:63.12, Y:-4.12, Z:0.31 [[ 9.99980927e-01 -3.30484544e-03 5.21771558e-03 6.31174207e+01] [ 3.30546090e-03 9.99994531e-01 -1.09336909e-04 -4.12193500e+00] [-5.21732570e-03 1.26581779e-04 9.99986382e-01 3.05948207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.532320588000005 meters 0.023976860881441218 Centerline is valid? [True, True] Translation: X:63.15, Y:-4.13, Z:0.31 [[ 9.99975091e-01 -1.97981808e-03 6.77476778e-03 6.31502351e+01] [ 1.98084555e-03 9.99998028e-01 -1.44954139e-04 -4.12617857e+00] [-6.77446743e-03 1.58370297e-04 9.99977040e-01 3.08324323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.562320588 meters 0.02350613260646956 Centerline is valid? [True, True] Translation: X:63.18, Y:-4.13, Z:0.31 [[ 9.99960193e-01 5.36607139e-04 8.90647908e-03 6.31825613e+01] [-5.34944615e-04 9.99999839e-01 -1.89045783e-04 -4.12911909e+00] [-8.90657909e-03 1.84273785e-04 9.99960319e-01 3.08739178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.592320588 meters 0.022984167887395764 Centerline is valid? [True, True] Translation: X:63.21, Y:-4.13, Z:0.31 [[ 9.99950221e-01 3.45673721e-03 9.35985010e-03 6.32149212e+01] [-3.45501853e-03 9.99994011e-01 -1.99786051e-04 -4.13028657e+00] [-9.36048465e-03 1.67437651e-04 9.99956176e-01 3.10041452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622320588 meters 0.022410519303458654 Centerline is valid? [True, True] Translation: X:63.25, Y:-4.13, Z:0.31 [[ 9.99882106e-01 1.09712556e-02 1.07426962e-02 6.32474351e+01] [-1.09694117e-02 9.99939808e-01 -2.30548772e-04 -4.13241744e+00] [-1.07445789e-02 1.12680535e-04 9.99942269e-01 3.08650450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.652320588 meters 0.022094374093379852 Centerline is valid? [True, True] Translation: X:63.28, Y:-4.13, Z:0.31 [[ 9.99845580e-01 1.48397175e-02 9.41267264e-03 6.32798782e+01] [-1.48384615e-02 9.99889883e-01 -2.03259828e-04 -4.13405169e+00] [-9.41465247e-03 6.35588598e-05 9.99955679e-01 3.07066277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682320588 meters 0.021967321128964778 Centerline is valid? [True, True] Translation: X:63.31, Y:-4.14, Z:0.31 [[ 9.99829721e-01 1.76554400e-02 5.36782204e-03 6.33124163e+01] [-1.76550641e-02 9.99844130e-01 -1.17419675e-04 -4.13684895e+00] [-5.36905846e-03 2.26304387e-05 9.99985586e-01 3.06167790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.712320588000004 meters 0.021801048945139626 Centerline is valid? [True, True] Translation: X:63.34, Y:-4.14, Z:0.31 [[ 9.99790544e-01 2.03027129e-02 2.58219767e-03 6.33439577e+01] [-2.03026347e-02 9.99793879e-01 -5.65305898e-05 -4.14179720e+00] [-2.58281315e-03 4.09333316e-06 9.99996665e-01 3.05933384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.742320588 meters 0.021727206490353538 Centerline is valid? [True, True] Translation: X:63.37, Y:-4.15, Z:0.31 [[ 9.99776478e-01 2.11360952e-02 -5.10295478e-04 6.33731350e+01] [-2.11360921e-02 9.99776608e-01 1.13978607e-05 -4.15001633e+00] [ 5.10422388e-04 -6.09660736e-07 9.99999870e-01 3.08008453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.772320588 meters 0.021727206490353538 Centerline is valid? [True, True] Translation: X:63.40, Y:-4.15, Z:0.31 [[ 9.99787306e-01 2.06175300e-02 -5.10252080e-04 6.34005130e+01] [-2.06175258e-02 9.99787436e-01 1.34252790e-05 -4.15092932e+00] [ 5.10420415e-04 -2.90228806e-06 9.99999870e-01 3.08146559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802320588 meters 0.021880962719753747 Centerline is valid? [True, True] Translation: X:63.43, Y:-4.15, Z:0.31 [[ 9.99820791e-01 1.89154056e-02 -7.70385856e-04 6.34280492e+01] [-1.89153969e-02 9.99821088e-01 1.85339016e-05 -4.15155230e+00] [ 7.70598601e-04 -3.95842592e-06 9.99999703e-01 3.11150867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832320588 meters 0.02189258766369015 Centerline is valid? [True, True] Translation: X:63.46, Y:-4.15, Z:0.31 [[ 9.99857613e-01 1.68584281e-02 7.39807609e-04 6.34556807e+01] [-1.68584236e-02 9.99857887e-01 -1.23198227e-05 -4.15056288e+00] [-7.39910165e-04 -1.53921542e-07 9.99999726e-01 3.12591268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862320588 meters 0.0220491493040265 Centerline is valid? [True, True] Translation: X:63.48, Y:-4.15, Z:0.31 [[ 9.99895080e-01 1.35605249e-02 5.09315998e-03 6.34846102e+01] [-1.35602010e-02 9.99908051e-01 -9.81277352e-05 -4.15009232e+00] [-5.09402233e-03 2.90531667e-05 9.99987025e-01 3.12595345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.892320588000004 meters 0.022322654562272466 Centerline is valid? [True, True] Translation: X:63.52, Y:-4.15, Z:0.31 [[ 9.99881588e-01 1.17775350e-02 9.90452102e-03 6.35163482e+01] [-1.17761651e-02 9.99930639e-01 -1.96623574e-04 -4.15184512e+00] [-9.90614977e-03 7.99630165e-05 9.99950930e-01 3.12297461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.922320588 meters 0.022629076389805772 Centerline is valid? [True, True] Translation: X:63.55, Y:-4.16, Z:0.31 [[ 9.99858767e-01 9.45359372e-03 1.38951734e-02 6.35481305e+01] [-9.45064925e-03 9.99955303e-01 -2.77554728e-04 -4.15795779e+00] [-1.38971762e-02 1.46197118e-04 9.99903419e-01 3.11150199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.952320588 meters 0.022758946951995575 Centerline is valid? [True, True] Translation: X:63.58, Y:-4.16, Z:0.31 [[ 9.99882921e-01 8.94650932e-03 1.24138666e-02 6.35807582e+01] [-8.94409991e-03 9.99959970e-01 -2.49595182e-04 -4.16072427e+00] [-1.24156026e-02 1.38535096e-04 9.99922914e-01 3.09699834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.982320588 meters 0.022724755718005783 Centerline is valid? [True, True] Translation: X:63.61, Y:-4.16, Z:0.31 [[ 9.99920458e-01 8.30354000e-03 9.49357506e-03 6.36131884e+01] [-8.30208920e-03 9.99965519e-01 -1.92218606e-04 -4.16320142e+00] [-9.49484381e-03 1.13386810e-04 9.99954917e-01 3.08636946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.012320588 meters 0.022604618111315675 Centerline is valid? [True, True] Translation: X:63.65, Y:-4.17, Z:0.31 [[ 9.99921880e-01 9.60626079e-03 7.99710483e-03 6.36450592e+01] [-9.60526417e-03 9.99953855e-01 -1.63022735e-04 -4.17009963e+00] [-7.99830184e-03 8.61956955e-05 9.99968009e-01 3.07508847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042320588 meters 0.022392243798105626 Centerline is valid? [True, True] Translation: X:63.68, Y:-4.17, Z:0.31 [[ 9.99902889e-01 1.16582649e-02 7.63533820e-03 6.36772609e+01] [-1.16574086e-02 9.99932038e-01 -1.56643896e-04 -4.17298944e+00] [-7.63664549e-03 6.76204275e-05 9.99970838e-01 3.10086693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.072320588000004 meters 0.02224819059830299 Centerline is valid? [True, True] Translation: X:63.71, Y:-4.17, Z:0.31 [[ 9.99886014e-01 1.37416481e-02 6.25505367e-03 6.37096708e+01] [-1.37411084e-02 9.99905578e-01 -1.29248632e-04 -4.17422296e+00] [-6.25623915e-03 4.32825289e-05 9.99980429e-01 3.12039991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102320588 meters 0.02217781095253858 Centerline is valid? [True, True] Translation: X:63.74, Y:-4.18, Z:0.31 [[ 9.99867502e-01 1.52660670e-02 5.65027291e-03 6.37418349e+01] [-1.52656466e-02 9.99883466e-01 -1.17530661e-04 -4.17596881e+00] [-5.65140869e-03 3.12600197e-05 9.99984030e-01 3.12257727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.132320588 meters 0.02215326556470858 Centerline is valid? [True, True] Translation: X:63.77, Y:-4.18, Z:0.31 [[ 9.99852453e-01 1.60890876e-02 6.01779042e-03 6.37743057e+01] [-1.60886191e-02 9.99870562e-01 -1.26258438e-04 -4.17951794e+00] [-6.01904287e-03 2.94218712e-05 9.99981885e-01 3.11686456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162320588 meters 0.022470325384393496 Centerline is valid? [True, True] Translation: X:63.81, Y:-4.19, Z:0.31 [[ 9.99782081e-01 1.80318703e-02 1.05186531e-02 6.38064933e+01] [-1.80305399e-02 9.99837412e-01 -2.21312807e-04 -4.18949061e+00] [-1.05209336e-02 3.16075845e-05 9.99944653e-01 3.06894374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192320588 meters 0.02252872470914505 Centerline is valid? [True, True] Translation: X:63.84, Y:-4.19, Z:0.31 [[ 9.99752672e-01 1.96813527e-02 1.03556086e-02 6.38396000e+01] [-1.96801275e-02 9.99806303e-01 -2.20216010e-04 -4.19236060e+00] [-1.03579369e-02 1.63618466e-05 9.99946355e-01 3.06773335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222320588 meters 0.02248695957032919 Centerline is valid? [True, True] Translation: X:63.87, Y:-4.19, Z:0.31 [[ 9.99750411e-01 1.99129331e-02 1.01287572e-02 6.38724512e+01] [-1.99117526e-02 9.99801718e-01 -2.17393467e-04 -4.19217177e+00] [-1.01310778e-02 1.56579014e-05 9.99948679e-01 3.07987341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.252320588 meters 0.02245236568400662 Centerline is valid? [True, True] Translation: X:63.91, Y:-4.19, Z:0.31 [[ 9.99760605e-01 2.00324833e-02 8.79954060e-03 6.39050661e+01] [-2.00315887e-02 9.99799330e-01 -1.89801325e-04 -4.19184546e+00] [-8.80157698e-03 1.34871094e-05 9.99961265e-01 3.09201686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282320588000005 meters 0.0224306849597789 Centerline is valid? [True, True] Translation: X:63.94, Y:-4.19, Z:0.31 [[ 9.99779842e-01 1.98002966e-02 6.94369018e-03 6.39375037e+01] [-1.97997267e-02 9.99803955e-01 -1.50808691e-04 -4.19295125e+00] [-6.94531496e-03 1.32923206e-05 9.99975881e-01 3.10211707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.312320588 meters 0.022487055376954054 Centerline is valid? [True, True] Translation: X:63.97, Y:-4.20, Z:0.31 [[ 9.99750790e-01 2.08842430e-02 7.88703551e-03 6.39695173e+01] [-2.08835339e-02 9.99781900e-01 -1.72253050e-04 -4.19562569e+00] [-7.88891273e-03 7.50094891e-06 9.99968882e-01 3.12625067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342320588 meters 0.02228620736246673 Centerline is valid? [True, True] Translation: X:64.00, Y:-4.19, Z:0.31 [[ 9.99730995e-01 2.20675487e-02 7.13870987e-03 6.40016416e+01] [-2.20669910e-02 9.99756482e-01 -1.56892860e-04 -4.19426823e+00] [-7.14043370e-03 -6.79190660e-07 9.99974507e-01 3.14241691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372320588 meters 0.022223521270850064 Centerline is valid? [True, True] Translation: X:64.03, Y:-4.19, Z:0.31 [[ 9.99699727e-01 2.33749481e-02 7.35303835e-03 6.40333956e+01] [-2.33743848e-02 9.99726769e-01 -1.62556313e-04 -4.19189935e+00] [-7.35482901e-03 -9.36524551e-06 9.99972953e-01 3.14509293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402320588 meters 0.022334074482584235 Centerline is valid? [True, True] Translation: X:64.07, Y:-4.19, Z:0.31 [[ 9.99655135e-01 2.52667620e-02 7.15551026e-03 6.40653918e+01] [-2.52662703e-02 9.99680744e-01 -1.59118112e-04 -4.19393608e+00] [-7.15724622e-03 -2.17298181e-05 9.99974386e-01 3.12350937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.432320588 meters 0.022421202627965302 Centerline is valid? [True, True] Translation: X:64.10, Y:-4.20, Z:0.31 [[ 9.99662499e-01 2.49595646e-02 7.20469893e-03 6.40970912e+01] [-2.49590514e-02 9.99688461e-01 -1.61150719e-04 -4.19744274e+00] [-7.20647664e-03 -1.87261206e-05 9.99974033e-01 3.11312303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.462320588000004 meters 0.02246230765476308 Centerline is valid? [True, True] Translation: X:64.13, Y:-4.20, Z:0.31 [[ 9.99680385e-01 2.41831362e-02 7.36911805e-03 6.41291809e+01] [-2.41825713e-02 9.99707545e-01 -1.65773784e-04 -4.19927984e+00] [-7.37097184e-03 -1.24834218e-05 9.99972834e-01 3.11069172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.492320588 meters 0.02252354816028923 Centerline is valid? [True, True] Translation: X:64.16, Y:-4.20, Z:0.31 [[ 9.99689800e-01 2.33840412e-02 8.57260358e-03 6.41613867e+01] [-2.33832387e-02 9.99726556e-01 -1.93847648e-04 -4.19856037e+00] [-8.57479240e-03 -6.66771948e-06 9.99963236e-01 3.11880036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522320588 meters 0.022464062527734092 Centerline is valid? [True, True] Translation: X:64.19, Y:-4.20, Z:0.31 [[ 9.99726048e-01 2.17521163e-02 8.64149164e-03 6.41931795e+01] [-2.17512302e-02 9.99763395e-01 -1.96525789e-04 -4.19649313e+00] [-8.64372187e-03 8.50887584e-06 9.99962642e-01 3.12604996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552320588 meters 0.022303570588252258 Centerline is valid? [True, True] Translation: X:64.23, Y:-4.20, Z:0.31 [[ 9.99759235e-01 2.04175448e-02 8.03714434e-03 6.42250788e+01] [-2.04167265e-02 9.99791540e-01 -1.83868234e-04 -4.19630865e+00] [-8.03922306e-03 1.97317876e-05 9.99967685e-01 3.13352833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582320588 meters 0.02256533937828763 Centerline is valid? [True, True] Translation: X:64.26, Y:-4.20, Z:0.31 [[ 9.99828796e-01 1.80101062e-02 4.24427251e-03 6.42572486e+01] [-1.80098526e-02 9.99837805e-01 -9.79573003e-05 -4.20244403e+00] [-4.24534833e-03 2.15018073e-05 9.99990988e-01 3.12014535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.612320588 meters 0.02250105562462589 Centerline is valid? [True, True] Translation: X:64.29, Y:-4.21, Z:0.31 [[ 9.99835776e-01 1.77428922e-02 3.68934061e-03 6.42883145e+01] [-1.77426988e-02 9.99842582e-01 -8.51427080e-05 -4.20546637e+00] [-3.69027052e-03 1.96698661e-05 9.99993191e-01 3.11177476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642320588000004 meters 0.022452510367826733 Centerline is valid? [True, True] Translation: X:64.32, Y:-4.21, Z:0.31 [[ 9.99835396e-01 1.77150722e-02 3.91877461e-03 6.43198396e+01] [-1.77148529e-02 9.99843076e-01 -9.06728852e-05 -4.20730559e+00] [-3.91976593e-03 2.12374446e-05 9.99992317e-01 3.11344443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.672320588 meters 0.02248480860828462 Centerline is valid? [True, True] Translation: X:64.35, Y:-4.21, Z:0.31 [[ 9.99816496e-01 1.85104405e-02 4.93336130e-03 6.43513628e+01] [-1.85101015e-02 9.99828667e-01 -1.14375552e-04 -4.20885567e+00] [-4.93463320e-03 2.30375456e-05 9.99987824e-01 3.11981603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702320588 meters 0.02236877001056014 Centerline is valid? [True, True] Translation: X:64.38, Y:-4.21, Z:0.32 [[ 9.99791547e-01 1.95906443e-02 5.75056110e-03 6.43836757e+01] [-1.95901956e-02 9.99808085e-01 -1.34344039e-04 -4.21289974e+00] [-5.75208937e-03 2.16614177e-05 9.99983456e-01 3.15249988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.732320588 meters 0.02240928059200903 Centerline is valid? [True, True] Translation: X:64.42, Y:-4.22, Z:0.32 [[ 9.99814961e-01 1.85109743e-02 5.23333676e-03 6.44162644e+01] [-1.85105841e-02 9.99828657e-01 -1.22997800e-04 -4.21549344e+00] [-5.23471688e-03 2.61029202e-05 9.99986298e-01 3.15227937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762320588 meters 0.022544532362588784 Centerline is valid? [True, True] Translation: X:64.45, Y:-4.22, Z:0.31 [[ 9.99828922e-01 1.79090775e-02 4.62504421e-03 6.44483173e+01] [-1.79087631e-02 9.99839619e-01 -1.09386895e-04 -4.21732758e+00] [-4.62626146e-03 2.65393610e-05 9.99989298e-01 3.14262495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.792320588 meters 0.022495165514785864 Centerline is valid? [True, True] Translation: X:64.48, Y:-4.22, Z:0.31 [[ 9.99814301e-01 1.85387646e-02 5.26090901e-03 6.44802789e+01] [-1.85383634e-02 9.99828142e-01 -1.25012674e-04 -4.21921444e+00] [-5.26232246e-03 2.74608158e-05 9.99986154e-01 3.12811540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822320588000004 meters 0.022562287746175053 Centerline is valid? [True, True] Translation: X:64.51, Y:-4.22, Z:0.31 [[ 9.99798502e-01 1.85936191e-02 7.56519984e-03 6.45120635e+01] [-1.85927859e-02 9.99827123e-01 -1.80462284e-04 -4.22091011e+00] [-7.56724744e-03 3.97677804e-05 9.99971367e-01 3.12562893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.852320588 meters 0.022513215062278664 Centerline is valid? [True, True] Translation: X:64.54, Y:-4.22, Z:0.31 [[ 9.99793602e-01 1.82930433e-02 8.83838447e-03 6.45442960e+01] [-1.82918851e-02 9.99832667e-01 -2.11863960e-04 -4.22360561e+00] [-8.84078116e-03 5.01495184e-05 9.99960918e-01 3.13945592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882320588 meters 0.022693119701563805 Centerline is valid? [True, True] Translation: X:64.58, Y:-4.23, Z:0.32 [[ 9.99859362e-01 1.51911541e-02 7.10535388e-03 6.45770712e+01] [-1.51903142e-02 9.99884606e-01 -1.72168469e-04 -4.22839459e+00] [-7.10714940e-03 6.42116978e-05 9.99974742e-01 3.15995470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.912320588 meters 0.022765229746909962 Centerline is valid? [True, True] Translation: X:64.61, Y:-4.23, Z:0.32 [[ 9.99890546e-01 1.35509554e-02 5.93872451e-03 6.46094742e+01] [-1.35503363e-02 9.99908180e-01 -1.44479742e-04 -4.23127811e+00] [-5.94013705e-03 6.39922139e-05 9.99982355e-01 3.15756275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942320588 meters 0.023019406080129763 Centerline is valid? [True, True] Translation: X:64.64, Y:-4.23, Z:0.31 [[ 9.99906720e-01 1.16300566e-02 7.16192100e-03 6.46419003e+01] [-1.16291014e-02 9.99932364e-01 -1.75009150e-04 -4.23418678e+00] [-7.16347197e-03 9.17061196e-05 9.99974338e-01 3.14997288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.972320588 meters 0.023123192055323233 Centerline is valid? [True, True] Translation: X:64.67, Y:-4.24, Z:0.31 [[ 9.99903432e-01 1.08856849e-02 8.63879638e-03 6.46738507e+01] [-1.08842589e-02 9.99940742e-01 -2.12063001e-04 -4.23765251e+00] [-8.64059292e-03 1.18015625e-04 9.99962662e-01 3.14253306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002320588 meters 0.022960203553331827 Centerline is valid? [True, True] Translation: X:64.71, Y:-4.24, Z:0.32 [[ 9.99913406e-01 1.17504256e-02 5.92515866e-03 6.47062627e+01] [-1.17497644e-02 9.99930958e-01 -1.46380974e-04 -4.24447378e+00] [-5.92646961e-03 7.67490795e-05 9.99982435e-01 3.15163178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.032320588000005 meters 0.02268753566232446 Centerline is valid? [True, True] Translation: X:64.74, Y:-4.25, Z:0.32 [[ 9.99886458e-01 1.46296987e-02 3.61153254e-03 6.47380545e+01] [-1.46294693e-02 9.99892980e-01 -8.99373891e-05 -4.24793524e+00] [-3.61246179e-03 3.70923730e-05 9.99993474e-01 3.16009095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062320588 meters 0.022493508806090256 Centerline is valid? [True, True] Translation: X:64.77, Y:-4.25, Z:0.32 [[ 9.99843791e-01 1.74978061e-02 2.49405598e-03 6.47699416e+01] [-1.74977043e-02 9.99846901e-01 -6.26346933e-05 -4.25090177e+00] [-2.49477012e-03 1.89846550e-05 9.99996888e-01 3.16197558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.092320588 meters 0.022277578391169773 Centerline is valid? [True, True] Translation: X:64.80, Y:-4.26, Z:0.32 [[ 9.99666001e-01 2.52872426e-02 5.33313093e-03 6.47999911e+01] [-2.52868953e-02 9.99680227e-01 -1.32550386e-04 -4.25568662e+00] [-5.33477737e-03 -2.35220929e-06 9.99985770e-01 3.17243292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122320588 meters 0.022262900560415834 Centerline is valid? [True, True] Translation: X:64.83, Y:-4.26, Z:0.32 [[ 9.99548849e-01 2.85335198e-02 9.37741368e-03 6.48310347e+01] [-2.85325801e-02 9.99592836e-01 -2.34006048e-04 -4.25908300e+00] [-9.38027255e-03 -3.36613307e-05 9.99956004e-01 3.17697496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152320588 meters 0.022527259807352325 Centerline is valid? [True, True] Translation: X:64.86, Y:-4.26, Z:0.32 [[ 9.99449661e-01 3.13965482e-02 1.07066490e-02 6.48630458e+01] [-3.13954694e-02 9.99507005e-01 -2.68859076e-04 -4.26395492e+00] [-1.07098119e-02 -6.74291589e-05 9.99942646e-01 3.19075303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182320588 meters 0.022560995534162798 Centerline is valid? [True, True] Translation: X:64.89, Y:-4.27, Z:0.32 [[ 9.99374760e-01 3.36211973e-02 1.09409845e-02 6.48948197e+01] [-3.36201886e-02 9.99434644e-01 -2.76162131e-04 -4.26931974e+00] [-1.09440838e-02 -9.18484984e-05 9.99940108e-01 3.19777231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.212320588000004 meters 0.022540429155557564 Centerline is valid? [True, True] Translation: X:64.93, Y:-4.27, Z:0.32 [[ 9.99316821e-01 3.59877912e-02 8.41244195e-03 6.49273918e+01] [-3.59872683e-02 9.99352226e-01 -2.13579720e-04 -4.27316470e+00] [-8.41467885e-03 -8.93069981e-05 9.99964592e-01 3.19696336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.242320588 meters 0.022680538241384336 Centerline is valid? [True, True] Translation: X:64.96, Y:-4.27, Z:0.32 [[ 9.99255728e-01 3.82353201e-02 5.10388528e-03 6.49591529e+01] [-3.82351522e-02 9.99268761e-01 -1.30514845e-04 -4.27392387e+00] [-5.10514340e-03 -6.47301239e-05 9.99986967e-01 3.18812830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.272320588 meters 0.02307182543677934 Centerline is valid? [True, True] Translation: X:64.99, Y:-4.27, Z:0.32 [[ 9.99139811e-01 4.13644243e-02 2.93630490e-03 6.49901242e+01] [-4.13643819e-02 9.99144125e-01 -7.52259975e-05 -4.27134163e+00] [-2.93690347e-03 -4.62971481e-05 9.99995686e-01 3.16291562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302320588 meters 0.0231563964661227 Centerline is valid? [True, True] Translation: X:65.02, Y:-4.27, Z:0.32 [[ 9.99122473e-01 4.17425694e-02 3.44110770e-03 6.50195956e+01] [-4.17425166e-02 9.99128398e-01 -8.72154455e-05 -4.27282858e+00] [-3.44174902e-03 -5.65015836e-05 9.99994076e-01 3.16638406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.332320588 meters 0.023068489079132372 Centerline is valid? [True, True] Translation: X:65.05, Y:-4.28, Z:0.32 [[ 9.99058537e-01 4.31496802e-02 4.48835358e-03 6.50499474e+01] [-4.31496025e-02 9.99068616e-01 -1.14190472e-04 -4.27630454e+00] [-4.48910048e-03 -7.95877073e-05 9.99989921e-01 3.18177446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362320588 meters 0.023125063214359885 Centerline is valid? [True, True] Translation: X:65.08, Y:-4.28, Z:0.32 [[ 9.98967472e-01 4.53344820e-02 2.96218106e-03 6.50810650e+01] [-4.53344562e-02 9.98971862e-01 -7.58893532e-05 -4.27948952e+00] [-2.96257593e-03 -5.84778720e-05 9.99995610e-01 3.20399798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.392320588000004 meters 0.023354378715831514 Centerline is valid? [True, True] Translation: X:65.11, Y:-4.28, Z:0.32 [[ 9.98868644e-01 4.74820193e-02 2.62489851e-03 6.51108836e+01] [-4.74820086e-02 9.98872091e-01 -6.64501344e-05 -4.27919054e+00] [-2.62509305e-03 -5.82604980e-05 9.99996553e-01 3.20993307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422320588 meters 0.02372672648589891 Centerline is valid? [True, True] Translation: X:65.14, Y:-4.28, Z:0.32 [[ 9.98794675e-01 4.89766403e-02 3.23833960e-03 6.51399817e+01] [-4.89766428e-02 9.98799921e-01 -7.85742454e-05 -4.27866012e+00] [-3.23830164e-03 -8.01234640e-05 9.99994753e-01 3.20361558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.452320588 meters 0.023912938335259273 Centerline is valid? [True, True] Translation: X:65.17, Y:-4.28, Z:0.32 [[ 9.98694458e-01 5.09930453e-02 3.01477688e-03 6.51694500e+01] [-5.09930518e-02 9.98699005e-01 -7.47832545e-05 -4.27864656e+00] [-3.01466810e-03 -7.90470518e-05 9.99995453e-01 3.20093981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482320588 meters 0.02414390175446655 Centerline is valid? [True, True] Translation: X:65.20, Y:-4.27, Z:0.32 [[ 9.98558878e-01 5.35636594e-02 3.33201893e-03 6.51988189e+01] [-5.35636830e-02 9.98564432e-01 -8.21990713e-05 -4.27386170e+00] [-3.33163847e-03 -9.63945933e-05 9.99994445e-01 3.19829487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512320588 meters 0.02389524723190392 Centerline is valid? [True, True] Translation: X:65.23, Y:-4.27, Z:0.32 [[ 9.98607710e-01 5.26252121e-02 3.63723732e-03 6.52279445e+01] [-5.26252467e-02 9.98614328e-01 -8.62551356e-05 -4.26966912e+00] [-3.63673650e-03 -1.05275468e-04 9.99993382e-01 3.20414912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542320588 meters 0.023872591689922812 Centerline is valid? [True, True] Translation: X:65.26, Y:-4.27, Z:0.32 [[ 9.98707804e-01 5.05956563e-02 4.77521189e-03 6.52570136e+01] [-5.05956999e-02 9.98719211e-01 -1.11739496e-04 -4.26739332e+00] [-4.77474939e-03 -1.30010082e-04 9.99988592e-01 3.21058529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.572320588000004 meters 0.02334972196309375 Centerline is valid? [True, True] Translation: X:65.29, Y:-4.27, Z:0.32 [[ 9.98861271e-01 4.73935343e-02 5.47852079e-03 6.52867040e+01] [-4.73935327e-02 9.98876287e-01 -1.30195696e-04 -4.26748312e+00] [-5.47853493e-03 -1.29599016e-04 9.99984984e-01 3.21356906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602320588 meters 0.023183217634789068 Centerline is valid? [True, True] Translation: X:65.32, Y:-4.27, Z:0.32 [[ 9.99030479e-01 4.36189743e-02 5.95709774e-03 6.53172671e+01] [-4.36189032e-02 9.99048233e-01 -1.41926991e-04 -4.27013530e+00] [-5.95761868e-03 -1.18052680e-04 9.99982246e-01 3.21712850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.632320588 meters 0.022356170345780968 Centerline is valid? [True, True] Translation: X:65.35, Y:-4.27, Z:0.32 [[ 9.99404525e-01 3.32831984e-02 9.10075235e-03 6.53482523e+01] [-3.32826052e-02 9.99445957e-01 -2.16663626e-04 -4.27206879e+00] [-9.10292140e-03 -8.63621402e-05 9.99958564e-01 3.22044609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662320588 meters 0.022356170345780968 Centerline is valid? [True, True] Translation: X:65.38, Y:-4.27, Z:0.32 [[ 9.99400153e-01 3.34142477e-02 9.10070672e-03 6.53799328e+01] [-3.34136426e-02 9.99441584e-01 -2.18574706e-04 -4.27278810e+00] [-9.10292825e-03 -8.56441667e-05 9.99958564e-01 3.22204320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692320588 meters 0.022032811588542638 Centerline is valid? [True, True] Translation: X:65.41, Y:-4.27, Z:0.32 [[ 9.99550908e-01 2.86080678e-02 8.91973051e-03 6.54120244e+01] [-2.86072844e-02 9.99590705e-01 -2.15422202e-04 -4.27080457e+00] [-8.92224252e-03 -3.98438103e-05 9.99960195e-01 3.22352080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722320588 meters 0.022026831859492245 Centerline is valid? [True, True] Translation: X:65.44, Y:-4.27, Z:0.32 [[ 9.99652450e-01 2.49407631e-02 8.54035885e-03 6.54441313e+01] [-2.49399014e-02 9.99688931e-01 -2.07409351e-04 -4.26846525e+00] [-8.54287516e-03 -5.65844138e-06 9.99963509e-01 3.21844462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.752320588 meters 0.02218304180087912 Centerline is valid? [True, True] Translation: X:65.48, Y:-4.27, Z:0.32 [[ 9.99717149e-01 2.26296377e-02 7.31588313e-03 6.54759949e+01] [-2.26289357e-02 9.99743917e-01 -1.78722402e-04 -4.26791094e+00] [-7.31805408e-03 1.31212011e-05 9.99973223e-01 3.20149262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.782320588000005 meters 0.022295614429179635 Centerline is valid? [True, True] Translation: X:65.51, Y:-4.27, Z:0.32 [[ 9.99784945e-01 2.00414956e-02 5.32935528e-03 6.55079742e+01] [-2.00410818e-02 9.99799149e-01 -1.31055528e-04 -4.27002201e+00] [-5.33091142e-03 2.42212993e-05 9.99985790e-01 3.17401831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.812320588 meters 0.022182211780822872 Centerline is valid? [True, True] Translation: X:65.54, Y:-4.27, Z:0.32 [[ 9.99786479e-01 1.99209718e-02 5.49106061e-03 6.55401662e+01] [-1.99205242e-02 9.99801557e-01 -1.36195822e-04 -4.27106223e+00] [-5.49268411e-03 2.67819356e-05 9.99984915e-01 3.17950175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842320588 meters 0.0218887446922888 Centerline is valid? [True, True] Translation: X:65.57, Y:-4.27, Z:0.32 [[ 9.99773180e-01 2.07562228e-02 4.77145812e-03 6.55720174e+01] [-2.07558919e-02 9.99784566e-01 -1.18870907e-04 -4.27151683e+00] [-4.77289750e-03 1.98080764e-05 9.99988609e-01 3.19636378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872320588 meters 0.02195376708347724 Centerline is valid? [True, True] Translation: X:65.60, Y:-4.27, Z:0.32 [[ 9.99748529e-01 2.18449089e-02 5.06735256e-03 6.56041838e+01] [-2.18445465e-02 9.99761371e-01 -1.26862058e-04 -4.27174192e+00] [-5.06891463e-03 1.61361375e-05 9.99987153e-01 3.20831265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902320588 meters 0.022073386494617115 Centerline is valid? [True, True] Translation: X:65.64, Y:-4.27, Z:0.32 [[ 9.99672371e-01 2.44034496e-02 7.72148436e-03 6.56356286e+01] [-2.44026857e-02 9.99702191e-01 -1.93136726e-04 -4.27380873e+00] [-7.72389804e-03 4.64849217e-06 9.99970170e-01 3.21602349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.932320588 meters 0.022104522789241226 Centerline is valid? [True, True] Translation: X:65.67, Y:-4.28, Z:0.32 [[ 9.99631734e-01 2.58490923e-02 8.25964321e-03 6.56676031e+01] [-2.58482562e-02 9.99665856e-01 -2.07976658e-04 -4.27538107e+00] [-8.26225931e-03 -5.59730658e-06 9.99965867e-01 3.22284421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.962320588000004 meters 0.022081167390830204 Centerline is valid? [True, True] Translation: X:65.70, Y:-4.28, Z:0.32 [[ 9.99603277e-01 2.68397425e-02 8.53918525e-03 6.57001472e+01] [-2.68388757e-02 9.99639749e-01 -2.16101842e-04 -4.27632522e+00] [-8.54190912e-03 -1.31660229e-05 9.99963517e-01 3.22168948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.992320588 meters 0.022048632461580085 Centerline is valid? [True, True] Translation: X:65.73, Y:-4.28, Z:0.32 [[ 9.99589887e-01 2.76738990e-02 7.36296636e-03 6.57326989e+01] [-2.76732694e-02 9.99617004e-01 -1.87399109e-04 -4.27647830e+00] [-7.36533243e-03 -1.64350974e-05 9.99972875e-01 3.22036547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.022320588 meters 0.02211461561372193 Centerline is valid? [True, True] Translation: X:65.76, Y:-4.28, Z:0.32 [[ 9.99578635e-01 2.84187392e-02 5.90990743e-03 6.57648204e+01] [-2.84183413e-02 9.99596106e-01 -1.51324468e-04 -4.27620057e+00] [-5.91182090e-03 -1.66890609e-05 9.99982525e-01 3.21495023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.052320588 meters 0.02207287814302711 Centerline is valid? [True, True] Translation: X:65.80, Y:-4.28, Z:0.32 [[ 9.99570584e-01 2.90134826e-02 4.10673221e-03 6.57959708e+01] [-2.90132949e-02 9.99579020e-01 -1.05291991e-04 -4.27583087e+00] [-4.10805824e-03 -1.39030557e-05 9.99991562e-01 3.21431821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082320588 meters 0.02199109757049311 Centerline is valid? [True, True] Translation: X:65.83, Y:-4.28, Z:0.32 [[ 9.99562703e-01 2.94419740e-02 2.75206926e-03 6.58268339e+01] [-2.94418906e-02 9.99566491e-01 -7.08448880e-05 -4.27642608e+00] [-2.75296202e-03 -1.02122142e-05 9.99996211e-01 3.23407257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.112320588 meters 0.021971130706166894 Centerline is valid? [True, True] Translation: X:65.86, Y:-4.28, Z:0.32 [[ 9.99546505e-01 2.99338986e-02 3.27807029e-03 6.58562029e+01] [-2.99337859e-02 9.99551880e-01 -8.34508530e-05 -4.27665283e+00] [-3.27909934e-03 -1.47120458e-05 9.99994624e-01 3.24054840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.142320588 meters 0.02197208087879187 Centerline is valid? [True, True] Translation: X:65.89, Y:-4.28, Z:0.32 [[ 9.99562076e-01 2.92753089e-02 4.31426177e-03 6.58870155e+01] [-2.92751057e-02 9.99571386e-01 -1.10263962e-04 -4.27531509e+00] [-4.31564063e-03 -1.60847942e-05 9.99990687e-01 3.24271476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.172320588 meters 0.021969950637333036 Centerline is valid? [True, True] Translation: X:65.92, Y:-4.27, Z:0.32 [[ 9.99667181e-01 2.48455331e-02 6.94460222e-03 6.59188691e+01] [-2.48448941e-02 9.99691302e-01 -1.78273669e-04 -4.27064999e+00] [-6.94688774e-03 5.67642906e-06 9.99975870e-01 3.23496830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.202320588 meters 0.022039115271439612 Centerline is valid? [True, True] Translation: X:65.95, Y:-4.27, Z:0.32 [[ 9.99721772e-01 2.25694636e-02 6.85543422e-03 6.59515060e+01] [-2.25687790e-02 9.99745277e-01 -1.77221561e-04 -4.27137865e+00] [-6.85768778e-03 2.24534727e-05 9.99976486e-01 3.22987468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23232058800001 meters 0.022298499689906184 Centerline is valid? [True, True] Translation: X:65.98, Y:-4.27, Z:0.32 [[ 9.99786674e-01 1.94028698e-02 7.08060268e-03 6.59831723e+01] [-1.94020537e-02 9.99811746e-01 -1.83934890e-04 -4.27458375e+00] [-7.08283859e-03 4.65174181e-05 9.99974915e-01 3.20923002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.262320588 meters 0.022677679812094446 Centerline is valid? [True, True] Translation: X:66.02, Y:-4.28, Z:0.32 [[ 9.99852878e-01 1.52530038e-02 7.84654555e-03 6.60150212e+01] [-1.52518665e-02 9.99883663e-01 -2.04763440e-04 -4.27783075e+00] [-7.84875596e-03 8.50588492e-05 9.99969194e-01 3.20671690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.292320588 meters 0.022933652294093478 Centerline is valid? [True, True] Translation: X:66.05, Y:-4.28, Z:0.32 [[ 9.99913062e-01 1.09733650e-02 7.31119268e-03 6.60472761e+01] [-1.09722562e-02 9.99939785e-01 -1.91760972e-04 -4.27871662e+00] [-7.31285670e-03 1.11524022e-04 9.99973254e-01 3.21804838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.322320588 meters 0.02356932179311071 Centerline is valid? [True, True] Translation: X:66.08, Y:-4.28, Z:0.32 [[ 9.99969872e-01 5.34118063e-03 5.63273929e-03 6.60794191e+01] [-5.34040946e-03 9.99985728e-01 -1.51940538e-04 -4.27543919e+00] [-5.63347044e-03 1.21854826e-04 9.99984124e-01 3.23244836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.352320588 meters 0.023775473385938117 Centerline is valid? [True, True] Translation: X:66.11, Y:-4.28, Z:0.32 [[ 9.99981199e-01 4.06913361e-03 4.58745202e-03 6.61120325e+01] [-4.06861149e-03 9.99991716e-01 -1.23141459e-04 -4.27769310e+00] [-4.58791509e-03 1.04474584e-04 9.99989470e-01 3.22737520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.382320588 meters 0.023885090064010933 Centerline is valid? [True, True] Translation: X:66.14, Y:-4.28, Z:0.32 [[ 9.99987219e-01 2.57733052e-03 4.34967959e-03 6.61439059e+01] [-2.57684455e-03 9.99996673e-01 -1.17326629e-04 -4.28151969e+00] [-4.34996751e-03 1.06116682e-04 9.99990533e-01 3.23199834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.412320588 meters 0.02415173395612746 Centerline is valid? [True, True] Translation: X:66.18, Y:-4.28, Z:0.32 [[ 9.99983869e-01 1.99444227e-03 5.31825690e-03 6.61761365e+01] [-1.99370468e-03 9.99998002e-01 -1.43988995e-04 -4.28369531e+00] [-5.31853346e-03 1.33383639e-04 9.99985848e-01 3.23915527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.442320588 meters 0.02415780065766857 Centerline is valid? [True, True] Translation: X:66.21, Y:-4.28, Z:0.33 [[ 9.99985343e-01 2.10399927e-03 4.98862313e-03 6.62091743e+01] [-2.10334528e-03 9.99997779e-01 -1.36340474e-04 -4.28445398e+00] [-4.98889891e-03 1.25845679e-04 9.99987547e-01 3.25143467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.472320588 meters 0.023944099555162066 Centerline is valid? [True, True] Translation: X:66.24, Y:-4.29, Z:0.33 [[ 9.99984706e-01 3.16693380e-03 4.53419031e-03 6.62414145e+01] [-3.16640292e-03 9.99994979e-01 -1.24258461e-04 -4.28671598e+00] [-4.53456107e-03 1.09899487e-04 9.99989713e-01 3.25706898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502320588 meters 0.023919494968315264 Centerline is valid? [True, True] Translation: X:66.27, Y:-4.29, Z:0.33 [[ 9.99983601e-01 3.46505056e-03 4.55968022e-03 6.62733212e+01] [-3.46451417e-03 9.99993991e-01 -1.25529677e-04 -4.29083398e+00] [-4.56008778e-03 1.09730542e-04 9.99989597e-01 3.25749796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.532320588 meters 0.023975880259149575 Centerline is valid? [True, True] Translation: X:66.31, Y:-4.30, Z:0.33 [[ 9.99980729e-01 3.40160600e-03 5.19341853e-03 6.63052365e+01] [-3.40090641e-03 9.99994207e-01 -1.43531875e-04 -4.29512683e+00] [-5.19387668e-03 1.25866779e-04 9.99986504e-01 3.26286960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.562320588 meters 0.024412902315221963 Centerline is valid? [True, True] Translation: X:66.34, Y:-4.30, Z:0.33 [[ 9.99975982e-01 1.36175131e-03 6.79563009e-03 6.63376956e+01] [-1.36047698e-03 9.99999056e-01 -1.92140593e-04 -4.29749687e+00] [-6.79588533e-03 1.82890680e-04 9.99976891e-01 3.26419000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.592320588 meters 0.02449066434468471 Centerline is valid? [True, True] Translation: X:66.37, Y:-4.30, Z:0.33 [[ 9.99977858e-01 4.87040913e-04 6.63668265e-03 6.63698068e+01] [-4.85810913e-04 9.99999865e-01 -1.86944315e-04 -4.29896878e+00] [-6.63677280e-03 1.83716003e-04 9.99977960e-01 3.25960476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62232058800001 meters 0.024726137723312495 Centerline is valid? [True, True] Translation: X:66.40, Y:-4.30, Z:0.32 [[ 9.99977387e-01 -3.22880575e-04 6.71721132e-03 6.64016420e+01] [ 3.24188720e-04 9.99999929e-01 -1.93657445e-04 -4.30142587e+00] [-6.71714831e-03 1.95830710e-04 9.99977421e-01 3.24311899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.652320588 meters 0.02529569942910602 Centerline is valid? [True, True] Translation: X:66.43, Y:-4.30, Z:0.32 [[ 9.99972952e-01 -1.73614041e-03 7.14715545e-03 6.64333785e+01] [ 1.73767826e-03 9.99998468e-01 -2.08965439e-04 -4.30492725e+00] [-7.14678171e-03 2.21379244e-04 9.99974437e-01 3.23347246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.682320588 meters 0.02532193799703747 Centerline is valid? [True, True] Translation: X:66.47, Y:-4.31, Z:0.32 [[ 9.99971920e-01 -2.53450039e-03 7.05231125e-03 6.64653123e+01] [ 2.53603870e-03 9.99996762e-01 -2.09193922e-04 -4.30927041e+00] [-7.05175822e-03 2.27072982e-04 9.99975110e-01 3.23066082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.712320588 meters 0.024766509619530447 Centerline is valid? [True, True] Translation: X:66.50, Y:-4.32, Z:0.32 [[ 9.99985853e-01 -3.21780499e-05 5.31916991e-03 6.64978106e+01] [ 3.30215389e-05 9.99999987e-01 -1.58487549e-04 -4.31644773e+00] [-5.31916474e-03 1.58660954e-04 9.99985841e-01 3.24269655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.742320588 meters 0.024115534983786106 Centerline is valid? [True, True] Translation: X:66.53, Y:-4.32, Z:0.32 [[ 9.99978311e-01 3.87425535e-03 5.32618612e-03 6.65304457e+01] [-3.87346250e-03 9.99992485e-01 -1.59166755e-04 -4.32135646e+00] [-5.32676275e-03 1.38532521e-04 9.99985803e-01 3.24244653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.772320588 meters 0.02364976766971469 Centerline is valid? [True, True] Translation: X:66.56, Y:-4.33, Z:0.32 [[ 9.99955467e-01 7.49786381e-03 5.73115041e-03 6.65628721e+01] [-7.49700236e-03 9.99971882e-01 -1.71779555e-04 -4.32608138e+00] [-5.73227724e-03 1.28805457e-04 9.99983562e-01 3.24274161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.802320588 meters 0.02324367164300865 Centerline is valid? [True, True] Translation: X:66.59, Y:-4.33, Z:0.33 [[ 9.99918185e-01 1.06224821e-02 7.12645239e-03 6.65945792e+01] [-1.06212214e-02 9.99943570e-01 -2.14719333e-04 -4.33040683e+00] [-7.12833110e-03 1.39010137e-04 9.99974583e-01 3.25057126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.832320588 meters 0.022456537152348008 Centerline is valid? [True, True] Translation: X:66.63, Y:-4.34, Z:0.33 [[ 9.99798795e-01 1.74956176e-02 9.81182798e-03 6.66266800e+01] [-1.74935506e-02 9.99846932e-01 -2.96450851e-04 -4.33702413e+00] [-9.81551270e-03 1.24747494e-04 9.99951819e-01 3.27058902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.862320588 meters 0.02223661052514293 Centerline is valid? [True, True] Translation: X:66.66, Y:-4.34, Z:0.33 [[ 9.99731840e-01 2.11757982e-02 9.37194276e-03 6.66584885e+01] [-2.11740624e-02 9.99775764e-01 -2.84411937e-04 -4.34177526e+00] [-9.37586388e-03 8.58935690e-05 9.99956042e-01 3.26819610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.892320588 meters 0.02193555768244405 Centerline is valid? [True, True] Translation: X:66.69, Y:-4.35, Z:0.33 [[ 9.99671392e-01 2.43561473e-02 7.99293507e-03 6.66904805e+01] [-2.43549772e-02 9.99703344e-01 -2.43706025e-04 -4.34664796e+00] [-7.99649965e-03 4.89581895e-05 9.99968026e-01 3.26141010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.922320588 meters 0.02194984124376253 Centerline is valid? [True, True] Translation: X:66.72, Y:-4.35, Z:0.33 [[ 9.99636129e-01 2.63182638e-02 5.91265727e-03 6.67228840e+01] [-2.63176522e-02 9.99653614e-01 -1.81233906e-04 -4.35067982e+00] [-5.91537897e-03 2.55607029e-05 9.99982504e-01 3.25511784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.952320588 meters 0.022009875979572307 Centerline is valid? [True, True] Translation: X:66.76, Y:-4.35, Z:0.33 [[ 9.99702083e-01 2.40522272e-02 4.15164817e-03 6.67554096e+01] [-2.40519030e-02 9.99710703e-01 -1.27998936e-04 -4.35455613e+00] [-4.15352577e-03 2.81057638e-05 9.99991374e-01 3.27693201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98232058800001 meters 0.021950426517750653 Centerline is valid? [True, True] Translation: X:66.79, Y:-4.36, Z:0.33 [[ 9.99744816e-01 2.22206766e-02 4.06743518e-03 6.67874013e+01] [-2.22203481e-02 9.99753090e-01 -1.25948213e-04 -4.35778834e+00] [-4.06922954e-03 3.55362478e-05 9.99991720e-01 3.29893943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.012320588 meters 0.021992765830483717 Centerline is valid? [True, True] Translation: X:66.82, Y:-4.36, Z:0.33 [[ 9.99760074e-01 2.14520474e-02 4.42763434e-03 6.68192711e+01] [-2.14516483e-02 9.99769877e-01 -1.37612982e-04 -4.36353609e+00] [-4.42956752e-03 4.25999104e-05 9.99990189e-01 3.30800768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.042320588 meters 0.02187643440595854 Centerline is valid? [True, True] Translation: X:66.85, Y:-4.37, Z:0.33 [[ 9.99749595e-01 2.20006087e-02 4.08916703e-03 6.68513458e+01] [-2.20002705e-02 9.99757957e-01 -1.27678080e-04 -4.36883241e+00] [-4.09098627e-03 3.76833279e-05 9.99991631e-01 3.30809069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.072320588 meters 0.02205059375216779 Centerline is valid? [True, True] Translation: X:66.88, Y:-4.37, Z:0.33 [[ 9.99658740e-01 2.56889617e-02 4.74133754e-03 6.68834166e+01] [-2.56885460e-02 9.99669984e-01 -1.48567339e-04 -4.37010659e+00] [-4.74358936e-03 2.67185718e-05 9.99988749e-01 3.28218406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.102320588 meters 0.021875814983931423 Centerline is valid? [True, True] Translation: X:66.92, Y:-4.37, Z:0.33 [[ 9.99567796e-01 2.88282867e-02 5.75768418e-03 6.69158472e+01] [-2.88277221e-02 9.99584378e-01 -1.81040836e-04 -4.37006843e+00] [-5.76051026e-03 1.49816697e-05 9.99983408e-01 3.27041278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.132320588 meters 0.02200481071782238 Centerline is valid? [True, True] Translation: X:66.95, Y:-4.37, Z:0.33 [[ 9.99430002e-01 3.27689891e-02 8.11574016e-03 6.69482135e+01] [-3.27679908e-02 9.99462952e-01 -2.55992183e-04 -4.37269358e+00] [-8.11977023e-03 -1.00902309e-05 9.99967034e-01 3.26082153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.162320588 meters 0.0219497411712411 Centerline is valid? [True, True] Translation: X:66.98, Y:-4.38, Z:0.33 [[ 9.99308650e-01 3.55666050e-02 1.08276467e-02 6.69800795e+01] [-3.55649792e-02 9.99367307e-01 -3.42729323e-04 -4.37736635e+00] [-1.08329858e-02 -4.25926514e-05 9.99941321e-01 3.26888436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.192320588 meters 0.022095366909489197 Centerline is valid? [True, True] Translation: X:67.01, Y:-4.38, Z:0.33 [[ 9.99251129e-01 3.69619347e-02 1.14454075e-02 6.70122677e+01] [-3.69601925e-02 9.99316672e-01 -3.63769587e-04 -4.38295827e+00] [-1.14510322e-02 -5.95272955e-05 9.99934433e-01 3.27757792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222320588 meters 0.022033333924095958 Centerline is valid? [True, True] Translation: X:67.04, Y:-4.39, Z:0.33 [[ 9.99348602e-01 3.51233437e-02 8.28989328e-03 6.70446103e+01] [-3.51223558e-02 9.99382985e-01 -2.64766847e-04 -4.39000379e+00] [-8.29407779e-03 -2.65662035e-05 9.99965603e-01 3.27402737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.252320588 meters 0.021958100657073033 Centerline is valid? [True, True] Translation: X:67.08, Y:-4.39, Z:0.33 [[ 9.99457152e-01 3.22690388e-02 6.64155071e-03 6.70772811e+01] [-3.22683322e-02 9.99479219e-01 -2.13536522e-04 -4.39117290e+00] [-6.64498253e-03 -8.91160908e-07 9.99977922e-01 3.26879275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.282320588 meters 0.021919221657634012 Centerline is valid? [True, True] Translation: X:67.11, Y:-4.39, Z:0.33 [[ 9.99509298e-01 3.07924723e-02 5.74339386e-03 6.71089686e+01] [-3.07919155e-02 9.99525799e-01 -1.85368147e-04 -4.39177080e+00] [-5.74637828e-03 8.42708782e-06 9.99983489e-01 3.27557210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.312320588 meters 0.021950879261211514 Centerline is valid? [True, True] Translation: X:67.14, Y:-4.39, Z:0.33 [[ 9.99539752e-01 2.97629104e-02 5.86966328e-03 6.71410016e+01] [-2.97623065e-02 9.99556986e-01 -1.90215963e-04 -4.39105559e+00] [-5.87272432e-03 1.54336989e-05 9.99982755e-01 3.28897679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.342320588 meters 0.021759190568028747 Centerline is valid? [True, True] Translation: X:67.17, Y:-4.39, Z:0.33 [[ 9.99492415e-01 3.12163302e-02 6.36031339e-03 6.71736332e+01] [-3.12156432e-02 9.99512652e-01 -2.07272331e-04 -4.38989035e+00] [-6.36368399e-03 8.62584852e-06 9.99979752e-01 3.32715368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37232058800001 meters 0.02162679995391194 Centerline is valid? [True, True] Translation: X:67.21, Y:-4.39, Z:0.33 [[ 9.99428351e-01 3.29580349e-02 7.53255329e-03 6.72061366e+01] [-3.29571155e-02 9.99456736e-01 -2.46183272e-04 -4.39205669e+00] [-7.53657485e-03 -2.20868678e-06 9.99971600e-01 3.33516608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.402320588 meters 0.02176665106344885 Centerline is valid? [True, True] Translation: X:67.24, Y:-4.40, Z:0.33 [[ 9.99308161e-01 3.62489125e-02 8.31954230e-03 6.72383499e+01] [-3.62478963e-02 9.99342792e-01 -2.72943648e-04 -4.39655499e+00] [-8.32396854e-03 -2.88110915e-05 9.99965355e-01 3.34172324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.432320588 meters 0.021990894334765036 Centerline is valid? [True, True] Translation: X:67.27, Y:-4.40, Z:0.33 [[ 9.99201421e-01 3.89635991e-02 8.85206451e-03 6.72708126e+01] [-3.89625450e-02 9.99240629e-01 -2.91565937e-04 -4.40121312e+00] [-8.85670297e-03 -5.35658632e-05 9.99960777e-01 3.33067977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.462320588 meters 0.022194777199776607 Centerline is valid? [True, True] Translation: X:67.30, Y:-4.40, Z:0.33 [[ 9.99076248e-01 4.20388816e-02 8.90976950e-03 6.73026806e+01] [-4.20379253e-02 9.99115972e-01 -2.94663674e-04 -4.40404430e+00] [-8.91428035e-03 -8.01567468e-05 9.99960264e-01 3.30876979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.492320588 meters 0.022005551206553772 Centerline is valid? [True, True] Translation: X:67.33, Y:-4.40, Z:0.33 [[ 9.99060156e-01 4.28513565e-02 6.52432611e-03 6.73346881e+01] [-4.28508541e-02 9.99081457e-01 -2.16829100e-04 -4.40367413e+00] [-6.52762466e-03 -6.29476318e-05 9.99978693e-01 3.31167464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.522320588 meters 0.02215220958916864 Centerline is valid? [True, True] Translation: X:67.37, Y:-4.40, Z:0.33 [[ 9.99024230e-01 4.39351981e-02 4.50399514e-03 6.73664632e+01] [-4.39349660e-02 9.99034382e-01 -1.50497512e-04 -4.40304547e+00] [-4.50625814e-03 -4.75322122e-05 9.99989846e-01 3.31811310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.552320588 meters 0.021939193622390926 Centerline is valid? [True, True] Translation: X:67.40, Y:-4.40, Z:0.33 [[ 9.99051283e-01 4.34691641e-02 2.63936934e-03 6.73983318e+01] [-4.34690811e-02 9.99054769e-01 -8.88252019e-05 -4.40260894e+00] [-2.64073569e-03 -2.59900282e-05 9.99996513e-01 3.32782431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.582320588 meters 0.021939193622390926 Centerline is valid? [True, True] Translation: X:67.43, Y:-4.40, Z:0.33 [[ 9.99048390e-01 4.35355912e-02 2.63937479e-03 6.74291543e+01] [-4.35355089e-02 9.99051876e-01 -8.86614766e-05 -4.40362255e+00] [-2.64073227e-03 -2.63294193e-05 9.99996513e-01 3.32937836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.612320588 meters 0.02195194054792895 Centerline is valid? [True, True] Translation: X:67.46, Y:-4.40, Z:0.33 [[ 9.99032895e-01 4.38884874e-02 2.65993840e-03 6.74601581e+01] [-4.38884045e-02 9.99036436e-01 -8.95258865e-05 -4.40410868e+00] [-2.66130453e-03 -2.73011469e-05 9.99996458e-01 3.33792397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.642320588 meters 0.02208686171890876 Centerline is valid? [True, True] Translation: X:67.49, Y:-4.41, Z:0.33 [[ 9.98949208e-01 4.57422186e-02 2.85125464e-03 6.74917051e+01] [-4.57421305e-02 9.98953276e-01 -9.61300476e-05 -4.40665669e+00] [-2.85266736e-03 -3.43934268e-05 9.99995931e-01 3.33446137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.672320588 meters 0.02217822386821804 Centerline is valid? [True, True] Translation: X:67.52, Y:-4.41, Z:0.33 [[ 9.98928600e-01 4.61347970e-02 3.63755267e-03 6.75231467e+01] [-4.61346557e-02 9.98935222e-01 -1.22790307e-04 -4.40775244e+00] [-3.63934439e-03 -4.51584909e-05 9.99993377e-01 3.33407565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.702320588 meters 0.022157510951134652 Centerline is valid? [True, True] Translation: X:67.55, Y:-4.41, Z:0.33 [[ 9.98923263e-01 4.62531319e-02 3.60023332e-03 6.75547080e+01] [-4.62529934e-02 9.98929750e-01 -1.21775806e-04 -4.40815701e+00] [-3.60201269e-03 -4.48768827e-05 9.99993512e-01 3.34327328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73232058800001 meters 0.02220125568910092 Centerline is valid? [True, True] Translation: X:67.59, Y:-4.41, Z:0.33 [[ 9.98959419e-01 4.53364319e-02 4.96854937e-03 6.75863183e+01] [-4.53361557e-02 9.98971774e-01 -1.68259021e-04 -4.40537063e+00] [-4.97106884e-03 -5.71709936e-05 9.99987643e-01 3.34824881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.762320588 meters 0.022054983878169943 Centerline is valid? [True, True] Translation: X:67.62, Y:-4.41, Z:0.33 [[ 9.98999768e-01 4.46272886e-02 2.80496823e-03 6.76180085e+01] [-4.46271954e-02 9.99003706e-01 -9.58585244e-05 -4.40618593e+00] [-2.80645156e-03 -2.94152215e-05 9.99996061e-01 3.34999755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.792320588 meters 0.022021288069528577 Centerline is valid? [True, True] Translation: X:67.65, Y:-4.41, Z:0.33 [[ 9.99058573e-01 4.33407054e-02 1.88438125e-03 6.76488941e+01] [-4.33406610e-02 9.99060350e-01 -6.44061558e-05 -4.40717247e+00] [-1.88540200e-03 -1.73248067e-05 9.99998222e-01 3.34122512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.822320588 meters 0.022002191628509055 Centerline is valid? [True, True] Translation: X:67.68, Y:-4.41, Z:0.33 [[ 9.99124052e-01 4.17261824e-02 3.17101952e-03 6.76798696e+01] [-4.17260486e-02 9.99129083e-01 -1.08363552e-04 -4.40716011e+00] [-3.17277942e-03 -2.40454832e-05 9.99994966e-01 3.34096959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.852320588 meters 0.022005414922600247 Centerline is valid? [True, True] Translation: X:67.71, Y:-4.41, Z:0.33 [[ 9.99191529e-01 4.00707203e-02 3.25977633e-03 6.77113971e+01] [-4.00705694e-02 9.99196846e-01 -1.11608267e-04 -4.40558181e+00] [-3.26163045e-03 -1.91030591e-05 9.99994681e-01 3.34583134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.882320588 meters 0.021814235225598437 Centerline is valid? [True, True] Translation: X:67.74, Y:-4.40, Z:0.34 [[ 9.99226651e-01 3.92693247e-02 2.00491429e-03 6.77428701e+01] [-3.92692655e-02 9.99228663e-01 -6.89075484e-05 -4.40378906e+00] [-2.00607378e-03 -9.87725266e-06 9.99997988e-01 3.36759809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.912320588 meters 0.021819866946396944 Centerline is valid? [True, True] Translation: X:67.77, Y:-4.40, Z:0.34 [[ 9.99376471e-01 3.53062432e-02 -3.72214215e-04 6.77734183e+01] [-3.53062409e-02 9.99376540e-01 1.27300787e-05 -4.39988536e+00] [ 3.72431606e-04 4.19343613e-07 9.99999931e-01 3.36883716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.942320588 meters 0.0218325839648654 Centerline is valid? [True, True] Translation: X:67.80, Y:-4.40, Z:0.34 [[ 9.99496356e-01 3.17211085e-02 -8.97323459e-04 6.78026827e+01] [-3.17210920e-02 9.99496759e-01 3.26464026e-05 -4.39924699e+00] [ 8.97907469e-04 -4.16588041e-06 9.99999597e-01 3.36048728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.972320588 meters 0.02191229689231793 Centerline is valid? [True, True] Translation: X:67.83, Y:-4.40, Z:0.33 [[ 9.99598857e-01 2.83218044e-02 1.44961367e-05 6.78315907e+01] [-2.83218044e-02 9.99598857e-01 1.85292891e-06 -4.39924699e+00] [-1.44378433e-05 -2.26274237e-06 1.00000000e+00 3.34527081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002320588 meters 0.022329081811038532 Centerline is valid? [True, True] Translation: X:67.86, Y:-4.40, Z:0.33 [[ 9.99746409e-01 2.23733011e-02 2.55977053e-03 6.78609263e+01] [-2.23731576e-02 9.99749686e-01 -8.46520849e-05 -4.40120502e+00] [-2.56102373e-03 2.73604683e-05 9.99996720e-01 3.34374492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.032320588 meters 0.022542543005698256 Centerline is valid? [True, True] Translation: X:67.89, Y:-4.40, Z:0.34 [[ 9.99821155e-01 1.88518841e-02 1.50477972e-03 6.78924827e+01] [-1.88518296e-02 9.99822287e-01 -5.03798849e-05 -4.40350019e+00] [-1.50546206e-03 2.20030239e-05 9.99998867e-01 3.36096922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.062320588 meters 0.02280522534344878 Centerline is valid? [True, True] Translation: X:67.92, Y:-4.41, Z:0.34 [[ 9.99873188e-01 1.58422203e-02 1.62237316e-03 6.79241091e+01] [-1.58421529e-02 9.99874504e-01 -5.43923297e-05 -4.40527870e+00] [-1.62303125e-03 2.86835485e-05 9.99998682e-01 3.37099401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.092320588 meters 0.02310050764200701 Centerline is valid? [True, True] Translation: X:67.96, Y:-4.41, Z:0.34 [[ 9.99912955e-01 1.31939459e-02 4.28573932e-05 6.79555361e+01] [-1.31939459e-02 9.99912956e-01 -1.75276514e-06 -4.40669424e+00] [-4.28767885e-05 1.18715445e-06 9.99999999e-01 3.38161530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12232058800001 meters 0.023485724649836275 Centerline is valid? [True, True] Translation: X:67.99, Y:-4.41, Z:0.34 [[ 9.99945654e-01 1.03731718e-02 -1.04211084e-03 6.79862823e+01] [-1.03731411e-02 9.99946197e-01 3.47976813e-05 -4.40889353e+00] [ 1.04241573e-03 -2.39858274e-05 9.99999456e-01 3.37524476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.152320588 meters 0.02377006022228938 Centerline is valid? [True, True] Translation: X:68.02, Y:-4.42, Z:0.34 [[ 9.99966640e-01 8.13956169e-03 6.83205124e-04 6.80156370e+01] [-8.13954825e-03 9.99966873e-01 -2.24513088e-05 -4.41548156e+00] [-6.83365235e-04 1.68895787e-05 9.99999766e-01 3.37448724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.182320588 meters 0.023690287977274 Centerline is valid? [True, True] Translation: X:68.05, Y:-4.42, Z:0.34 [[ 9.99955328e-01 9.28978023e-03 1.74423718e-03 6.80460909e+01] [-9.28969295e-03 9.99956848e-01 -5.81323848e-05 -4.41787338e+00] [-1.74470195e-03 4.19263601e-05 9.99998477e-01 3.38596926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.212320588 meters 0.02320752829033842 Centerline is valid? [True, True] Translation: X:68.08, Y:-4.42, Z:0.34 [[ 9.99926323e-01 1.17795330e-02 2.93114614e-03 6.80772069e+01] [-1.17792958e-02 9.99930617e-01 -9.81963197e-05 -4.41860802e+00] [-2.93209948e-03 6.36622476e-05 9.99995699e-01 3.39768669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.242320588 meters 0.02286411182722932 Centerline is valid? [True, True] Translation: X:68.11, Y:-4.42, Z:0.34 [[ 9.99900100e-01 1.39333000e-02 2.37749078e-03 6.81091303e+01] [-1.39331483e-02 9.99902926e-01 -8.03435967e-05 -4.41960264e+00] [-2.37837944e-03 4.72096387e-05 9.99997171e-01 3.40234406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.272320588 meters 0.02280051772651213 Centerline is valid? [True, True] Translation: X:68.14, Y:-4.42, Z:0.34 [[ 9.99875165e-01 1.57908558e-02 5.49900885e-04 6.81411071e+01] [-1.57908477e-02 9.99875317e-01 -1.91560856e-05 -4.42448853e+00] [-5.50134812e-04 1.04702932e-05 9.99999849e-01 3.39923176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.302320588 meters 0.022827641338201782 Centerline is valid? [True, True] Translation: X:68.17, Y:-4.44, Z:0.34 [[ 9.99876411e-01 1.56850440e-02 -1.06879041e-03 6.81710542e+01] [-1.56850145e-02 9.99876982e-01 3.59648200e-05 -4.44210063e+00] [ 1.06922304e-03 -1.91963820e-05 9.99999428e-01 3.38724103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.332320588 meters 0.02309190598090607 Centerline is valid? [True, True] Translation: X:68.20, Y:-4.45, Z:0.34 [[ 9.99897085e-01 1.43397853e-02 -4.36199213e-04 6.82006210e+01] [-1.43397801e-02 9.99897180e-01 1.49747509e-05 -4.44870006e+00] [ 4.36369097e-04 -8.71820892e-06 9.99999905e-01 3.39707693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362320588 meters 0.022870602987777558 Centerline is valid? [True, True] Translation: X:68.23, Y:-4.45, Z:0.34 [[ 9.99895180e-01 1.44770917e-02 -2.04993131e-04 6.82313223e+01] [-1.44770906e-02 9.99895201e-01 6.88480580e-06 -4.45124189e+00] [ 2.05071320e-04 -3.91638001e-06 9.99999979e-01 3.41936239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.392320588 meters 0.022520344662117456 Centerline is valid? [True, True] Translation: X:68.26, Y:-4.45, Z:0.34 [[ 9.99855811e-01 1.69567616e-02 9.08686256e-04 6.82617044e+01] [-1.69567409e-02 9.99856224e-01 -3.05187221e-05 -4.45199767e+00] [-9.09073108e-04 1.51059642e-05 9.99999587e-01 3.42385889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.422320588 meters 0.02178029514572067 Centerline is valid? [True, True] Translation: X:68.29, Y:-4.46, Z:0.34 [[ 9.99654834e-01 2.62436521e-02 1.21834032e-03 6.82923583e+01] [-2.62436217e-02 9.99655576e-01 -4.09186222e-05 -4.45701843e+00] [-1.21899455e-03 8.93083608e-06 9.99999257e-01 3.41908263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.452320588 meters 0.02177210549466388 Centerline is valid? [True, True] Translation: X:68.32, Y:-4.46, Z:0.34 [[ 9.99504936e-01 3.14356674e-02 1.29688523e-03 6.83235254e+01] [-3.14356368e-02 9.99505777e-01 -4.39778592e-05 -4.46178216e+00] [-1.29762675e-03 3.18767419e-06 9.99999158e-01 3.41243836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48232058800001 meters 0.021916416880084312 Centerline is valid? [True, True] Translation: X:68.35, Y:-4.47, Z:0.34 [[ 9.99369789e-01 3.54830328e-02 9.89734899e-04 6.83548106e+01] [-3.54830168e-02 9.99370279e-01 -3.37132458e-05 -4.46538742e+00] [-9.90307890e-04 -1.42678070e-06 9.99999510e-01 3.40634926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.512320588 meters 0.021852873687391645 Centerline is valid? [True, True] Translation: X:68.39, Y:-4.47, Z:0.34 [[ 9.99240966e-01 3.89544517e-02 -2.05717115e-04 6.83864921e+01] [-3.89544512e-02 9.99240987e-01 6.61263597e-06 -4.46868817e+00] [ 2.05818565e-04 1.40598055e-06 9.99999979e-01 3.39713844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.542320588 meters 0.022036196436109677 Centerline is valid? [True, True] Translation: X:68.42, Y:-4.48, Z:0.34 [[ 9.99050715e-01 4.35544217e-02 -8.25150287e-04 6.84179684e+01] [-4.35544137e-02 9.99051056e-01 2.75960239e-05 -4.47671667e+00] [ 8.25569194e-04 8.36910960e-06 9.99999659e-01 3.40733379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.572320588 meters 0.02202998129074087 Centerline is valid? [True, True] Translation: X:68.45, Y:-4.48, Z:0.34 [[ 9.98961657e-01 4.55522156e-02 -7.77467314e-04 6.84483310e+01] [-4.55522089e-02 9.98961959e-01 2.63202216e-05 -4.47989477e+00] [ 7.77859215e-04 9.12246135e-06 9.99999697e-01 3.43130791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.602320588 meters 0.022199106821732675 Centerline is valid? [True, True] Translation: X:68.48, Y:-4.48, Z:0.35 [[ 9.98878288e-01 4.73513949e-02 -1.03225454e-04 6.84788685e+01] [-4.73513948e-02 9.98878294e-01 3.49457370e-06 -4.47850624e+00] [ 1.03275139e-04 1.39721544e-06 9.99999995e-01 3.46359254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.632320588 meters 0.02213177444743826 Centerline is valid? [True, True] Translation: X:68.51, Y:-4.47, Z:0.35 [[ 9.98746045e-01 5.00257601e-02 1.93916757e-03 6.85103283e+01] [-5.00257260e-02 9.98747927e-01 -6.61188835e-05 -4.47487293e+00] [-1.94004724e-03 -3.09722921e-05 9.99998118e-01 3.48028930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.662320588 meters 0.022342522114313566 Centerline is valid? [True, True] Translation: X:68.54, Y:-4.47, Z:0.35 [[ 9.98605473e-01 5.25874018e-02 4.65559966e-03 6.85420441e+01] [-5.25872338e-02 9.98616322e-01 -1.58573469e-04 -4.47110883e+00] [-4.65749678e-03 -8.64727739e-05 9.99989150e-01 3.47756496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.692320588 meters 0.023110398130593686 Centerline is valid? [True, True] Translation: X:68.57, Y:-4.47, Z:0.34 [[ 9.98327126e-01 5.75144954e-02 5.91883837e-03 6.85738348e+01] [-5.75143064e-02 9.98344662e-01 -2.02271197e-04 -4.47097388e+00] [-5.92067422e-03 -1.38485062e-04 9.99982463e-01 3.43582630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.722320588 meters 0.023238415140941115 Centerline is valid? [True, True] Translation: X:68.61, Y:-4.47, Z:0.34 [[ 9.98260805e-01 5.87831623e-02 4.46158965e-03 6.86056955e+01] [-5.87830637e-02 9.98270769e-01 -1.53346408e-04 -4.47258422e+00] [-4.46288872e-03 -1.09186200e-04 9.99990035e-01 3.41755551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.752320588 meters 0.023201302758341518 Centerline is valid? [True, True] Translation: X:68.64, Y:-4.47, Z:0.34 [[ 9.98273193e-01 5.87285951e-02 1.25904324e-03 6.86376567e+01] [-5.87285864e-02 9.98273986e-01 -4.39248342e-05 -4.47243966e+00] [-1.25944975e-03 -3.00928450e-05 9.99999206e-01 3.41565376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.782320588 meters 0.023112827934813698 Centerline is valid? [True, True] Translation: X:68.67, Y:-4.47, Z:0.34 [[ 9.98350789e-01 5.73665635e-02 2.18616467e-03 6.86686396e+01] [-5.73665355e-02 9.98353181e-01 -7.55789808e-05 -4.46979071e+00] [-2.18690016e-03 -4.99583578e-05 9.99997607e-01 3.41212795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.812320588 meters 0.02219529834398268 Centerline is valid? [True, True] Translation: X:68.70, Y:-4.46, Z:0.35 [[ 9.98647371e-01 5.17676812e-02 4.85133911e-03 6.86998597e+01] [-5.17674775e-02 9.98659151e-01 -1.67635443e-04 -4.46245305e+00] [-4.85351229e-03 -8.37328929e-05 9.99988218e-01 3.46351322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.842320588 meters 0.021952988964074164 Centerline is valid? [True, True] Translation: X:68.73, Y:-4.46, Z:0.35 [[ 9.98814492e-01 4.81458740e-02 7.18233328e-03 6.87323818e+01] [-4.81453255e-02 9.98840310e-01 -2.49344029e-04 -4.46038209e+00] [-7.18600888e-03 -9.67473445e-05 9.99974176e-01 3.49110640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87232058800001 meters 0.021781533647390054 Centerline is valid? [True, True] Translation: X:68.76, Y:-4.46, Z:0.35 [[ 9.98908287e-01 4.57301107e-02 9.53891499e-03 6.87642902e+01] [-4.57290230e-02 9.98953826e-01 -3.32209841e-04 -4.45845707e+00] [-9.54412762e-03 -1.04358100e-04 9.99954448e-01 3.49811586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.902320588 meters 0.02159294204246408 Centerline is valid? [True, True] Translation: X:68.80, Y:-4.46, Z:0.35 [[ 9.99079579e-01 4.16380768e-02 1.03085236e-02 6.87962811e+01] [-4.16365750e-02 9.99132757e-01 -3.60340483e-04 -4.45506438e+00] [-1.03145875e-02 -6.92027988e-05 9.99946801e-01 3.45769695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.932320588 meters 0.02162048402091234 Centerline is valid? [True, True] Translation: X:68.83, Y:-4.46, Z:0.34 [[ 9.99170459e-01 3.96952880e-02 9.09272283e-03 6.88281270e+01] [-3.96940273e-02 9.99211831e-01 -3.19146370e-04 -4.45744644e+00] [-9.09822483e-03 -4.20451626e-05 9.99958609e-01 3.41979345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.962320588 meters 0.021602278066475657 Centerline is valid? [True, True] Translation: X:68.86, Y:-4.46, Z:0.34 [[ 9.99293961e-01 3.68384914e-02 7.38271168e-03 6.88600809e+01] [-3.68375741e-02 9.99321232e-01 -2.60245683e-04 -4.46072879e+00] [-7.38728759e-03 -1.18992492e-05 9.99972714e-01 3.40890487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.992320588 meters 0.021556246896284763 Centerline is valid? [True, True] Translation: X:68.89, Y:-4.46, Z:0.34 [[ 9.99392278e-01 3.44178819e-02 5.52131401e-03 6.88920907e+01] [-3.44173268e-02 9.99407529e-01 -1.95544432e-04 -4.46266224e+00] [-5.52477301e-03 5.39672694e-06 9.99984738e-01 3.41886466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.022320588 meters 0.021451926205788008 Centerline is valid? [True, True] Translation: X:68.92, Y:-4.46, Z:0.34 [[ 9.99467742e-01 3.23983123e-02 3.81851918e-03 6.89239094e+01] [-3.23980293e-02 9.99475037e-01 -1.35960583e-04 -4.46123198e+00] [-3.82091949e-03 1.21757203e-05 9.99992700e-01 3.44447148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.052320588 meters 0.0213545485644378 Centerline is valid? [True, True] Translation: X:68.96, Y:-4.46, Z:0.35 [[ 9.99509543e-01 3.11183437e-02 3.51041702e-03 6.89557274e+01] [-3.11180948e-02 9.99515707e-01 -1.25506906e-04 -4.45876429e+00] [-3.51262251e-03 1.62078606e-05 9.99993831e-01 3.46723696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.082320588 meters 0.021348647958132353 Centerline is valid? [True, True] Translation: X:68.99, Y:-4.46, Z:0.35 [[ 9.99604673e-01 2.80876517e-02 1.25762063e-03 6.89883176e+01] [-2.80876166e-02 9.99605464e-01 -4.55520360e-05 -4.46073796e+00] [-1.25840390e-03 1.02104619e-05 9.99999208e-01 3.49830420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.112320588 meters 0.021494709638378268 Centerline is valid? [True, True] Translation: X:69.02, Y:-4.47, Z:0.35 [[ 9.99654524e-01 2.62701579e-02 8.43257639e-04 6.90198360e+01] [-2.62701415e-02 9.99654880e-01 -3.04870169e-05 -4.46762858e+00] [-8.43767512e-04 8.32398686e-06 9.99999644e-01 3.49252173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.142320588 meters 0.021667080113655222 Centerline is valid? [True, True] Translation: X:69.05, Y:-4.47, Z:0.35 [[ 9.99679812e-01 2.52627728e-02 1.43701835e-03 6.90505422e+01] [-2.52627244e-02 9.99680845e-01 -5.18108593e-05 -4.47387910e+00] [-1.43786860e-03 1.54912716e-05 9.99998966e-01 3.47833230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.172320588 meters 0.021715905378333896 Centerline is valid? [True, True] Translation: X:69.08, Y:-4.48, Z:0.35 [[ 9.99715396e-01 2.38463510e-02 6.92355102e-04 6.90814520e+01] [-2.38463392e-02 9.99715635e-01 -2.51773257e-05 -4.47702517e+00] [-6.92758608e-04 8.66002546e-06 9.99999760e-01 3.46025571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.202320588 meters 0.021535289852784915 Centerline is valid? [True, True] Translation: X:69.11, Y:-4.48, Z:0.35 [[ 9.99709524e-01 2.39565335e-02 -2.63667168e-03 6.91122012e+01] [-2.39563672e-02 9.99713001e-01 9.46302299e-05 -4.47680939e+00] [ 2.63818197e-03 -3.14376670e-05 9.99996519e-01 3.46006890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23232058800001 meters 0.02128141922976346 Centerline is valid? [True, True] Translation: X:69.14, Y:-4.48, Z:0.35 [[ 9.99664857e-01 2.56801660e-02 -3.27143012e-03 6.91409896e+01] [-2.56799166e-02 9.99670210e-01 1.18228782e-04 -4.47964010e+00] [ 3.27338737e-03 -3.41791057e-05 9.99994642e-01 3.47387944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.262320588 meters 0.021202116051495648 Centerline is valid? [True, True] Translation: X:69.17, Y:-4.49, Z:0.35 [[ 9.99576645e-01 2.89825611e-02 -2.55785842e-03 6.91697722e+01] [-2.89824225e-02 9.99579917e-01 9.12507073e-05 -4.48527342e+00] [ 2.55942859e-03 -1.70791423e-05 9.99996725e-01 3.50589283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.292320588 meters 0.021038917320989028 Centerline is valid? [True, True] Translation: X:69.20, Y:-4.49, Z:0.35 [[ 9.99464767e-01 3.27135431e-02 -5.23158658e-05 6.91988431e+01] [-3.27135429e-02 9.99464769e-01 4.21196289e-06 -4.49106284e+00] [ 5.24256530e-05 -2.49827119e-06 9.99999999e-01 3.53321190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.322320588 meters 0.021075699539526486 Centerline is valid? [True, True] Translation: X:69.23, Y:-4.49, Z:0.35 [[ 9.99323497e-01 3.67194571e-02 2.05655153e-03 6.92296729e+01] [-3.67193880e-02 9.99325613e-01 -7.13537630e-05 -4.49412971e+00] [-2.05778469e-03 -4.20982147e-06 9.99997883e-01 3.53559901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.352320588 meters 0.021437551931756123 Centerline is valid? [True, True] Translation: X:69.26, Y:-4.50, Z:0.35 [[ 9.99050624e-01 4.33604530e-02 4.20966886e-03 6.92608664e+01] [-4.33602198e-02 9.99059493e-01 -1.46679779e-04 -4.49646449e+00] [-4.21206974e-03 -3.59916426e-05 9.99991129e-01 3.47629863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.382320588 meters 0.021651137611430615 Centerline is valid? [True, True] Translation: X:69.29, Y:-4.50, Z:0.34 [[ 9.98934117e-01 4.59525621e-02 4.35798308e-03 6.92924733e+01] [-4.59523328e-02 9.98943622e-01 -1.52771781e-04 -4.50085153e+00] [-4.36039965e-03 -4.76505447e-05 9.99990492e-01 3.44943467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.412320588 meters 0.021944436411181125 Centerline is valid? [True, True] Translation: X:69.32, Y:-4.51, Z:0.35 [[ 9.98810586e-01 4.86481252e-02 3.28229204e-03 6.93247931e+01] [-4.86480077e-02 9.98815978e-01 -1.15671970e-04 -4.50522843e+00] [-3.28403296e-03 -4.41425808e-05 9.99994607e-01 3.46532939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.442320588 meters 0.022084288430156897 Centerline is valid? [True, True] Translation: X:69.36, Y:-4.51, Z:0.35 [[ 9.98714836e-01 5.06665604e-02 1.25546517e-03 6.93573341e+01] [-5.06665441e-02 9.98715625e-01 -4.48333015e-05 -4.50650254e+00] [-1.25612423e-03 -1.88343978e-05 9.99999211e-01 3.49851982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.472320588 meters 0.022084288430156897 Centerline is valid? [True, True] Translation: X:69.39, Y:-4.51, Z:0.35 [[ 9.98711442e-01 5.07334220e-02 1.25547422e-03 6.93881542e+01] [-5.07334061e-02 9.98712231e-01 -4.45753982e-05 -4.50757173e+00] [-1.25611892e-03 -1.91765233e-05 9.99999211e-01 3.50007409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.502320588 meters 0.02225495533049916 Centerline is valid? [True, True] Translation: X:69.42, Y:-4.50, Z:0.36 [[ 9.98439998e-01 5.58259773e-02 -1.01496659e-03 6.94192461e+01] [-5.58259699e-02 9.98440514e-01 3.56292602e-05 -4.50086967e+00] [ 1.01537280e-03 2.10878157e-05 9.99999484e-01 3.55949005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.532320588 meters 0.022528381567385517 Centerline is valid? [True, True] Translation: X:69.45, Y:-4.50, Z:0.36 [[ 9.98324941e-01 5.78556354e-02 -1.93867679e-04 6.94502553e+01] [-5.78556352e-02 9.98324960e-01 6.83756957e-06 -4.49950449e+00] [ 1.93938535e-04 4.39022150e-06 9.99999981e-01 3.55404223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.562320588 meters 0.022759641462434813 Centerline is valid? [True, True] Translation: X:69.48, Y:-4.50, Z:0.35 [[ 9.98228315e-01 5.94331911e-02 2.81541379e-03 6.94803162e+01] [-5.94331480e-02 9.98232283e-01 -9.90397207e-05 -4.49978092e+00] [-2.81632319e-03 -6.84646511e-05 9.99996032e-01 3.53461616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.592320588 meters 0.02341387716269095 Centerline is valid? [True, True] Translation: X:69.51, Y:-4.50, Z:0.35 [[ 9.97965637e-01 6.37257997e-02 1.89992484e-03 6.95120466e+01] [-6.37257851e-02 9.97967444e-01 -6.82900122e-05 -4.49947461e+00] [-1.90041498e-03 -5.29231168e-05 9.99998193e-01 3.51970189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62232058800001 meters 0.023826926020627325 Centerline is valid? [True, True] Translation: X:69.54, Y:-4.50, Z:0.35 [[ 9.97830632e-01 6.58126182e-02 1.65198111e-03 6.95435358e+01] [-6.58126107e-02 9.97831998e-01 -5.89699649e-05 -4.49822744e+00] [-1.65228058e-03 -4.98791523e-05 9.99998634e-01 3.50924240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.652320588 meters 0.024119463252921518 Centerline is valid? [True, True] Translation: X:69.57, Y:-4.50, Z:0.35 [[ 9.97734490e-01 6.72744222e-02 2.01312906e-04 6.95745988e+01] [-6.72744221e-02 9.97734510e-01 -7.48442186e-06 -4.49651040e+00] [-2.01360344e-04 -6.07574360e-06 9.99999980e-01 3.52187304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.682320588 meters 0.024329463245691043 Centerline is valid? [True, True] Translation: X:69.61, Y:-4.49, Z:0.36 [[ 9.97580329e-01 6.93935605e-02 4.24503679e-03 6.96051877e+01] [-6.93935457e-02 9.97589351e-01 -1.50955869e-04 -4.49122505e+00] [-4.24527886e-03 -1.43987549e-04 9.99990978e-01 3.55588058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.712320588 meters 0.02431853402729743 Centerline is valid? [True, True] Translation: X:69.64, Y:-4.49, Z:0.36 [[ 9.97538568e-01 6.98445561e-02 6.20827795e-03 6.96365478e+01] [-6.98445287e-02 9.97557864e-01 -2.21488080e-04 -4.48667821e+00] [-6.20858623e-03 -2.12671345e-04 9.99980704e-01 3.57494092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.742320588 meters 0.02422669546248033 Centerline is valid? [True, True] Translation: X:69.67, Y:-4.48, Z:0.36 [[ 9.97513468e-01 7.01275528e-02 7.00048722e-03 6.96692009e+01] [-7.01275166e-02 9.97538004e-01 -2.50939160e-04 -4.48163335e+00] [-7.00084980e-03 -2.40611592e-04 9.99975465e-01 3.57869611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.772320588 meters 0.024101988686121737 Centerline is valid? [True, True] Translation: X:69.70, Y:-4.48, Z:0.35 [[ 9.97657960e-01 6.80291262e-02 7.11567806e-03 6.97016330e+01] [-6.80290289e-02 9.97683309e-01 -2.55992327e-04 -4.47574272e+00] [-7.11660817e-03 -2.28679886e-04 9.99974650e-01 3.53270737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.802320588 meters 0.02364412902630329 Centerline is valid? [True, True] Translation: X:69.73, Y:-4.48, Z:0.35 [[ 9.97815831e-01 6.55760847e-02 7.95896244e-03 6.97341509e+01] [-6.55758774e-02 9.97847544e-01 -2.87289572e-04 -4.47574451e+00] [-7.96067045e-03 -2.35253862e-04 9.99968286e-01 3.52172714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.832320588 meters 0.023327613458881895 Centerline is valid? [True, True] Translation: X:69.77, Y:-4.47, Z:0.35 [[ 9.97941140e-01 6.35417530e-02 8.71354827e-03 6.97668309e+01] [-6.35414137e-02 9.97979153e-01 -3.16054146e-04 -4.47498953e+00] [-8.71602216e-03 -2.38267741e-04 9.99961986e-01 3.53201985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.862320588 meters 0.022542719075408335 Centerline is valid? [True, True] Translation: X:69.80, Y:-4.47, Z:0.36 [[ 9.98267151e-01 5.78335834e-02 1.08615141e-02 6.97989224e+01] [-5.78327065e-02 9.98326210e-01 -3.95058747e-04 -4.47174444e+00] [-1.08661819e-02 -2.33776589e-04 9.99940934e-01 3.55262236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.892320588 meters 0.02236236926296962 Centerline is valid? [True, True] Translation: X:69.83, Y:-4.47, Z:0.36 [[ 9.98420947e-01 5.54789602e-02 8.81462335e-03 6.98307948e+01] [-5.54782795e-02 9.98459842e-01 -3.21908519e-04 -4.47120073e+00] [-8.81890659e-03 -1.67619929e-04 9.99961099e-01 3.56858302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.922320588 meters 0.022321771028680423 Centerline is valid? [True, True] Translation: X:69.86, Y:-4.47, Z:0.36 [[ 9.98512457e-01 5.40975799e-02 6.80622323e-03 6.98632365e+01] [-5.40971346e-02 9.98535647e-01 -2.49632073e-04 -4.47084227e+00] [-6.80976101e-03 -1.18936440e-04 9.99976806e-01 3.56373534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.952320588 meters 0.022167618103576557 Centerline is valid? [True, True] Translation: X:69.90, Y:-4.46, Z:0.35 [[ 9.98601974e-01 5.28132057e-02 2.20507660e-03 6.98956500e+01] [-5.28131542e-02 9.98604408e-01 -8.16296141e-05 -4.46420788e+00] [-2.20631034e-03 -3.49415567e-05 9.99997565e-01 3.52187937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98232058800001 meters 0.02233310445700734 Centerline is valid? [True, True] Translation: X:69.93, Y:-4.46, Z:0.35 [[ 9.98563301e-01 5.34895224e-02 3.19440634e-03 6.99250525e+01] [-5.34894226e-02 9.98568409e-01 -1.16726035e-04 -4.46058343e+00] [-3.19607688e-03 -5.43086164e-05 9.99994891e-01 3.49732039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.012320588 meters 0.022398358952681996 Centerline is valid? [True, True] Translation: X:69.96, Y:-4.46, Z:0.35 [[ 9.98476200e-01 5.49980288e-02 4.52712187e-03 6.99556700e+01] [-5.49978418e-02 9.98486460e-01 -1.65899229e-04 -4.45946625e+00] [-4.52939401e-03 -8.33354998e-05 9.99989739e-01 3.50226292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.042320588 meters 0.022688258261571757 Centerline is valid? [True, True] Translation: X:69.99, Y:-4.46, Z:0.35 [[ 9.98319304e-01 5.75093112e-02 7.15860819e-03 6.99858201e+01] [-5.75089080e-02 9.98344959e-01 -2.62331701e-04 -4.46050129e+00] [-7.16184691e-03 -1.49792938e-04 9.99974342e-01 3.53041161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.072320588 meters 0.022660809219746475 Centerline is valid? [True, True] Translation: X:70.02, Y:-4.46, Z:0.36 [[ 9.98233383e-01 5.90709865e-02 6.38216521e-03 7.00182214e+01] [-5.90706882e-02 9.98253775e-01 -2.35401753e-04 -4.45677003e+00] [-6.38492593e-03 -1.42013003e-04 9.99979606e-01 3.59371193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.102320588 meters 0.022729234314505985 Centerline is valid? [True, True] Translation: X:70.05, Y:-4.45, Z:0.36 [[ 9.98249736e-01 5.89042706e-02 5.26792131e-03 7.00497211e+01] [-5.89040644e-02 9.98263629e-01 -1.94435104e-04 -4.45202168e+00] [-5.27022730e-03 -1.16207184e-04 9.99986106e-01 3.58824769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.132320588 meters 0.0227031549999024 Centerline is valid? [True, True] Translation: X:70.08, Y:-4.45, Z:0.36 [[ 9.98316219e-01 5.78001202e-02 4.88593118e-03 7.00808495e+01] [-5.77999311e-02 9.98328170e-01 -1.80025148e-04 -4.44720544e+00] [-4.88816821e-03 -1.02684461e-04 9.99988048e-01 3.56218897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.162320588 meters 0.022592644174632373 Centerline is valid? [True, True] Translation: X:70.11, Y:-4.44, Z:0.35 [[ 9.98495849e-01 5.38789013e-02 1.01540137e-02 7.01113345e+01] [-5.38778817e-02 9.98547462e-01 -3.74130899e-04 -4.44210411e+00] [-1.01594224e-02 -1.73508601e-04 9.99948377e-01 3.52695828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.192320588 meters 0.02262479107382126 Centerline is valid? [True, True] Translation: X:70.14, Y:-4.44, Z:0.35 [[ 9.98596351e-01 5.16820996e-02 1.15883221e-02 7.01437895e+01] [-5.16805980e-02 9.98663573e-01 -4.29195448e-04 -4.44155073e+00] [-1.15950169e-02 -1.70298408e-04 9.99932761e-01 3.54092030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.222320588 meters 0.022331617722597463 Centerline is valid? [True, True] Translation: X:70.18, Y:-4.44, Z:0.36 [[ 9.98749075e-01 4.86626330e-02 1.14992967e-02 7.01764068e+01] [-4.86609367e-02 9.98815263e-01 -4.27419517e-04 -4.44028740e+00] [-1.15064725e-02 -1.32681704e-04 9.99933790e-01 3.56419125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.252320588 meters 0.022066279427731525 Centerline is valid? [True, True] Translation: X:70.21, Y:-4.44, Z:0.36 [[ 9.98910795e-01 4.55894568e-02 9.94106257e-03 7.02085931e+01] [-4.55880230e-02 9.98960257e-01 -3.70908254e-04 -4.43916223e+00] [-9.94763593e-03 -8.26891295e-05 9.99950518e-01 3.57131922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.282320588 meters 0.021853081125015262 Centerline is valid? [True, True] Translation: X:70.24, Y:-4.44, Z:0.35 [[ 9.99260321e-01 3.78881897e-02 6.57997297e-03 7.02408853e+01] [-3.78873872e-02 9.99281985e-01 -2.46613519e-04 -4.43545484e+00] [-6.58459219e-03 -2.86687932e-06 9.99978321e-01 3.53926079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.312320588 meters 0.021767192207795594 Centerline is valid? [True, True] Translation: X:70.27, Y:-4.43, Z:0.35 [[ 9.99392403e-01 3.39299453e-02 7.97391684e-03 7.02722058e+01] [-3.39286405e-02 9.99424213e-01 -2.98892474e-04 -4.43226692e+00] [-7.97946697e-03 2.81667099e-05 9.99968163e-01 3.54048679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.342320588 meters 0.022198702331629166 Centerline is valid? [True, True] Translation: X:70.30, Y:-4.43, Z:0.35 [[ 9.99478691e-01 3.03556336e-02 1.09946430e-02 7.03045728e+01] [-3.03529184e-02 9.99539158e-01 -4.13772079e-04 -4.42972428e+00] [-1.10021365e-02 7.98368752e-05 9.99939471e-01 3.53962863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37232058800001 meters 0.022464888276184623 Centerline is valid? [True, True] Translation: X:70.34, Y:-4.43, Z:0.36 [[ 9.99619422e-01 2.44514486e-02 1.27725292e-02 7.03365401e+01] [-2.44472827e-02 9.99701004e-01 -4.82212681e-04 -4.43128455e+00] [-1.27805010e-02 1.69775530e-04 9.99918312e-01 3.56332306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.402320588 meters 0.022846649869234507 Centerline is valid? [True, True] Translation: X:70.37, Y:-4.43, Z:0.36 [[ 9.99698386e-01 2.20611209e-02 1.07909168e-02 7.03693364e+01] [-2.20579815e-02 9.99756609e-01 -4.09876860e-04 -4.43459002e+00] [-1.07973327e-02 1.71727393e-04 9.99941692e-01 3.56566990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.432320588 meters 0.022959573793464784 Centerline is valid? [True, True] Translation: X:70.40, Y:-4.44, Z:0.36 [[ 9.99747039e-01 2.04491622e-02 9.36432583e-03 7.04026288e+01] [-2.04467095e-02 9.99790880e-01 -3.57591121e-04 -4.43675674e+00] [-9.36968000e-03 1.66031015e-04 9.99956090e-01 3.55623845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.462320588 meters 0.023367921355934823 Centerline is valid? [True, True] Translation: X:70.43, Y:-4.44, Z:0.35 [[ 9.99807685e-01 1.75284469e-02 8.79470825e-03 7.04347726e+01] [-1.75261631e-02 9.99846348e-01 -3.36682835e-04 -4.43590192e+00] [-8.79925846e-03 1.82480594e-04 9.99961269e-01 3.52941589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.492320588 meters 0.023632477268035083 Centerline is valid? [True, True] Translation: X:70.47, Y:-4.44, Z:0.35 [[ 9.99839779e-01 1.53025206e-02 9.28701595e-03 7.04672470e+01] [-1.52998677e-02 9.99882887e-01 -3.56645217e-04 -4.43823485e+00] [-9.29138589e-03 2.14497960e-04 9.99956811e-01 3.52793231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.522320588 meters 0.02420975636995777 Centerline is valid? [True, True] Translation: X:70.50, Y:-4.44, Z:0.35 [[ 9.99899516e-01 1.23353242e-02 6.98553640e-03 7.04990115e+01] [-1.23337437e-02 9.99923900e-01 -2.69284328e-04 -4.44355772e+00] [-6.98832651e-03 1.83099453e-04 9.99975565e-01 3.53292910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.552320588 meters 0.025133327649320795 Centerline is valid? [True, True] Translation: X:70.53, Y:-4.46, Z:0.35 [[ 9.99975215e-01 5.76103245e-03 4.04719120e-03 7.05309886e+01] [-5.76044509e-03 9.99983396e-01 -1.56770195e-04 -4.45547555e+00] [-4.04802716e-03 1.33452687e-04 9.99991798e-01 3.54072815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.582320588 meters 0.02581040236110058 Centerline is valid? [True, True] Translation: X:70.56, Y:-4.46, Z:0.35 [[ 9.99973545e-01 3.09820156e-03 6.58110292e-03 7.05629631e+01] [-3.09658804e-03 9.99995173e-01 -2.55350162e-04 -4.45903451e+00] [-6.58186227e-03 2.34964443e-04 9.99978312e-01 3.54817012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.612320588 meters 0.026162981465558392 Centerline is valid? [True, True] Translation: X:70.59, Y:-4.46, Z:0.36 [[ 9.99954755e-01 1.43617132e-03 9.40350675e-03 7.05946806e+01] [-1.43275837e-03 9.99998905e-01 -3.69671486e-04 -4.46127429e+00] [-9.40402737e-03 3.56181807e-04 9.99955718e-01 3.55232269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.642320588 meters 0.026473624703053655 Centerline is valid? [True, True] Translation: X:70.63, Y:-4.46, Z:0.36 [[ 9.99933145e-01 5.99830240e-04 1.15475080e-02 7.06271265e+01] [-5.94574764e-04 9.99999718e-01 -4.58545436e-04 -4.46407967e+00] [-1.15477797e-02 4.51648923e-04 9.99933220e-01 3.56098988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.672320588 meters 0.026780321267743698 Centerline is valid? [True, True] Translation: X:70.66, Y:-4.47, Z:0.36 [[ 9.99951999e-01 1.99605593e-04 9.79592918e-03 7.06600609e+01] [-1.95752004e-04 9.99999903e-01 -3.94344052e-04 -4.47185210e+00] [-9.79600694e-03 3.92407550e-04 9.99951941e-01 3.56636456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.702320588 meters 0.026726036819656077 Centerline is valid? [True, True] Translation: X:70.69, Y:-4.48, Z:0.35 [[ 9.99953499e-01 4.11389539e-04 9.63487974e-03 7.06929653e+01] [-4.07626608e-04 9.99999840e-01 -3.92513500e-04 -4.47823742e+00] [-9.63503967e-03 3.88567815e-04 9.99953506e-01 3.54635402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73232058800001 meters 0.02657404974908687 Centerline is valid? [True, True] Translation: X:70.73, Y:-4.49, Z:0.35 [[ 9.99960363e-01 1.51684458e-03 8.77334323e-03 7.07250724e+01] [-1.51377161e-03 9.99998791e-01 -3.56891664e-04 -4.48507379e+00] [-8.77387396e-03 3.43596680e-04 9.99961450e-01 3.53830071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.762320588 meters 0.026023716199262956 Centerline is valid? [True, True] Translation: X:70.76, Y:-4.50, Z:0.35 [[ 9.99943634e-01 4.16020823e-03 9.76844389e-03 7.07572356e+01] [-4.15650933e-03 9.99991282e-01 -3.98929886e-04 -4.49665083e+00] [-9.77001836e-03 3.58304771e-04 9.99952208e-01 3.53813805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.792320588 meters 0.025606712479502292 Centerline is valid? [True, True] Translation: X:70.79, Y:-4.50, Z:0.35 [[ 9.99935105e-01 5.28646864e-03 1.00914853e-02 7.07890347e+01] [-5.28256767e-03 9.99985962e-01 -4.13176535e-04 -4.50359098e+00] [-1.00935279e-02 3.59840768e-04 9.99948994e-01 3.54442157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.822320588 meters 0.0255780302974923 Centerline is valid? [True, True] Translation: X:70.82, Y:-4.51, Z:0.35 [[ 9.99927292e-01 5.92196794e-03 1.05043438e-02 7.08205746e+01] [-5.91776288e-03 9.99982397e-01 -4.31352743e-04 -4.50974372e+00] [-1.05067134e-02 3.69159164e-04 9.99944735e-01 3.54998782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.852320588 meters 0.02504399363123426 Centerline is valid? [True, True] Translation: X:70.85, Y:-4.52, Z:0.35 [[ 9.99916039e-01 9.18067534e-03 9.14493360e-03 7.08525982e+01] [-9.17761333e-03 9.99957814e-01 -3.76740966e-04 -4.51997980e+00] [-9.14800654e-03 2.92780671e-04 9.99958113e-01 3.54882136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.882320588 meters 0.0241865695347531 Centerline is valid? [True, True] Translation: X:70.88, Y:-4.53, Z:0.35 [[ 9.99880577e-01 1.26243062e-02 8.91399780e-03 7.08841990e+01] [-1.26215235e-02 9.99920278e-01 -3.68358246e-04 -4.52672987e+00] [-8.91793743e-03 2.55806023e-04 9.99960202e-01 3.54866319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.912320588 meters 0.02353397750917213 Centerline is valid? [True, True] Translation: X:70.92, Y:-4.53, Z:0.36 [[ 9.99833845e-01 1.66236608e-02 7.47901216e-03 7.09160590e+01] [-1.66218059e-02 9.99861800e-01 -3.10117716e-04 -4.53349285e+00] [-7.48313386e-03 1.85751500e-04 9.99971984e-01 3.55444203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.942320588 meters 0.022903534560203952 Centerline is valid? [True, True] Translation: X:70.95, Y:-4.54, Z:0.36 [[ 9.99746739e-01 2.14932693e-02 6.67067493e-03 7.09485398e+01] [-2.14918934e-02 9.99768984e-01 -2.77888245e-04 -4.54068508e+00] [-6.67510662e-03 1.34452432e-04 9.99977712e-01 3.55631138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.972320588 meters 0.022197685429256243 Centerline is valid? [True, True] Translation: X:70.98, Y:-4.55, Z:0.36 [[ 9.99534135e-01 2.98892209e-02 6.17639961e-03 7.09804777e+01] [-2.98881972e-02 9.99553215e-01 -2.58008988e-04 -4.54783715e+00] [-6.18135177e-03 7.32873414e-05 9.99980893e-01 3.56243125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.002320588 meters 0.02210762514781432 Centerline is valid? [True, True] Translation: X:71.01, Y:-4.55, Z:0.36 [[ 9.99405896e-01 3.34000416e-02 8.50243491e-03 7.10121977e+01] [-3.33982210e-02 9.99442060e-01 -3.56060991e-04 -4.54893134e+00] [-8.50958352e-03 7.18832536e-05 9.99963790e-01 3.56419834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.032320588 meters 0.021893704449934853 Centerline is valid? [True, True] Translation: X:71.05, Y:-4.55, Z:0.36 [[ 9.99260775e-01 3.70823752e-02 1.01390405e-02 7.10453573e+01] [-3.70799531e-02 9.99312211e-01 -4.26828161e-04 -4.55057151e+00] [-1.01478948e-02 5.05574926e-05 9.99948508e-01 3.56886909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.062320588 meters 0.02181651250616971 Centerline is valid? [True, True] Translation: X:71.08, Y:-4.55, Z:0.36 [[ 9.99152565e-01 3.91692721e-02 1.26459852e-02 7.10773372e+01] [-3.91656574e-02 9.99232589e-01 -5.33460061e-04 -4.55343015e+00] [-1.26571758e-02 3.77196633e-05 9.99919894e-01 3.56881370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.092320588 meters 0.021705207653421897 Centerline is valid? [True, True] Translation: X:71.11, Y:-4.56, Z:0.36 [[ 9.98989185e-01 4.37125883e-02 1.04793957e-02 7.11094369e+01] [-4.37103402e-02 9.99044148e-01 -4.43576125e-04 -4.55936470e+00] [-1.04887688e-02 -1.49301977e-05 9.99944991e-01 3.57055448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12232058800001 meters 0.021684486487723975 Centerline is valid? [True, True] Translation: X:71.14, Y:-4.56, Z:0.36 [[ 9.98972816e-01 4.47304028e-02 7.24591492e-03 7.11419780e+01] [-4.47293432e-02 9.98999094e-01 -3.08300671e-04 -4.56205469e+00] [-7.25245286e-03 -1.61210263e-05 9.99973700e-01 3.56806627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.152320588 meters 0.021769971501497815 Centerline is valid? [True, True] Translation: X:71.17, Y:-4.56, Z:0.36 [[ 9.98915443e-01 4.61967823e-02 5.81327097e-03 7.11738393e+01] [-4.61961205e-02 9.98932359e-01 -2.48126179e-04 -4.56468430e+00] [-5.81852711e-03 -2.06934942e-05 9.99983072e-01 3.55346027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.182320588 meters 0.021857951921599852 Centerline is valid? [True, True] Translation: X:71.21, Y:-4.57, Z:0.35 [[ 9.98907524e-01 4.62257123e-02 6.85148784e-03 7.12059054e+01] [-4.62247882e-02 9.98931020e-01 -2.93253506e-04 -4.56657669e+00] [-6.85771959e-03 -2.37754409e-05 9.99976485e-01 3.53459793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.212320588 meters 0.021775227789474404 Centerline is valid? [True, True] Translation: X:71.24, Y:-4.57, Z:0.35 [[ 9.98890721e-01 4.66027456e-02 6.74617185e-03 7.12384301e+01] [-4.66018465e-02 9.98913502e-01 -2.90490377e-04 -4.56756211e+00] [-6.75237979e-03 -2.42159228e-05 9.99977202e-01 3.53929077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.242320588 meters 0.021870085295633106 Centerline is valid? [True, True] Translation: X:71.27, Y:-4.57, Z:0.35 [[ 9.98801931e-01 4.84048155e-02 7.18868588e-03 7.12709500e+01] [-4.84038374e-02 9.98827799e-01 -3.10088655e-04 -4.56782384e+00] [-7.19526908e-03 -3.82428345e-05 9.99974113e-01 3.54052332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.272320588 meters 0.022106437311170794 Centerline is valid? [True, True] Translation: X:71.30, Y:-4.57, Z:0.36 [[ 9.98467829e-01 5.41807492e-02 1.12446154e-02 7.13033939e+01] [-5.41787093e-02 9.98531137e-01 -4.86172445e-04 -4.56584048e+00] [-1.12544398e-02 -1.23791204e-04 9.99936659e-01 3.55603440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.302320588 meters 0.022342475601636165 Centerline is valid? [True, True] Translation: X:71.34, Y:-4.57, Z:0.36 [[ 9.98242292e-01 5.80377614e-02 1.19976993e-02 7.13353802e+01] [-5.80356990e-02 9.98314373e-01 -5.20280748e-04 -4.56563759e+00] [-1.20076716e-02 -1.76928618e-04 9.99927890e-01 3.57284664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.332320588 meters 0.022724628368296224 Centerline is valid? [True, True] Translation: X:71.37, Y:-4.57, Z:0.36 [[ 9.98072832e-01 6.09986534e-02 1.13923617e-02 7.13680252e+01] [-6.09969688e-02 9.98137828e-01 -4.95591408e-04 -4.56615185e+00] [-1.14013776e-02 -2.00263210e-04 9.99934982e-01 3.56540393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.362320588 meters 0.02266555205602551 Centerline is valid? [True, True] Translation: X:71.40, Y:-4.57, Z:0.36 [[ 9.97899327e-01 6.42161702e-02 8.55665227e-03 7.14005319e+01] [-6.42153271e-02 9.97935996e-01 -3.73519289e-04 -4.56679481e+00] [-8.56297729e-03 -1.76733578e-04 9.99963321e-01 3.56472495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.392320588 meters 0.023124935840897747 Centerline is valid? [True, True] Translation: X:71.43, Y:-4.57, Z:0.35 [[ 9.97681301e-01 6.79090253e-02 4.51506756e-03 7.14326636e+01] [-6.79088241e-02 9.97691512e-01 -1.98012066e-04 -4.56886364e+00] [-4.51809139e-03 -1.09059994e-04 9.99989787e-01 3.54385086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.422320588 meters 0.023124935840897747 Centerline is valid? [True, True] Translation: X:71.46, Y:-4.57, Z:0.35 [[ 9.97672296e-01 6.80411996e-02 4.51504135e-03 7.14643172e+01] [-6.80409971e-02 9.97682506e-01 -1.98609710e-04 -4.57021783e+00] [-4.51809142e-03 -1.09060511e-04 9.99989787e-01 3.54544756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.452320588 meters 0.02314272654963666 Centerline is valid? [True, True] Translation: X:71.50, Y:-4.57, Z:0.35 [[ 9.97708167e-01 6.74295076e-02 5.62799750e-03 7.14967524e+01] [-6.74291800e-02 9.97724032e-01 -2.48152527e-04 -4.57143596e+00] [-5.63192116e-03 -1.31907454e-04 9.99984132e-01 3.53914443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48232058800001 meters 0.0228109148412144 Centerline is valid? [True, True] Translation: X:71.53, Y:-4.57, Z:0.35 [[ 9.97786355e-01 6.60719698e-02 7.54218140e-03 7.15287077e+01] [-6.60713338e-02 9.97814846e-01 -3.33726579e-04 -4.57120736e+00] [-7.54775054e-03 -1.65334158e-04 9.99971502e-01 3.54131922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.512320588 meters 0.022879201730726023 Centerline is valid? [True, True] Translation: X:71.56, Y:-4.57, Z:0.35 [[ 9.97777283e-01 6.60265356e-02 8.99949393e-03 7.15608757e+01] [-6.60256202e-02 9.97817848e-01 -3.99102268e-04 -4.57124709e+00] [-9.00620700e-03 -1.95981992e-04 9.99959424e-01 3.54168169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.542320588 meters 0.022838497105415172 Centerline is valid? [True, True] Translation: X:71.59, Y:-4.57, Z:0.35 [[ 9.97788067e-01 6.53735548e-02 1.20528739e-02 7.15930057e+01] [-6.53718488e-02 9.97860829e-01 -5.35880560e-04 -4.56836989e+00] [-1.20621232e-02 -2.53223424e-04 9.99927218e-01 3.52514008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.572320588 meters 0.022904567166275838 Centerline is valid? [True, True] Translation: X:71.63, Y:-4.57, Z:0.35 [[ 9.97734665e-01 6.61153909e-02 1.24214818e-02 7.16251775e+01] [-6.61136162e-02 9.97811948e-01 -5.53901372e-04 -4.56756304e+00] [-1.24309243e-02 -2.68582478e-04 9.99922697e-01 3.53027515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.602320588 meters 0.022952600034414027 Centerline is valid? [True, True] Translation: X:71.66, Y:-4.57, Z:0.35 [[ 9.97662834e-01 6.73985033e-02 1.12388070e-02 7.16577666e+01] [-6.73971021e-02 9.97726103e-01 -5.03800900e-04 -4.56675754e+00] [-1.12472065e-02 -2.54839590e-04 9.99936716e-01 3.53895672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.632320588 meters 0.02346871236586517 Centerline is valid? [True, True] Translation: X:71.69, Y:-4.56, Z:0.36 [[ 9.97318914e-01 7.30787234e-02 3.80568070e-03 7.16898966e+01] [-7.30786009e-02 9.97326170e-01 -1.71413934e-04 -4.56452913e+00] [-3.80803167e-03 -1.07159463e-04 9.99992744e-01 3.55244535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.662320588 meters 0.023940752145004306 Centerline is valid? [True, True] Translation: X:71.72, Y:-4.56, Z:0.35 [[ 9.97070081e-01 7.64745202e-02 1.70304464e-03 7.17214364e+01] [-7.64745004e-02 9.97071534e-01 -7.68489565e-05 -4.56222779e+00] [-1.70393432e-03 -5.36156926e-05 9.99998547e-01 3.54578577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.692320588 meters 0.024134613808405415 Centerline is valid? [True, True] Translation: X:71.75, Y:-4.56, Z:0.35 [[ 9.96915790e-01 7.84635540e-02 1.54202821e-03 7.17513372e+01] [-7.84635413e-02 9.96916981e-01 -6.88627706e-05 -4.55749948e+00] [-1.54267733e-03 -5.23426109e-05 9.99998809e-01 3.53793962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722320588 meters 0.024110887886706518 Centerline is valid? [True, True] Translation: X:71.78, Y:-4.55, Z:0.35 [[ 9.96888243e-01 7.84236881e-02 7.97225096e-03 7.17817029e+01] [-7.84233391e-02 9.96920083e-01 -3.56859179e-04 -4.54901202e+00] [-7.97568331e-03 -2.69461821e-04 9.99968157e-01 3.53113656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.752320588 meters 0.024036509353393146 Centerline is valid? [True, True] Translation: X:71.81, Y:-4.55, Z:0.35 [[ 9.96943063e-01 7.73911315e-02 1.07304275e-02 7.18138996e+01] [-7.73904128e-02 9.97000748e-01 -4.82809256e-04 -4.55068231e+00] [-1.07356094e-02 -3.49098879e-04 9.99942311e-01 3.53601455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.782320588 meters 0.023629568291121995 Centerline is valid? [True, True] Translation: X:71.85, Y:-4.55, Z:0.35 [[ 9.97070422e-01 7.55957121e-02 1.16559521e-02 7.18456727e+01] [-7.55947245e-02 9.97138486e-01 -5.25917468e-04 -4.55402873e+00] [-1.16623555e-02 -3.56751735e-04 9.99931929e-01 3.54741613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.812320588 meters 0.02338154442151318 Centerline is valid? [True, True] Translation: X:71.88, Y:-4.56, Z:0.35 [[ 9.97234195e-01 7.34800308e-02 1.11645056e-02 7.18777667e+01] [-7.34789755e-02 9.97296638e-01 -5.05238528e-04 -4.55634117e+00] [-1.11714489e-02 -3.16515299e-04 9.99937547e-01 3.54839384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.842320588 meters 0.022695000241807036 Centerline is valid? [True, True] Translation: X:71.91, Y:-4.55, Z:0.35 [[ 9.97665988e-01 6.77562991e-02 8.46524012e-03 7.19093668e+01] [-6.77554830e-02 9.97701883e-01 -3.83481389e-04 -4.54930394e+00] [-8.47176929e-03 -1.90980094e-04 9.99964096e-01 3.54433913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.872320588 meters 0.022118906506768534 Centerline is valid? [True, True] Translation: X:71.94, Y:-4.54, Z:0.35 [[ 9.97839949e-01 6.52804296e-02 7.34174635e-03 7.19418844e+01] [-6.52797388e-02 9.97866947e-01 -3.33951762e-04 -4.54466976e+00] [-7.34788653e-03 -1.46036875e-04 9.99972993e-01 3.54910465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.902320588 meters 0.0220191092156375 Centerline is valid? [True, True] Translation: X:71.97, Y:-4.54, Z:0.36 [[ 9.98017561e-01 6.24920252e-02 7.46284181e-03 7.19744425e+01] [-6.24912259e-02 9.98045455e-01 -3.40465894e-04 -4.54142957e+00] [-7.46953175e-03 -1.26571192e-04 9.99972095e-01 3.55399156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.932320588 meters 0.021572283072118493 Centerline is valid? [True, True] Translation: X:72.01, Y:-4.54, Z:0.36 [[ 9.98258170e-01 5.87451150e-02 5.44399705e-03 7.20068396e+01] [-5.87446290e-02 9.98273012e-01 -2.49273981e-04 -4.53943497e+00] [-5.44923896e-03 -7.09657992e-05 9.99985150e-01 3.56251178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.962320588 meters 0.021439515083649753 Centerline is valid? [True, True] Translation: X:72.04, Y:-4.54, Z:0.36 [[ 9.98379015e-01 5.68241490e-02 3.21835738e-03 7.20376695e+01] [-5.68239687e-02 9.98384202e-01 -1.47515178e-04 -4.54142339e+00] [-3.22153959e-03 -3.56037815e-05 9.99994810e-01 3.55419606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.992320588 meters 0.02137918898699375 Centerline is valid? [True, True] Translation: X:72.07, Y:-4.54, Z:0.35 [[ 9.98476408e-01 5.51458297e-02 1.94954138e-03 7.20678965e+01] [-5.51457607e-02 9.98478311e-01 -8.91549551e-05 -4.54342114e+00] [-1.95149131e-03 -1.84898231e-05 9.99998096e-01 3.54640516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.022320588 meters 0.02130880474247476 Centerline is valid? [True, True] Translation: X:72.10, Y:-4.54, Z:0.35 [[ 9.98566532e-01 5.33582478e-02 4.21638725e-03 7.20979551e+01] [-5.33579119e-02 9.98575433e-01 -1.92203768e-04 -4.54408356e+00] [-4.22063638e-03 -3.30493687e-05 9.99991093e-01 3.53771924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.052320588 meters 0.021393153055528035 Centerline is valid? [True, True] Translation: X:72.13, Y:-4.54, Z:0.36 [[ 9.98622258e-01 5.15160101e-02 9.98434348e-03 7.21289935e+01] [-5.15140213e-02 9.98672167e-01 -4.56432107e-04 -4.54015144e+00] [-9.99459950e-03 -5.85304214e-05 9.99950051e-01 3.55177936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.082320588 meters 0.021368130962185296 Centerline is valid? [True, True] Translation: X:72.16, Y:-4.54, Z:0.35 [[ 9.98698001e-01 4.98160335e-02 1.09847653e-02 7.21612746e+01] [-4.98135020e-02 9.98758410e-01 -5.04112801e-04 -4.53859493e+00] [-1.09962396e-02 -4.37331819e-05 9.99939539e-01 3.54935144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.112320588 meters 0.021382011770623478 Centerline is valid? [True, True] Translation: X:72.19, Y:-4.54, Z:0.35 [[ 9.98840181e-01 4.71255507e-02 9.87297665e-03 7.21938603e+01] [-4.71233605e-02 9.98888974e-01 -4.54472614e-04 -4.53870862e+00] [-9.88342479e-03 -1.13023302e-05 9.99951158e-01 3.54894677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.142320588 meters 0.021208859240715063 Centerline is valid? [True, True] Translation: X:72.23, Y:-4.54, Z:0.35 [[ 9.98990825e-01 4.45099755e-02 6.01615016e-03 7.22255242e+01] [-4.45091085e-02 9.99008940e-01 -2.77991486e-04 -4.54161598e+00] [-6.02256119e-03 9.93746314e-06 9.99981864e-01 3.54721608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.172320588 meters 0.02126707349511576 Centerline is valid? [True, True] Translation: X:72.26, Y:-4.55, Z:0.35 [[ 9.99137283e-01 4.13910850e-02 3.38647077e-03 7.22572134e+01] [-4.13907899e-02 9.99143022e-01 -1.57211454e-04 -4.54903207e+00] [-3.39007579e-03 1.69071254e-05 9.99994254e-01 3.54320946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.202320588 meters 0.021156645510607277 Centerline is valid? [True, True] Translation: X:72.29, Y:-4.55, Z:0.36 [[ 9.99165918e-01 4.06805252e-02 3.54435851e-03 7.22887008e+01] [-4.06801979e-02 9.99172205e-01 -1.64408984e-04 -4.54926906e+00] [-3.54811275e-03 2.00866476e-05 9.99993705e-01 3.57089751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23232058800001 meters 0.02128130411416054 Centerline is valid? [True, True] Translation: X:72.32, Y:-4.55, Z:0.36 [[ 9.99154315e-01 4.06174276e-02 6.39373856e-03 7.23204808e+01] [-4.06163603e-02 9.99174771e-01 -2.96737737e-04 -4.54720517e+00] [-6.40051498e-03 3.67964015e-05 9.99979516e-01 3.57303948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.262320588 meters 0.021369151794899514 Centerline is valid? [True, True] Translation: X:72.35, Y:-4.55, Z:0.36 [[ 9.99106895e-01 4.07498058e-02 1.11742878e-02 7.23525640e+01] [-4.07465369e-02 9.99169380e-01 -5.20139520e-04 -4.54533884e+00] [-1.11862018e-02 6.43614503e-05 9.99937430e-01 3.56400503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.292320588 meters 0.02136035315869794 Centerline is valid? [True, True] Translation: X:72.39, Y:-4.55, Z:0.35 [[ 9.99093589e-01 4.09732706e-02 1.15408390e-02 7.23859018e+01] [-4.09697689e-02 9.99160241e-01 -5.39773867e-04 -4.54765914e+00] [-1.15532638e-02 6.64591027e-05 9.99933257e-01 3.54762589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.322320588 meters 0.021356871973137487 Centerline is valid? [True, True] Translation: X:72.42, Y:-4.55, Z:0.35 [[ 9.99051434e-01 4.23288216e-02 1.02227019e-02 7.24177322e+01] [-4.23261335e-02 9.99103733e-01 -4.79256350e-04 -4.54978878e+00] [-1.02338260e-02 4.61142979e-05 9.99947632e-01 3.53997552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.352320588 meters 0.02134308982414423 Centerline is valid? [True, True] Translation: X:72.45, Y:-4.55, Z:0.35 [[ 9.99032377e-01 4.31362197e-02 8.57760468e-03 7.24500157e+01] [-4.31343428e-02 9.99069200e-01 -4.03780436e-04 -4.55192094e+00] [-8.58703820e-03 3.34003879e-05 9.99963130e-01 3.53238667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.382320588 meters 0.021052006204222314 Centerline is valid? [True, True] Translation: X:72.48, Y:-4.56, Z:0.35 [[ 9.98961504e-01 4.52227433e-02 5.55136286e-03 7.24822944e+01] [-4.52219845e-02 9.98976928e-01 -2.62194200e-04 -4.55940246e+00] [-5.55754055e-03 1.08782667e-05 9.99984557e-01 3.54148024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.412320588 meters 0.021221238343782433 Centerline is valid? [True, True] Translation: X:72.51, Y:-4.56, Z:0.36 [[ 9.98888646e-01 4.65883242e-02 7.14150609e-03 7.25143357e+01] [-4.65870979e-02 9.98914175e-01 -3.38062989e-04 -4.56437107e+00] [-7.14950145e-03 4.98523865e-06 9.99974442e-01 3.55182109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.442320588 meters 0.021154918843396937 Centerline is valid? [True, True] Translation: X:72.55, Y:-4.57, Z:0.36 [[ 9.98825650e-01 4.77343384e-02 8.29176362e-03 7.25463368e+01] [-4.77327165e-02 9.98860067e-01 -3.93498754e-04 -4.56768796e+00] [-8.30109496e-03 -2.75175360e-06 9.99965545e-01 3.57116466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.472320588 meters 0.021081700769409392 Centerline is valid? [True, True] Translation: X:72.58, Y:-4.57, Z:0.36 [[ 9.98703940e-01 5.02277519e-02 8.22272739e-03 7.25788377e+01] [-5.02262325e-02 9.98737790e-01 -3.91313364e-04 -4.56776852e+00] [-8.23200337e-03 -2.21904190e-05 9.99966116e-01 3.57540302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.502320588 meters 0.021082422941773184 Centerline is valid? [True, True] Translation: X:72.61, Y:-4.57, Z:0.36 [[ 9.98594812e-01 5.25936165e-02 6.50482610e-03 7.26111158e+01] [-5.25927093e-02 9.98615998e-01 -3.10558061e-04 -4.56921738e+00] [-6.51215678e-03 -3.19847604e-05 9.99978795e-01 3.56352278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.532320588 meters 0.021282555797545382 Centerline is valid? [True, True] Translation: X:72.64, Y:-4.57, Z:0.36 [[ 9.98478988e-01 5.49388794e-02 4.62917875e-03 7.26431094e+01] [-5.49384414e-02 9.98489719e-01 -2.21823627e-04 -4.57142234e+00] [-4.63437413e-03 -3.28336350e-05 9.99989261e-01 3.55238262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.562320588 meters 0.021311231185030793 Centerline is valid? [True, True] Translation: X:72.67, Y:-4.57, Z:0.35 [[ 9.98372434e-01 5.67429553e-02 5.72011815e-03 7.26740887e+01] [-5.67423168e-02 9.98388819e-01 -2.73983688e-04 -4.57326082e+00] [-5.72644865e-03 -5.10349947e-05 9.99983602e-01 3.54593290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.592320588 meters 0.02128290614352128 Centerline is valid? [True, True] Translation: X:72.71, Y:-4.57, Z:0.36 [[ 9.98308974e-01 5.76937244e-02 7.11528742e-03 7.27060728e+01] [-5.76927521e-02 9.98334327e-01 -3.42004149e-04 -4.57487498e+00] [-7.12316717e-03 -6.90747019e-05 9.99974628e-01 3.57648770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.622320588 meters 0.021185177946130715 Centerline is valid? [True, True] Translation: X:72.74, Y:-4.58, Z:0.36 [[ 9.98369819e-01 5.62899059e-02 9.44195930e-03 7.27379256e+01] [-5.62881210e-02 9.98414463e-01 -4.54881587e-04 -4.57919836e+00] [-9.45259397e-03 -7.73301002e-05 9.99955320e-01 3.59917830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.652320588 meters 0.021080913802241585 Centerline is valid? [True, True] Translation: X:72.77, Y:-4.58, Z:0.36 [[ 9.98459176e-01 5.43947484e-02 1.09765417e-02 7.27699330e+01] [-5.43922069e-02 9.98519507e-01 -5.30160716e-04 -4.58477765e+00] [-1.09891290e-02 -6.76944967e-05 9.99939615e-01 3.61756472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.682320588 meters 0.021265486200827684 Centerline is valid? [True, True] Translation: X:72.80, Y:-4.59, Z:0.36 [[ 9.98576221e-01 5.17179162e-02 1.30686051e-02 7.28019589e+01] [-5.17140626e-02 9.98661732e-01 -6.32862673e-04 -4.59047776e+00] [-1.30838462e-02 -4.38690473e-05 9.99914402e-01 3.58830640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.712320588 meters 0.021276529646683303 Centerline is valid? [True, True] Translation: X:72.83, Y:-4.59, Z:0.36 [[ 9.98624055e-01 5.12631905e-02 1.10490946e-02 7.28343913e+01] [-5.12603908e-02 9.98685178e-01 -5.36620725e-04 -4.59062067e+00] [-1.10620759e-02 -3.04985438e-05 9.99938813e-01 3.55719840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.742320588 meters 0.021043354018047616 Centerline is valid? [True, True] Translation: X:72.87, Y:-4.59, Z:0.35 [[ 9.98608000e-01 5.20572793e-02 8.49125060e-03 7.28662687e+01] [-5.20556436e-02 9.98644100e-01 -4.13686053e-04 -4.59181967e+00] [-8.50127269e-03 -2.89073125e-05 9.99963863e-01 3.53051033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.772320588 meters 0.02098071716459608 Centerline is valid? [True, True] Translation: X:72.90, Y:-4.60, Z:0.35 [[ 9.98542362e-01 5.37056376e-02 5.37176559e-03 7.28983806e+01] [-5.37050016e-02 9.98556811e-01 -2.62669010e-04 -4.59580969e+00] [-5.37811992e-03 -2.62045463e-05 9.99985537e-01 3.52887291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.802320588 meters 0.021034166001376368 Centerline is valid? [True, True] Translation: X:72.93, Y:-4.61, Z:0.36 [[ 9.98366285e-01 5.69065849e-02 5.13832371e-03 7.29297315e+01] [-5.69060417e-02 9.98379506e-01 -2.51965529e-04 -4.60533941e+00] [-5.14433559e-03 -4.08477742e-05 9.99986767e-01 3.59227180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.832320588 meters 0.021254800173470475 Centerline is valid? [True, True] Translation: X:72.96, Y:-4.61, Z:0.36 [[ 9.98177390e-01 6.00910368e-02 5.56469089e-03 7.29612829e+01] [-6.00904493e-02 9.98192899e-01 -2.72853862e-04 -4.60915462e+00] [-5.57103101e-03 -6.20282201e-05 9.99984480e-01 3.62262935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.862320588 meters 0.021419021903351605 Centerline is valid? [True, True] Translation: X:72.99, Y:-4.61, Z:0.36 [[ 9.97949575e-01 6.38941086e-02 3.76678444e-03 7.29929796e+01] [-6.38938629e-02 9.97956682e-01 -1.85648623e-04 -4.61110081e+00] [-3.77094956e-03 -5.54064438e-05 9.99992888e-01 3.64179261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.892320588 meters 0.022256803859133586 Centerline is valid? [True, True] Translation: X:73.02, Y:-4.61, Z:0.36 [[ 9.97421301e-01 7.15727821e-02 5.29951562e-03 7.30244442e+01] [-7.15724055e-02 9.97435373e-01 -2.60926646e-04 -4.61339334e+00] [-5.30459958e-03 -1.19045286e-04 9.99985923e-01 3.59988120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.922320588 meters 0.022628427383110057 Centerline is valid? [True, True] Translation: X:73.06, Y:-4.62, Z:0.36 [[ 9.97200957e-01 7.42023199e-02 9.17969715e-03 7.30560748e+01] [-7.42012813e-02 9.97243182e-01 -4.54140699e-04 -4.61505762e+00] [-9.18808869e-03 -2.28275751e-04 9.99957763e-01 3.58450405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.952320588 meters 0.023023065218156665 Centerline is valid? [True, True] Translation: X:73.09, Y:-4.62, Z:0.36 [[ 9.96969350e-01 7.70667748e-02 1.06220178e-02 7.30878020e+01] [-7.70655365e-02 9.97025890e-01 -5.26440010e-04 -4.61717274e+00] [-1.06309977e-02 -2.93746944e-04 9.99943446e-01 3.59372488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98232058800001 meters 0.023375779101368066 Centerline is valid? [True, True] Translation: X:73.12, Y:-4.62, Z:0.36 [[ 9.96744213e-01 7.97128650e-02 1.21174552e-02 7.31201788e+01] [-7.97114309e-02 9.96817799e-01 -6.02041754e-04 -4.61870095e+00] [-1.21268855e-02 -3.65818057e-04 9.99926400e-01 3.59809034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.012320588 meters 0.023830431199728008 Centerline is valid? [True, True] Translation: X:73.15, Y:-4.62, Z:0.36 [[ 9.96563387e-01 8.22353743e-02 9.93775159e-03 7.31524236e+01] [-8.22345209e-02 9.96612883e-01 -4.95165318e-04 -4.62082070e+00] [-9.94481137e-03 -3.23762615e-04 9.99950497e-01 3.60027801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.042320588 meters 0.02413151968154915 Centerline is valid? [True, True] Translation: X:73.18, Y:-4.62, Z:0.36 [[ 9.96410898e-01 8.44735708e-02 5.43495952e-03 7.31842656e+01] [-8.44733434e-02 9.96425702e-01 -2.71795013e-04 -4.62119075e+00] [-5.43849285e-03 -1.88289689e-04 9.99985194e-01 3.57732069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.072320588 meters 0.02435644483479976 Centerline is valid? [True, True] Translation: X:73.22, Y:-4.62, Z:0.36 [[ 9.96317504e-01 8.56430921e-02 4.08563512e-03 7.32157508e+01] [-8.56429730e-02 9.96325870e-01 -2.04416360e-04 -4.62033623e+00] [-4.08813081e-03 -1.46242341e-04 9.99991633e-01 3.58616108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.102320588 meters 0.024443155133899042 Centerline is valid? [True, True] Translation: X:73.25, Y:-4.62, Z:0.36 [[ 9.96125132e-01 8.78490368e-02 4.15557569e-03 7.32471945e+01] [-8.78489317e-02 9.96133787e-01 -2.08173410e-04 -4.61786745e+00] [-4.15779718e-03 -1.57696119e-04 9.99991344e-01 3.61324523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.132320588 meters 0.02501901118001797 Centerline is valid? [True, True] Translation: X:73.28, Y:-4.62, Z:0.36 [[ 9.95872100e-01 9.05745992e-02 5.91621983e-03 7.32781608e+01] [-9.05744369e-02 9.95889644e-01 -2.95914869e-04 -4.61551031e+00] [-5.91870443e-03 -2.41164917e-04 9.99982455e-01 3.64911536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.162320588 meters 0.025823589333296534 Centerline is valid? [True, True] Translation: X:73.31, Y:-4.61, Z:0.37 [[ 9.95539628e-01 9.40370676e-02 7.60779742e-03 7.33091149e+01] [-9.40368970e-02 9.95568640e-01 -3.80924561e-04 -4.61089014e+00] [-7.60990556e-03 -3.36188167e-04 9.99970988e-01 3.67190112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.192320588 meters 0.026144792896532185 Centerline is valid? [True, True] Translation: X:73.34, Y:-4.61, Z:0.37 [[ 9.95408638e-01 9.54299976e-02 7.39999657e-03 7.33409139e+01] [-9.54298700e-02 9.95436086e-01 -3.71143818e-04 -4.60959925e+00] [-7.40164188e-03 -3.36740948e-04 9.99972551e-01 3.65392609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.222320588 meters 0.026480195085713278 Centerline is valid? [True, True] Translation: X:73.37, Y:-4.61, Z:0.36 [[ 9.95280595e-01 9.67895996e-02 6.95056997e-03 7.33720743e+01] [-9.67895169e-02 9.95304811e-01 -3.49057937e-04 -4.60778539e+00] [-6.95172091e-03 -3.25331718e-04 9.99975784e-01 3.61591743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.252320588 meters 0.026384706948628312 Centerline is valid? [True, True] Translation: X:73.40, Y:-4.61, Z:0.36 [[ 9.95196606e-01 9.77107642e-02 6.02671335e-03 7.34032517e+01] [-9.77107164e-02 9.95214813e-01 -3.03081433e-04 -4.60501547e+00] [-6.02748872e-03 -2.87248865e-04 9.99981793e-01 3.59825724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.282320588 meters 0.02664783438248035 Centerline is valid? [True, True] Translation: X:73.43, Y:-4.60, Z:0.36 [[ 9.95076964e-01 9.89789808e-02 4.99965339e-03 7.34335088e+01] [-9.89789683e-02 9.95089494e-01 -2.50539441e-04 -4.59601276e+00] [-4.99990070e-03 -2.45554508e-04 9.99987470e-01 3.58782541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.312320588 meters 0.02664783438248035 Centerline is valid? [True, True] Translation: X:73.46, Y:-4.60, Z:0.36 [[ 9.95120515e-01 9.85401577e-02 4.99985859e-03 7.34617828e+01] [-9.85401603e-02 9.95133044e-01 -2.46430193e-04 -4.59768884e+00] [-4.99980777e-03 -2.47459126e-04 9.99987470e-01 3.58925304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.342320588 meters 0.02690087417835989 Centerline is valid? [True, True] Translation: X:73.49, Y:-4.59, Z:0.36 [[ 9.95162877e-01 9.81190175e-02 4.84829849e-03 7.34910270e+01] [-9.81190256e-02 9.95174658e-01 -2.36749496e-04 -4.59222633e+00] [-4.84813342e-03 -2.40106014e-04 9.99988219e-01 3.60905145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.372320588 meters 0.026507639311540022 Centerline is valid? [True, True] Translation: X:73.52, Y:-4.58, Z:0.36 [[ 9.95238786e-01 9.73240308e-02 5.27181826e-03 7.35195549e+01] [-9.73240439e-02 9.95252714e-01 -2.54661367e-04 -4.58459521e+00] [-5.27157610e-03 -2.59625802e-04 9.99986071e-01 3.62163385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.402320588 meters 0.026233097830067643 Centerline is valid? [True, True] Translation: X:73.55, Y:-4.57, Z:0.36 [[ 9.95418789e-01 9.54837665e-02 4.92802037e-03 7.35490286e+01] [-9.54837656e-02 9.95430959e-01 -2.36008925e-04 -4.57119961e+00] [-4.92803906e-03 -2.35618223e-04 9.99987829e-01 3.62616364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.432320588 meters 0.026067463561142167 Centerline is valid? [True, True] Translation: X:73.58, Y:-4.57, Z:0.36 [[ 9.95663956e-01 9.28751103e-02 5.24417499e-03 7.35780086e+01] [-9.28750846e-02 9.95677737e-01 -2.48951118e-04 -4.56924101e+00] [-5.24462966e-03 -2.39181541e-04 9.99986218e-01 3.62486321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.462320588 meters 0.025159819372685494 Centerline is valid? [True, True] Translation: X:73.61, Y:-4.57, Z:0.36 [[ 9.95990554e-01 8.92599512e-02 5.95623633e-03 7.36073891e+01] [-8.92598425e-02 9.96008333e-01 -2.84600932e-04 -4.56663797e+00] [-5.95786449e-03 -2.48192877e-04 9.99982221e-01 3.62559552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.492320588 meters 0.024427479259354894 Centerline is valid? [True, True] Translation: X:73.64, Y:-4.56, Z:0.36 [[ 9.96360082e-01 8.49009405e-02 7.64314282e-03 7.36361859e+01] [-8.49006429e-02 9.96389356e-01 -3.63973281e-04 -4.56332121e+00] [-7.64644782e-03 -2.86259290e-04 9.99970725e-01 3.62990529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.522320588 meters 0.023288166111949372 Centerline is valid? [True, True] Translation: X:73.67, Y:-4.55, Z:0.36 [[ 9.97003127e-01 7.66145265e-02 1.07228515e-02 7.36664011e+01] [-7.66134630e-02 9.97060739e-01 -5.10515047e-04 -4.55067898e+00] [-1.07304471e-02 -3.12529690e-04 9.99942378e-01 3.63373680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.552320588 meters 0.022719683046823244 Centerline is valid? [True, True] Translation: X:73.70, Y:-4.55, Z:0.36 [[ 9.97313890e-01 7.23127618e-02 1.16563384e-02 7.36972785e+01] [-7.23112073e-02 9.97381963e-01 -5.55316303e-04 -4.54577033e+00] [-1.16659782e-02 -2.89059243e-04 9.99931908e-01 3.62414078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.582320588 meters 0.02212853149766189 Centerline is valid? [True, True] Translation: X:73.73, Y:-4.54, Z:0.36 [[ 9.97653898e-01 6.72793776e-02 1.26564127e-02 7.37276973e+01] [-6.72771400e-02 9.97734144e-01 -6.02960555e-04 -4.54381014e+00] [-1.26683019e-02 -2.49941299e-04 9.99919723e-01 3.61490886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.612320588 meters 0.02170637759107771 Centerline is valid? [True, True] Translation: X:73.76, Y:-4.54, Z:0.36 [[ 9.97981694e-01 6.24514125e-02 1.15048041e-02 7.37595191e+01] [-6.24492238e-02 9.98047991e-01 -5.49734924e-04 -4.54392199e+00] [-1.15166784e-02 -1.69840696e-04 9.99933666e-01 3.61969968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.642320588 meters 0.021103324863022837 Centerline is valid? [True, True] Translation: X:73.79, Y:-4.55, Z:0.36 [[ 9.98537215e-01 5.27113991e-02 1.20390711e-02 7.37912220e+01] [-5.27082870e-02 9.98609786e-01 -5.75868700e-04 -4.54542181e+00] [-1.20526891e-02 -5.95324871e-05 9.99927362e-01 3.62751925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.672320588 meters 0.0210283515658579 Centerline is valid? [True, True] Translation: X:73.82, Y:-4.55, Z:0.36 [[ 9.98755491e-01 4.85447600e-02 1.14401035e-02 7.38231080e+01] [-4.85416555e-02 9.98821008e-01 -5.49053035e-04 -4.54725270e+00] [-1.14532693e-02 -6.95182808e-06 9.99934409e-01 3.62656475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.702320588 meters 0.021121662836919543 Centerline is valid? [True, True] Translation: X:73.85, Y:-4.55, Z:0.36 [[ 9.99032836e-01 4.28059945e-02 1.00518230e-02 7.38548484e+01] [-4.28032932e-02 9.99083402e-01 -4.83815210e-04 -4.54841266e+00] [-1.00633197e-02 5.30961523e-05 9.99949362e-01 3.61775321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73232058800001 meters 0.02143049145071895 Centerline is valid? [True, True] Translation: X:73.89, Y:-4.55, Z:0.36 [[ 9.99286910e-01 3.69735613e-02 7.65689401e-03 7.38871466e+01] [-3.69718140e-02 9.99316240e-01 -3.69669168e-04 -4.54992788e+00] [-7.66532652e-03 8.63162995e-05 9.99970617e-01 3.61267571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.762320588 meters 0.02247313089219292 Centerline is valid? [True, True] Translation: X:73.92, Y:-4.55, Z:0.36 [[ 9.99574727e-01 2.81294312e-02 7.68763656e-03 7.39186038e+01] [-2.81274039e-02 9.99604277e-01 -3.71717030e-04 -4.55356870e+00] [-7.69505058e-03 1.55325690e-04 9.99970381e-01 3.59764378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.792320588 meters 0.02273751594657839 Centerline is valid? [True, True] Translation: X:73.95, Y:-4.56, Z:0.36 [[ 9.99624548e-01 2.60411877e-02 8.52176910e-03 7.39502816e+01] [-2.60386111e-02 9.99660852e-01 -4.13184423e-04 -4.55848216e+00] [-8.52963878e-03 1.91134260e-04 9.99963604e-01 3.59720412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.822320588 meters 0.022834703538593515 Centerline is valid? [True, True] Translation: X:73.98, Y:-4.56, Z:0.36 [[ 9.99648590e-01 2.48799484e-02 9.14790106e-03 7.39820638e+01] [-2.48769207e-02 9.99690423e-01 -4.44634014e-04 -4.56356984e+00] [-9.15613154e-03 2.16906156e-04 9.99958058e-01 3.60805506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.852320588 meters 0.02266008419755308 Centerline is valid? [True, True] Translation: X:74.01, Y:-4.57, Z:0.36 [[ 9.99600737e-01 2.62661808e-02 1.04141740e-02 7.40137957e+01] [-2.62623194e-02 9.99654957e-01 -5.07385830e-04 -4.57400225e+00] [-1.04239078e-02 2.33682886e-04 9.99945642e-01 3.60063694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.882320588 meters 0.022102563298096463 Centerline is valid? [True, True] Translation: X:74.05, Y:-4.58, Z:0.36 [[ 9.99510775e-01 2.94762684e-02 1.04575830e-02 7.40461253e+01] [-2.94725267e-02 9.99565460e-01 -5.11761218e-04 -4.58191940e+00] [-1.04681236e-02 2.03299458e-04 9.99945187e-01 3.60376583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.912320588 meters 0.02176056434648073 Centerline is valid? [True, True] Translation: X:74.08, Y:-4.59, Z:0.36 [[ 9.99412979e-01 3.27119773e-02 1.01795595e-02 7.40781380e+01] [-3.27085893e-02 9.99464806e-01 -4.99175891e-04 -4.58829876e+00] [-1.01904405e-02 1.65923833e-04 9.99948062e-01 3.60369132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.942320588 meters 0.02114878842310341 Centerline is valid? [True, True] Translation: X:74.11, Y:-4.59, Z:0.36 [[ 9.99246760e-01 3.76232372e-02 9.50814433e-03 7.41104071e+01] [-3.76204918e-02 9.99291989e-01 -4.67494990e-04 -4.59264171e+00] [-9.51900114e-03 1.09441787e-04 9.99954687e-01 3.61575065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.972320588 meters 0.020806321495015625 Centerline is valid? [True, True] Translation: X:74.14, Y:-4.59, Z:0.36 [[ 9.99013493e-01 4.32819841e-02 9.93531439e-03 7.41430658e+01] [-4.32792489e-02 9.99062894e-01 -4.90235539e-04 -4.59457715e+00] [-9.94722231e-03 5.97589742e-05 9.99950523e-01 3.61940362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.002320588 meters 0.020732032468520317 Centerline is valid? [True, True] Translation: X:74.17, Y:-4.60, Z:0.36 [[ 9.98470143e-01 5.43260115e-02 1.02984440e-02 7.41749747e+01] [-5.43236426e-02 9.98523251e-01 -5.09824567e-04 -4.59969263e+00] [-1.03109325e-02 -5.04043832e-05 9.99946840e-01 3.62349286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.032320588 meters 0.021025208381363857 Centerline is valid? [True, True] Translation: X:74.21, Y:-4.61, Z:0.36 [[ 9.98186406e-01 5.96892299e-02 7.81631212e-03 7.42066708e+01] [-5.96880212e-02 9.98217005e-01 -3.88023313e-04 -4.60517830e+00] [-7.82553649e-03 -7.92206078e-05 9.99969377e-01 3.63188363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.062320588 meters 0.021360447370424755 Centerline is valid? [True, True] Translation: X:74.24, Y:-4.61, Z:0.36 [[ 9.97884850e-01 6.46803791e-02 6.50183094e-03 7.42381333e+01] [-6.46796450e-02 9.97906027e-01 -3.23332941e-04 -4.60884272e+00] [-6.50912958e-03 -9.78870742e-05 9.99978811e-01 3.64529244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.092320588 meters 0.02169783157967938 Centerline is valid? [True, True] Translation: X:74.27, Y:-4.61, Z:0.37 [[ 9.97576178e-01 6.94046220e-02 4.97664593e-03 7.42682035e+01] [-6.94042558e-02 9.97588587e-01 -2.46458300e-04 -4.60915558e+00] [-4.98175053e-03 -9.95394782e-05 9.99987586e-01 3.65738823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.122320588 meters 0.0226501201020894 Centerline is valid? [True, True] Translation: X:74.30, Y:-4.60, Z:0.36 [[ 9.96902414e-01 7.83509571e-02 6.83410433e-03 7.42977002e+01] [-7.83504813e-02 9.96925819e-01 -3.37733200e-04 -4.60427264e+00] [-6.83955677e-03 -1.98768321e-04 9.99976590e-01 3.62874918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.152320588 meters 0.02305439844487812 Centerline is valid? [True, True] Translation: X:74.33, Y:-4.60, Z:0.36 [[ 9.96645238e-01 8.13777092e-02 8.71420935e-03 7.43272317e+01] [-8.13770536e-02 9.96683295e-01 -4.30373380e-04 -4.60331647e+00] [-8.72032968e-03 -2.80207102e-04 9.99961938e-01 3.61795085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.182320588 meters 0.02330642318511077 Centerline is valid? [True, True] Translation: X:74.36, Y:-4.60, Z:0.36 [[ 9.96463385e-01 8.34298941e-02 1.00087127e-02 7.43567132e+01] [-8.34291387e-02 9.96513590e-01 -4.93700737e-04 -4.60282033e+00] [-1.00150076e-02 -3.43063571e-04 9.99949790e-01 3.60852916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.212320588 meters 0.023794515155967345 Centerline is valid? [True, True] Translation: X:74.39, Y:-4.60, Z:0.36 [[ 9.96268699e-01 8.56446563e-02 1.06617312e-02 7.43871778e+01] [-8.56439220e-02 9.96325670e-01 -5.26263030e-04 -4.60236178e+00] [-1.06676281e-02 -3.88813087e-04 9.99943024e-01 3.60378775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.242320588 meters 0.02360772058221031 Centerline is valid? [True, True] Translation: X:74.42, Y:-4.60, Z:0.36 [[ 9.96370783e-01 8.45626889e-02 9.71669396e-03 7.44175125e+01] [-8.45620323e-02 9.96418102e-01 -4.79135365e-04 -4.59894992e+00] [-9.72240672e-03 -3.44266909e-04 9.99952677e-01 3.60986611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.272320588 meters 0.023180629882624038 Centerline is valid? [True, True] Translation: X:74.45, Y:-4.60, Z:0.36 [[ 9.96563416e-01 8.24528620e-02 7.92991554e-03 7.44470398e+01] [-8.24523636e-02 9.96594930e-01 -3.90312763e-04 -4.59886393e+00] [-7.93509603e-03 -2.64868859e-04 9.99968482e-01 3.61356227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.302320588 meters 0.022818531915935393 Centerline is valid? [True, True] Translation: X:74.48, Y:-4.60, Z:0.36 [[ 9.96847990e-01 7.90985200e-02 6.12453127e-03 7.44759905e+01] [-7.90981895e-02 9.96866786e-01 -2.96550310e-04 -4.59899432e+00] [-6.12879849e-03 -1.88823755e-04 9.99981201e-01 3.61840518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.332320588 meters 0.022157799860044226 Centerline is valid? [True, True] Translation: X:74.51, Y:-4.59, Z:0.36 [[ 9.97249550e-01 7.39006760e-02 5.65904508e-03 7.45050310e+01] [-7.39003258e-02 9.97265596e-01 -2.71249088e-04 -4.59353711e+00] [-5.66361645e-03 -1.47702243e-04 9.99983951e-01 3.62251262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.362320588 meters 0.02196241444835592 Centerline is valid? [True, True] Translation: X:74.53, Y:-4.59, Z:0.36 [[ 9.97361044e-01 7.24421830e-02 4.80392718e-03 7.45341091e+01] [-7.24419261e-02 9.97372606e-01 -2.27690476e-04 -4.59108476e+00] [-4.80779977e-03 -1.20916126e-04 9.99988435e-01 3.61786568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.392320588 meters 0.021878469033235565 Centerline is valid? [True, True] Translation: X:74.56, Y:-4.59, Z:0.36 [[ 9.97420190e-01 7.16053101e-02 5.06394096e-03 7.45619387e+01] [-7.16050285e-02 9.97433037e-01 -2.37111523e-04 -4.59053564e+00] [-5.06792045e-03 -1.26103817e-04 9.99987150e-01 3.61560391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.422320588 meters 0.022298261870046063 Centerline is valid? [True, True] Translation: X:74.59, Y:-4.59, Z:0.36 [[ 9.97368316e-01 7.22601108e-02 5.90926122e-03 7.45907839e+01] [-7.22597504e-02 9.97385809e-01 -2.74752234e-04 -4.59186633e+00] [-5.91366691e-03 -1.52972568e-04 9.99982502e-01 3.60761415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.452320588 meters 0.022257125888119837 Centerline is valid? [True, True] Translation: X:74.62, Y:-4.59, Z:0.36 [[ 9.97414445e-01 7.11859394e-02 9.84818208e-03 7.46199322e+01] [-7.11849152e-02 9.97463032e-01 -4.54930785e-04 -4.59103298e+00] [-9.85558224e-03 -2.47287470e-04 9.99951402e-01 3.61581336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48232058800001 meters 0.02198026894876282 Centerline is valid? [True, True] Translation: X:74.65, Y:-4.59, Z:0.36 [[ 9.97485749e-01 6.98759931e-02 1.18121067e-02 7.46500452e+01] [-6.98743951e-02 9.97555647e-01 -5.48425896e-04 -4.58965485e+00] [-1.18215556e-02 -2.78316797e-04 9.99930084e-01 3.63522463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.512320588 meters 0.02169388861138285 Centerline is valid? [True, True] Translation: X:74.68, Y:-4.59, Z:0.36 [[ 9.97552557e-01 6.87185271e-02 1.29096704e-02 7.46816657e+01] [-6.87165065e-02 9.97636046e-01 -6.00551694e-04 -4.58825586e+00] [-1.29204216e-02 -2.88025573e-04 9.99916486e-01 3.64434870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.542320588 meters 0.021567284977671446 Centerline is valid? [True, True] Translation: X:74.71, Y:-4.59, Z:0.36 [[ 9.97762650e-01 6.57224852e-02 1.22576021e-02 7.47128599e+01] [-6.57204275e-02 9.97837912e-01 -5.71040968e-04 -4.58817783e+00] [-1.22686303e-02 -2.35811502e-04 9.99924710e-01 3.62622230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.572320588 meters 0.021349763756482117 Centerline is valid? [True, True] Translation: X:74.74, Y:-4.59, Z:0.36 [[ 9.97904651e-01 6.41290755e-02 8.58892336e-03 7.47440397e+01] [-6.41279966e-02 9.97941601e-01 -4.01229877e-04 -4.58821035e+00] [-8.59697443e-03 -1.50401288e-04 9.99963034e-01 3.61354836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.602320588 meters 0.020825458508909243 Centerline is valid? [True, True] Translation: X:74.77, Y:-4.58, Z:0.36 [[ 9.98236012e-01 5.92496615e-02 3.78718027e-03 7.47739401e+01] [-5.92494197e-02 9.98243194e-01 -1.76112681e-04 -4.58204810e+00] [-3.79096154e-03 -4.85862127e-05 9.99992813e-01 3.59264254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.632320588 meters 0.020494338362413145 Centerline is valid? [True, True] Translation: X:74.80, Y:-4.58, Z:0.36 [[ 9.98362153e-01 5.70826606e-02 3.81851636e-03 7.48021930e+01] [-5.70824152e-02 9.98369455e-01 -1.73298664e-04 -4.57639006e+00] [-3.82218244e-03 -4.49553084e-05 9.99992694e-01 3.61124418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.662320588 meters 0.020371288646138568 Centerline is valid? [True, True] Translation: X:74.83, Y:-4.57, Z:0.36 [[ 9.98481212e-01 5.48936327e-02 4.68592170e-03 7.48305234e+01] [-5.48932478e-02 9.98492207e-01 -2.10816525e-04 -4.57270847e+00] [-4.69042879e-03 -4.67291214e-05 9.99988999e-01 3.63378209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.692320588 meters 0.02016540620107911 Centerline is valid? [True, True] Translation: X:74.86, Y:-4.58, Z:0.36 [[ 9.98793406e-01 4.88011090e-02 5.49404506e-03 7.48589500e+01] [-4.88004973e-02 9.98808516e-01 -2.45416293e-04 -4.57510250e+00] [-5.49947558e-03 -2.29919557e-05 9.99984878e-01 3.63676854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.722320588 meters 0.02030872960822726 Centerline is valid? [True, True] Translation: X:74.89, Y:-4.58, Z:0.36 [[ 9.98981176e-01 4.46794082e-02 6.35293804e-03 7.48871086e+01] [-4.46785277e-02 9.99001377e-01 -2.80532435e-04 -4.57822544e+00] [-6.35912787e-03 -3.59329552e-06 9.99979781e-01 3.60196503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.752320588 meters 0.02035010262993242 Centerline is valid? [True, True] Translation: X:74.92, Y:-4.58, Z:0.36 [[ 9.99134085e-01 4.11576916e-02 6.09294127e-03 7.49167432e+01] [-4.11568052e-02 9.99152663e-01 -2.70844395e-04 -4.57898279e+00] [-6.09892582e-03 1.98438705e-05 9.99981401e-01 3.57848229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.782320588 meters 0.02035387275038639 Centerline is valid? [True, True] Translation: X:74.95, Y:-4.58, Z:0.36 [[ 9.99208553e-01 3.91198337e-02 7.20456233e-03 7.49464142e+01] [-3.91185443e-02 9.99234526e-01 -3.19862958e-04 -4.57689510e+00] [-7.21156041e-03 3.77778126e-05 9.99973996e-01 3.56535577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.812320588 meters 0.02041631173768702 Centerline is valid? [True, True] Translation: X:74.98, Y:-4.57, Z:0.36 [[ 9.99374326e-01 3.47010947e-02 6.84042505e-03 7.49769034e+01] [-3.46998271e-02 9.99397733e-01 -3.03934416e-04 -4.56614409e+00] [-6.84685215e-03 6.63826852e-05 9.99976558e-01 3.59862292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.842320588 meters 0.02039488442961596 Centerline is valid? [True, True] Translation: X:75.01, Y:-4.56, Z:0.36 [[ 9.99400622e-01 3.41443303e-02 5.70633742e-03 7.50073107e+01] [-3.41434390e-02 9.99416911e-01 -2.53567981e-04 -4.56388733e+00] [-5.71166802e-03 5.85820149e-05 9.99983687e-01 3.62858831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.872320588 meters 0.020259073593939345 Centerline is valid? [True, True] Translation: X:75.04, Y:-4.56, Z:0.36 [[ 9.99421826e-01 3.35244115e-02 5.66811838e-03 7.50371839e+01] [-3.35235259e-02 9.99437897e-01 -2.51196598e-04 -4.56394409e+00] [-5.67335353e-03 6.10360489e-05 9.99983905e-01 3.64419382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.902320588 meters 0.020616600281545522 Centerline is valid? [True, True] Translation: X:75.07, Y:-4.56, Z:0.36 [[ 9.99472525e-01 3.19317881e-02 5.91879460e-03 7.50670324e+01] [-3.19307967e-02 9.99490048e-01 -2.61940000e-04 -4.56495490e+00] [-5.92414051e-03 7.28100062e-05 9.99982449e-01 3.63629445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.932320588 meters 0.020767853318235337 Centerline is valid? [True, True] Translation: X:75.10, Y:-4.57, Z:0.36 [[ 9.99529076e-01 2.99633484e-02 6.61993966e-03 7.50977334e+01] [-2.99620627e-02 9.99550994e-01 -2.93327700e-04 -4.56613016e+00] [-6.62575635e-03 9.48425174e-05 9.99978045e-01 3.62142713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.962320588 meters 0.02178681274754321 Centerline is valid? [True, True] Translation: X:75.13, Y:-4.57, Z:0.36 [[ 9.99661194e-01 2.49759980e-02 7.32777206e-03 7.51294728e+01] [-2.49742830e-02 9.99688041e-01 -3.25459177e-04 -4.56629581e+00] [-7.33361477e-03 1.42343056e-04 9.99973099e-01 3.56499186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.992320588 meters 0.02227356670178502 Centerline is valid? [True, True] Translation: X:75.16, Y:-4.57, Z:0.36 [[ 9.99740392e-01 2.18365710e-02 6.50475311e-03 7.51619760e+01] [-2.18351458e-02 9.99761543e-01 -2.90035850e-04 -4.56774671e+00] [-6.50953540e-03 1.47928322e-04 9.99978802e-01 3.55581519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.022320588 meters 0.022823629678709996 Centerline is valid? [True, True] Translation: X:75.19, Y:-4.57, Z:0.36 [[ 9.99793206e-01 1.92354652e-02 6.59862718e-03 7.51939820e+01] [-1.92339367e-02 9.99814967e-01 -2.95025564e-04 -4.56798216e+00] [-6.60308117e-03 1.68046977e-04 9.99978185e-01 3.56467117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.052320588 meters 0.023320632083436505 Centerline is valid? [True, True] Translation: X:75.23, Y:-4.56, Z:0.36 [[ 9.99863800e-01 1.58940944e-02 4.44510156e-03 7.52259945e+01] [-1.58933645e-02 9.99873673e-01 -1.99472004e-04 -4.56442891e+00] [-4.44771045e-03 1.28797217e-04 9.99990101e-01 3.61585176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.082320588 meters 0.02351172231525408 Centerline is valid? [True, True] Translation: X:75.26, Y:-4.56, Z:0.36 [[ 9.99880655e-01 1.50460228e-02 3.50618394e-03 7.52572098e+01] [-1.50455633e-02 9.99886797e-01 -1.57372247e-04 -4.56368265e+00] [-3.50815485e-03 1.04600953e-04 9.99993841e-01 3.62411271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.112320588 meters 0.02339949314687705 Centerline is valid? [True, True] Translation: X:75.29, Y:-4.57, Z:0.36 [[ 9.99880411e-01 1.51250071e-02 3.22442835e-03 7.52877670e+01] [-1.51246199e-02 9.99885606e-01 -1.44447104e-04 -4.56555263e+00] [-3.22624426e-03 9.56615765e-05 9.99994791e-01 3.62249491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.142320588 meters 0.02343742876595722 Centerline is valid? [True, True] Translation: X:75.32, Y:-4.57, Z:0.36 [[ 9.99868466e-01 1.53552515e-02 5.22181344e-03 7.53182516e+01] [-1.53542390e-02 9.99882089e-01 -2.33925442e-04 -4.56994207e+00] [-5.22478971e-03 1.53717701e-04 9.99986339e-01 3.59274819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.172320588 meters 0.0237509464534938 Centerline is valid? [True, True] Translation: X:75.35, Y:-4.58, Z:0.36 [[ 9.99864223e-01 1.48655055e-02 7.10996553e-03 7.53505115e+01] [-1.48636057e-02 9.99889479e-01 -3.19978749e-04 -4.57755025e+00] [-7.11393638e-03 2.14255579e-04 9.99974673e-01 3.56765815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.202320588 meters 0.02397414636616911 Centerline is valid? [True, True] Translation: X:75.38, Y:-4.58, Z:0.36 [[ 9.99877197e-01 1.42552229e-02 6.50995987e-03 7.53827540e+01] [-1.42536118e-02 9.99898369e-01 -2.93816406e-04 -4.57950081e+00] [-6.51348667e-03 2.00989884e-04 9.99978767e-01 3.57841191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23232058800001 meters 0.02397414636616911 Centerline is valid? [True, True] Translation: X:75.41, Y:-4.58, Z:0.36 [[ 9.99875474e-01 1.43755768e-02 6.50992460e-03 7.54144330e+01] [-1.43739632e-02 9.99896646e-01 -2.94597616e-04 -4.58089180e+00] [-6.51348678e-03 2.00987514e-04 9.99978767e-01 3.58000889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.262320588 meters 0.023923174749859662 Centerline is valid? [True, True] Translation: X:75.45, Y:-4.58, Z:0.36 [[ 9.99897210e-01 1.32929305e-02 5.37287970e-03 7.54467588e+01] [-1.32918117e-02 9.99911630e-01 -2.43894565e-04 -4.58232510e+00] [-5.37564698e-03 1.72454189e-04 9.99985536e-01 3.59708487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.292320588 meters 0.02432825181109334 Centerline is valid? [True, True] Translation: X:75.48, Y:-4.58, Z:0.36 [[ 9.99907393e-01 1.29406699e-02 4.21235683e-03 7.54788664e+01] [-1.29399764e-02 9.99916257e-01 -1.91856677e-04 -4.58409342e+00] [-4.21448683e-03 1.37331112e-04 9.99991110e-01 3.61554497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.322320588 meters 0.024134553015322174 Centerline is valid? [True, True] Translation: X:75.51, Y:-4.59, Z:0.36 [[ 9.99887891e-01 1.34298478e-02 6.62159830e-03 7.55106230e+01] [-1.34281419e-02 9.99909793e-01 -3.02023755e-04 -4.58866656e+00] [-6.62505712e-03 2.13074134e-04 9.99978031e-01 3.62773838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.352320588 meters 0.023564276113004125 Centerline is valid? [True, True] Translation: X:75.54, Y:-4.59, Z:0.36 [[ 9.99855967e-01 1.49372197e-02 8.05761264e-03 7.55431643e+01] [-1.49347325e-02 9.99888403e-01 -3.68762486e-04 -4.59199494e+00] [-8.06222172e-03 2.48371083e-04 9.99967469e-01 3.61269165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.382320588 meters 0.02376162551255878 Centerline is valid? [True, True] Translation: X:75.57, Y:-4.59, Z:0.36 [[ 9.99810421e-01 1.65208019e-02 1.03046009e-02 7.55748303e+01] [-1.65168086e-02 9.99863477e-01 -4.72508999e-04 -4.59395936e+00] [-1.03110003e-02 3.02220300e-04 9.99946795e-01 3.58773553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.412320588 meters 0.023598226752279426 Centerline is valid? [True, True] Translation: X:75.61, Y:-4.60, Z:0.36 [[ 9.99789143e-01 1.75600702e-02 1.06448506e-02 7.56068739e+01] [-1.75558544e-02 9.99845764e-01 -4.89359110e-04 -4.59660837e+00] [-1.06518019e-02 3.02376479e-04 9.99943222e-01 3.57185491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.442320588 meters 0.02352288995583108 Centerline is valid? [True, True] Translation: X:75.64, Y:-4.60, Z:0.36 [[ 9.99805190e-01 1.81373367e-02 7.78576235e-03 7.56388788e+01] [-1.81350904e-02 9.99835481e-01 -3.59019109e-04 -4.59973044e+00] [-7.79099310e-03 2.17753665e-04 9.99969626e-01 3.56826411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.472320588 meters 0.023475206093851675 Centerline is valid? [True, True] Translation: X:75.67, Y:-4.60, Z:0.36 [[ 9.99831076e-01 1.72023674e-02 6.47284600e-03 7.56708016e+01] [-1.72007874e-02 9.99852011e-01 -2.99690288e-04 -4.60280827e+00] [-6.47704347e-03 1.88301615e-04 9.99979006e-01 3.57152141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.502320588 meters 0.023724490489236104 Centerline is valid? [True, True] Translation: X:75.70, Y:-4.61, Z:0.36 [[ 9.99837306e-01 1.68562544e-02 6.42091536e-03 7.57025145e+01] [-1.68546884e-02 9.99857905e-01 -2.97927724e-04 -4.60585025e+00] [-6.42502493e-03 1.89656725e-04 9.99979341e-01 3.57838652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.532320588 meters 0.023772975670343897 Centerline is valid? [True, True] Translation: X:75.73, Y:-4.61, Z:0.36 [[ 9.99861669e-01 1.58808131e-02 4.94403260e-03 7.57346078e+01] [-1.58798691e-02 9.99873880e-01 -2.30129208e-04 -4.60987058e+00] [-4.94706370e-03 1.51586784e-04 9.99987752e-01 3.58539877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.562320588 meters 0.023821467034485493 Centerline is valid? [True, True] Translation: X:75.77, Y:-4.61, Z:0.36 [[ 9.99881848e-01 1.48950922e-02 3.79824159e-03 7.57667980e+01] [-1.48945257e-02 9.99889055e-01 -1.77400257e-04 -4.61358713e+00] [-3.80046259e-03 1.20806290e-04 9.99992771e-01 3.58449545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.592320588 meters 0.02428360653796937 Centerline is valid? [True, True] Translation: X:75.80, Y:-4.62, Z:0.36 [[ 9.99890587e-01 1.41411235e-02 4.34075663e-03 7.57984238e+01] [-1.41403758e-02 9.99899999e-01 -2.02894143e-04 -4.61573111e+00] [-4.34319170e-03 1.41492014e-04 9.99990558e-01 3.58470224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.622320588 meters 0.02420456677298973 Centerline is valid? [True, True] Translation: X:75.83, Y:-4.62, Z:0.36 [[ 9.99881915e-01 1.44001874e-02 5.36561099e-03 7.58310012e+01] [-1.43990450e-02 9.99896297e-01 -2.51477970e-04 -4.61751434e+00] [-5.36867589e-03 1.74188601e-04 9.99985573e-01 3.58334353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.652320588 meters 0.0241494177778057 Centerline is valid? [True, True] Translation: X:75.86, Y:-4.62, Z:0.36 [[ 9.99883643e-01 1.39091106e-02 6.26389151e-03 7.58634810e+01] [-1.39075400e-02 9.99903242e-01 -2.94238426e-04 -4.62162942e+00] [-6.26737803e-03 2.07088868e-04 9.99980338e-01 3.57790345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.682320588 meters 0.02402113010442141 Centerline is valid? [True, True] Translation: X:75.89, Y:-4.63, Z:0.36 [[ 9.99866672e-01 1.45419714e-02 7.42755410e-03 7.58947913e+01] [-1.45397745e-02 9.99894231e-01 -3.49697302e-04 -4.63271690e+00] [-7.43185378e-03 2.41655716e-04 9.99972354e-01 3.56964330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.712320588 meters 0.0239182102122798 Centerline is valid? [True, True] Translation: X:75.93, Y:-4.64, Z:0.36 [[ 9.99847683e-01 1.55198617e-02 7.98401569e-03 7.59270131e+01] [-1.55173470e-02 9.99879528e-01 -3.76821023e-04 -4.63764674e+00] [-7.98890205e-03 2.52872885e-04 9.99968056e-01 3.57856737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.742320588 meters 0.023470667314354335 Centerline is valid? [True, True] Translation: X:75.96, Y:-4.64, Z:0.36 [[ 9.99804517e-01 1.78796029e-02 8.44082880e-03 7.59593165e+01] [-1.78768679e-02 9.99840116e-01 -3.99373448e-04 -4.64066963e+00] [-8.44661988e-03 2.48399796e-04 9.99964296e-01 3.58585369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.772320588 meters 0.022722028987581 Centerline is valid? [True, True] Translation: X:75.99, Y:-4.64, Z:0.36 [[ 9.99751403e-01 2.08350719e-02 7.93932797e-03 7.59911885e+01] [-2.08327322e-02 9.99782904e-01 -3.77288890e-04 -4.64439563e+00] [-7.94546522e-03 2.11797203e-04 9.99968412e-01 3.59554011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.802320588 meters 0.022238485582187793 Centerline is valid? [True, True] Translation: X:76.02, Y:-4.65, Z:0.36 [[ 9.99657890e-01 2.47176376e-02 8.55222436e-03 7.60231978e+01] [-2.47150582e-02 9.99694453e-01 -4.07169856e-04 -4.65214297e+00] [-8.55967553e-03 1.95661837e-04 9.99963346e-01 3.58000710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.832320588 meters 0.02208125509144755 Centerline is valid? [True, True] Translation: X:76.06, Y:-4.66, Z:0.36 [[ 9.99619275e-01 2.57963808e-02 9.79041080e-03 7.60553469e+01] [-2.57930411e-02 9.99667195e-01 -4.67247938e-04 -4.65674886e+00] [-9.79920581e-03 2.14545576e-04 9.99951964e-01 3.58474586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.862320588 meters 0.022189791090245724 Centerline is valid? [True, True] Translation: X:76.09, Y:-4.66, Z:0.36 [[ 9.99577951e-01 2.64872060e-02 1.19309383e-02 7.60876140e+01] [-2.64822795e-02 9.99649120e-01 -5.70744093e-04 -4.66088245e+00] [-1.19418694e-02 2.54544768e-04 9.99928661e-01 3.58030475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.892320588 meters 0.021925201486579282 Centerline is valid? [True, True] Translation: X:76.12, Y:-4.67, Z:0.36 [[ 9.99551418e-01 2.72954272e-02 1.23257002e-02 7.61204687e+01] [-2.72901796e-02 9.99627377e-01 -5.93764601e-04 -4.66568787e+00] [-1.23373144e-02 2.57127676e-04 9.99923859e-01 3.58118533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.922320588 meters 0.021711858426232553 Centerline is valid? [True, True] Translation: X:76.15, Y:-4.68, Z:0.36 [[ 9.99427881e-01 3.08668205e-02 1.38256731e-02 7.61522883e+01] [-3.08605481e-02 9.99523477e-01 -6.66845744e-04 -4.67550781e+00] [-1.38396682e-02 2.39796381e-04 9.99904198e-01 3.56597388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.952320588 meters 0.021524553252681093 Centerline is valid? [True, True] Translation: X:76.18, Y:-4.68, Z:0.36 [[ 9.99313772e-01 3.39259278e-02 1.48666278e-02 7.61838473e+01] [-3.39189867e-02 9.99424327e-01 -7.18859985e-04 -4.67981244e+00] [-1.48824575e-02 2.14105734e-04 9.99889227e-01 3.57424817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98232058800001 meters 0.021048307623275885 Centerline is valid? [True, True] Translation: X:76.22, Y:-4.68, Z:0.36 [[ 9.99279551e-01 3.57712118e-02 1.26806853e-02 7.62159535e+01] [-3.57662889e-02 9.99359992e-01 -6.14857690e-04 -4.68130438e+00] [-1.26945638e-02 1.60873662e-04 9.99919408e-01 3.58752191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.012320588 meters 0.020821393702965534 Centerline is valid? [True, True] Translation: X:76.25, Y:-4.68, Z:0.36 [[ 9.99251157e-01 3.73499265e-02 1.01048807e-02 7.62480305e+01] [-3.73468669e-02 9.99302242e-01 -4.91382560e-04 -4.68063124e+00] [-1.01161831e-02 1.13628956e-04 9.99948824e-01 3.58981823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.042320588 meters 0.020444232531723592 Centerline is valid? [True, True] Translation: X:76.28, Y:-4.68, Z:0.36 [[ 9.99070732e-01 4.25160241e-02 7.07536055e-03 7.62801372e+01] [-4.25146431e-02 9.99095784e-01 -3.45550083e-04 -4.68177845e+00] [-7.08365432e-03 4.44225458e-05 9.99974910e-01 3.59946935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.072320588 meters 0.020541561487979032 Centerline is valid? [True, True] Translation: X:76.31, Y:-4.69, Z:0.36 [[ 9.98991282e-01 4.41869402e-02 7.99574492e-03 7.63113033e+01] [-4.41852305e-02 9.99023279e-01 -3.90436208e-04 -4.68602739e+00] [-8.00518749e-03 3.67485353e-05 9.99967957e-01 3.60113484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.102320588 meters 0.020405468638189116 Centerline is valid? [True, True] Translation: X:76.34, Y:-4.69, Z:0.36 [[ 9.98892499e-01 4.62727427e-02 8.52111655e-03 7.63429188e+01] [-4.62708647e-02 9.98928843e-01 -4.17502229e-04 -4.69029045e+00] [-8.53130806e-03 2.27604133e-05 9.99963607e-01 3.60870873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.132320588 meters 0.020537250642583698 Centerline is valid? [True, True] Translation: X:76.37, Y:-4.69, Z:0.36 [[ 9.98843613e-01 4.72223663e-02 9.02693434e-03 7.63746241e+01] [-4.72202874e-02 9.98884402e-01 -4.43416897e-04 -4.69105422e+00] [-9.03780310e-03 1.66497017e-05 9.99959158e-01 3.61993750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.162320588 meters 0.020369201129313473 Centerline is valid? [True, True] Translation: X:76.41, Y:-4.69, Z:0.36 [[ 9.98795500e-01 4.85944826e-02 6.79153165e-03 7.64068711e+01] [-4.85933304e-02 9.98818590e-01 -3.34658136e-04 -4.68610904e+00] [-6.79977061e-03 4.23189883e-06 9.99976881e-01 3.62622116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.192320588 meters 0.02033752588204769 Centerline is valid? [True, True] Translation: X:76.44, Y:-4.69, Z:0.36 [[ 9.98733992e-01 4.97574836e-02 7.38963465e-03 7.64373680e+01] [-4.97561567e-02 9.98761329e-01 -3.63417422e-04 -4.68616969e+00] [-7.39856406e-03 -4.72248754e-06 9.99972630e-01 3.61903630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.222320588 meters 0.0204547400277355 Centerline is valid? [True, True] Translation: X:76.47, Y:-4.69, Z:0.36 [[ 9.98651299e-01 5.10064361e-02 9.69161673e-03 7.64679111e+01] [-5.10042125e-02 9.98698324e-01 -4.76627402e-04 -4.68738287e+00] [-9.70331246e-03 -1.83287052e-05 9.99952922e-01 3.61966913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.252320588 meters 0.02060745861544972 Centerline is valid? [True, True] Translation: X:76.50, Y:-4.69, Z:0.36 [[ 9.98561790e-01 5.21810228e-02 1.23082646e-02 7.65001797e+01] [-5.21774975e-02 9.98637642e-01 -6.07580472e-04 -4.68768520e+00] [-1.23232006e-02 -3.55078049e-05 9.99924066e-01 3.62853726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.282320588 meters 0.020631397441233584 Centerline is valid? [True, True] Translation: X:76.53, Y:-4.69, Z:0.36 [[ 9.98508723e-01 5.26713242e-02 1.43548535e-02 7.65320258e+01] [-5.26665631e-02 9.98611901e-01 -7.09760934e-04 -4.68567975e+00] [-1.43723116e-02 -4.73183139e-05 9.99896712e-01 3.64034366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.312320588 meters 0.020710101757447842 Centerline is valid? [True, True] Translation: X:76.56, Y:-4.68, Z:0.36 [[ 9.98409131e-01 5.48347248e-02 1.31285941e-02 7.65639315e+01] [-5.48309045e-02 9.98495442e-01 -6.51027885e-04 -4.68245253e+00] [-1.31445403e-02 -6.98605059e-05 9.99913604e-01 3.64412602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.342320588 meters 0.020778980772094693 Centerline is valid? [True, True] Translation: X:76.60, Y:-4.68, Z:0.36 [[ 9.98340279e-01 5.64402338e-02 1.14537113e-02 7.65960832e+01] [-5.64374134e-02 9.98405977e-01 -5.69567110e-04 -4.68403458e+00] [-1.14676004e-02 -7.77960555e-05 9.99934242e-01 3.64267135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.372320588 meters 0.020550380049203086 Centerline is valid? [True, True] Translation: X:76.63, Y:-4.68, Z:0.37 [[ 9.98349493e-01 5.65645108e-02 9.93709505e-03 7.66276045e+01] [-5.65623854e-02 9.98398944e-01 -4.95021122e-04 -4.68346991e+00] [-9.94918583e-03 -6.78617141e-05 9.99950503e-01 3.66341219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.402320588 meters 0.02042169079228688 Centerline is valid? [True, True] Translation: X:76.66, Y:-4.68, Z:0.37 [[ 9.98547546e-01 5.32032134e-02 8.49799629e-03 7.66580900e+01] [-5.32015409e-02 9.98583706e-01 -4.22916312e-04 -4.67626322e+00] [-8.50846113e-03 -2.98044509e-05 9.99963802e-01 3.66853374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.432320588 meters 0.020531275727035662 Centerline is valid? [True, True] Translation: X:76.69, Y:-4.68, Z:0.37 [[ 9.98657449e-01 5.10687276e-02 8.67668739e-03 7.66888882e+01] [-5.10669034e-02 9.98695141e-01 -4.31809159e-04 -4.67689124e+00] [-8.68741748e-03 -1.18621232e-05 9.99962264e-01 3.65850542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.462320588 meters 0.020552751378710113 Centerline is valid? [True, True] Translation: X:76.72, Y:-4.68, Z:0.36 [[ 9.98732739e-01 4.92826101e-02 1.02049645e-02 7.67195160e+01] [-4.92799883e-02 9.98784874e-01 -5.08362642e-04 -4.68189179e+00] [-1.02176176e-02 4.81788158e-06 9.99947799e-01 3.63135945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.492320588 meters 0.020727506601523043 Centerline is valid? [True, True] Translation: X:76.75, Y:-4.69, Z:0.36 [[ 9.98774050e-01 4.77433861e-02 1.30754214e-02 7.67518213e+01] [-4.77389220e-02 9.98859634e-01 -6.53490169e-04 -4.68826423e+00] [-1.30917105e-02 2.84824975e-05 9.99914299e-01 3.61849397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.522320588 meters 0.020955820842014538 Centerline is valid? [True, True] Translation: X:76.78, Y:-4.69, Z:0.36 [[ 9.98770677e-01 4.71492861e-02 1.52996742e-02 7.67836959e+01] [-4.71430754e-02 9.98887853e-01 -7.66539157e-04 -4.69194016e+00] [-1.53188005e-02 4.43231397e-05 9.99882659e-01 3.63232284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.552320588 meters 0.020927470327905387 Centerline is valid? [True, True] Translation: X:76.82, Y:-4.69, Z:0.37 [[ 9.98756969e-01 4.73997327e-02 1.54201741e-02 7.68171773e+01] [-4.73934020e-02 9.98876000e-01 -7.75926979e-04 -4.68750554e+00] [-1.54396206e-02 4.41479676e-05 9.99880801e-01 3.67165037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.582320588 meters 0.02073970028705021 Centerline is valid? [True, True] Translation: X:76.85, Y:-4.69, Z:0.37 [[ 9.98795875e-01 4.75674277e-02 1.20058072e-02 7.68491724e+01] [-4.75635850e-02 9.98868029e-01 -6.05556282e-04 -4.68814314e+00] [-1.20210217e-02 3.37878862e-05 9.99927744e-01 3.67806303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.612320588 meters 0.02064698999991456 Centerline is valid? [True, True] Translation: X:76.88, Y:-4.69, Z:0.37 [[ 9.98813205e-01 4.79375906e-02 8.61219044e-03 7.68815382e+01] [-4.79356159e-02 9.98850333e-01 -4.35683953e-04 -4.69335252e+00] [-8.62317492e-03 2.23362329e-05 9.99962819e-01 3.65006621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.642320588 meters 0.020673840050339492 Centerline is valid? [True, True] Translation: X:76.91, Y:-4.70, Z:0.36 [[ 9.98812994e-01 4.83245524e-02 6.11077486e-03 7.69122997e+01] [-4.83235639e-02 9.98831686e-01 -3.09394910e-04 -4.69926607e+00] [-6.11858693e-03 1.37332367e-05 9.99981281e-01 3.63803401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.672320588 meters 0.02066027256103201 Centerline is valid? [True, True] Translation: X:76.94, Y:-4.70, Z:0.37 [[ 9.98828868e-01 4.78607841e-02 7.08787555e-03 7.69421172e+01] [-4.78594480e-02 9.98854016e-01 -3.58097704e-04 -4.70247867e+00] [-7.09689180e-03 1.84565128e-05 9.99974817e-01 3.65638800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.702320588 meters 0.02096978380841222 Centerline is valid? [True, True] Translation: X:76.97, Y:-4.70, Z:0.37 [[ 9.98857210e-01 4.68390876e-02 9.50648192e-03 7.69728562e+01] [-4.68366357e-02 9.98902447e-01 -4.80510822e-04 -4.70354226e+00] [-9.51855474e-03 3.47100684e-05 9.99954697e-01 3.66136303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73232058800001 meters 0.021033956256321165 Centerline is valid? [True, True] Translation: X:77.00, Y:-4.71, Z:0.37 [[ 9.99003513e-01 4.36285914e-02 9.40884034e-03 7.70048598e+01] [-4.36260295e-02 9.99047817e-01 -4.77447295e-04 -4.70696445e+00] [-9.42071176e-03 6.65011789e-05 9.99955622e-01 3.66717574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.762320588 meters 0.02124278872853385 Centerline is valid? [True, True] Translation: X:77.04, Y:-4.71, Z:0.37 [[ 9.99154427e-01 3.96644106e-02 1.08242688e-02 7.70362244e+01] [-3.96607789e-02 9.99213050e-01 -5.50052410e-04 -4.71358720e+00] [-1.08375681e-02 1.20288370e-04 9.99941265e-01 3.65977674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.792320588 meters 0.02185696658209863 Centerline is valid? [True, True] Translation: X:77.07, Y:-4.73, Z:0.37 [[ 9.99356552e-01 3.40168326e-02 1.13726762e-02 7.70672797e+01] [-3.40124456e-02 9.99421242e-01 -5.78993542e-04 -4.72541761e+00] [-1.13857897e-02 1.91808459e-04 9.99935161e-01 3.65437566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.822320588 meters 0.02210388875417951 Centerline is valid? [True, True] Translation: X:77.10, Y:-4.73, Z:0.36 [[ 9.99367496e-01 3.35309174e-02 1.18441796e-02 7.70992203e+01] [-3.35261059e-02 9.99437659e-01 -6.04605705e-04 -4.73033372e+00] [-1.18577921e-02 2.07134072e-04 9.99929672e-01 3.64381444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.852320588 meters 0.022027945299920873 Centerline is valid? [True, True] Translation: X:77.13, Y:-4.73, Z:0.36 [[ 9.99388090e-01 3.35812279e-02 9.78504496e-03 7.71316879e+01] [-3.35779332e-02 9.99435977e-01 -5.00838923e-04 -4.73393613e+00] [-9.79634475e-03 1.71970869e-04 9.99952000e-01 3.63110145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.882320588 meters 0.021430478592429764 Centerline is valid? [True, True] Translation: X:77.16, Y:-4.74, Z:0.36 [[ 9.99218635e-01 3.86991566e-02 8.03080096e-03 7.71632680e+01] [-3.86970935e-02 9.99250902e-01 -4.12176732e-04 -4.73958713e+00] [-8.04073600e-03 1.01086016e-04 9.99967668e-01 3.62483064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.912320588 meters 0.021110942822666026 Centerline is valid? [True, True] Translation: X:77.20, Y:-4.74, Z:0.36 [[ 9.99009991e-01 4.37535625e-02 8.04133901e-03 7.71951597e+01] [-4.37516494e-02 9.99042352e-01 -4.13752418e-04 -4.74324674e+00] [-8.05174139e-03 6.15209539e-05 9.99967582e-01 3.62304866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.942320588 meters 0.020908112034164587 Centerline is valid? [True, True] Translation: X:77.23, Y:-4.75, Z:0.36 [[ 9.98797010e-01 4.84058343e-02 7.83636480e-03 7.72263249e+01] [-4.84041591e-02 9.98827750e-01 -4.03405692e-04 -4.74639099e+00] [-7.84670581e-03 2.36077503e-05 9.99969214e-01 3.63125750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.972320588 meters 0.02088535560464142 Centerline is valid? [True, True] Translation: X:77.26, Y:-4.75, Z:0.36 [[ 9.98536610e-01 5.33636429e-02 8.77273441e-03 7.72582887e+01] [-5.33617220e-02 9.98575146e-01 -4.53050205e-04 -4.74986643e+00] [-8.78441095e-03 -1.57409995e-05 9.99961416e-01 3.63441785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.002320588 meters 0.02137524322454468 Centerline is valid? [True, True] Translation: X:77.29, Y:-4.76, Z:0.36 [[ 9.98047172e-01 6.09459328e-02 1.36907453e-02 7.72901567e+01] [-6.09419480e-02 9.98141061e-01 -7.08446496e-04 -4.75672376e+00] [-1.37084720e-02 -1.27277667e-04 9.99906026e-01 3.63780733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.032320588 meters 0.021602753976249237 Centerline is valid? [True, True] Translation: X:77.32, Y:-4.76, Z:0.36 [[ 9.97841447e-01 6.36386483e-02 1.62040109e-02 7.73225504e+01] [-6.36333885e-02 9.97972988e-01 -8.40503077e-04 -4.76041702e+00] [-1.62246537e-02 -1.92427315e-04 9.99868353e-01 3.64003846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.062320588 meters 0.021923434631134144 Centerline is valid? [True, True] Translation: X:77.35, Y:-4.76, Z:0.36 [[ 9.97670511e-01 6.61784715e-02 1.65517568e-02 7.73546791e+01] [-6.61732972e-02 9.97807774e-01 -8.60698314e-04 -4.76287484e+00] [-1.65724313e-02 -2.36590994e-04 9.99862640e-01 3.63830282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.092320588 meters 0.02212867569141063 Centerline is valid? [True, True] Translation: X:77.39, Y:-4.76, Z:0.36 [[ 9.97587096e-01 6.76814574e-02 1.54662925e-02 7.73880848e+01] [-6.76770674e-02 9.97706952e-01 -8.07654608e-04 -4.76334374e+00] [-1.54854908e-02 -2.41007506e-04 9.99880064e-01 3.62728706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.122320588 meters 0.02212867569141063 Centerline is valid? [True, True] Translation: X:77.42, Y:-4.76, Z:0.36 [[ 9.97573674e-01 6.78790341e-02 1.54661317e-02 7.74205792e+01] [-6.78746202e-02 9.97693529e-01 -8.10730338e-04 -4.76498857e+00] [-1.54854911e-02 -2.40994573e-04 9.99880064e-01 3.62892586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.152320588 meters 0.02210922776629197 Centerline is valid? [True, True] Translation: X:77.45, Y:-4.76, Z:0.36 [[ 9.97517203e-01 6.91032128e-02 1.35710997e-02 7.74524492e+01] [-6.90999062e-02 9.97609490e-01 -7.12964447e-04 -4.76451711e+00] [-1.35879260e-02 -2.26567418e-04 9.99907654e-01 3.61442713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.182320588 meters 0.022246087870897453 Centerline is valid? [True, True] Translation: X:77.48, Y:-4.77, Z:0.36 [[ 9.97353710e-01 7.17783268e-02 1.15520385e-02 7.74846888e+01] [-7.17760913e-02 9.97420585e-01 -6.08526023e-04 -4.76512761e+00] [-1.15659200e-02 -2.22244483e-04 9.99933088e-01 3.61760570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.212320588 meters 0.0223630806060035 Centerline is valid? [True, True] Translation: X:77.52, Y:-4.77, Z:0.36 [[ 9.97265883e-01 7.30023797e-02 1.14634533e-02 7.75166493e+01] [-7.30002416e-02 9.97331739e-01 -6.05392727e-04 -4.76694542e+00] [-1.14770609e-02 -2.33097348e-04 9.99934109e-01 3.62765399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.242320588 meters 0.022468290681925497 Centerline is valid? [True, True] Translation: X:77.55, Y:-4.77, Z:0.37 [[ 9.97126447e-01 7.49886822e-02 1.07492859e-02 7.75486843e+01] [-7.49869019e-02 9.97184356e-01 -5.69131601e-04 -4.76750032e+00] [-1.07616981e-02 -2.38559474e-04 9.99942063e-01 3.65646387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.272320588 meters 0.02266922497023285 Centerline is valid? [True, True] Translation: X:77.58, Y:-4.77, Z:0.37 [[ 9.97030491e-01 7.61524677e-02 1.14455611e-02 7.75801471e+01] [-7.61505216e-02 9.97096149e-01 -6.06374642e-04 -4.76645287e+00] [-1.14585018e-02 -2.67011438e-04 9.99934314e-01 3.66320278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.302320588 meters 0.022957449839857376 Centerline is valid? [True, True] Translation: X:77.61, Y:-4.76, Z:0.36 [[ 9.96880952e-01 7.78720380e-02 1.28184932e-02 7.76113101e+01] [-7.78697289e-02 9.96963311e-01 -6.79905714e-04 -4.76283499e+00] [-1.28325131e-02 -3.20387537e-04 9.99917609e-01 3.64548541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.332320588 meters 0.023176767005624897 Centerline is valid? [True, True] Translation: X:77.64, Y:-4.76, Z:0.36 [[ 9.96826075e-01 7.86561292e-02 1.22877553e-02 7.76431137e+01] [-7.86540426e-02 9.96901758e-01 -6.53724802e-04 -4.76396559e+00] [-1.23011043e-02 -3.14831699e-04 9.99924289e-01 3.63209728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.362320588 meters 0.023267854710917333 Centerline is valid? [True, True] Translation: X:77.68, Y:-4.76, Z:0.36 [[ 9.96738860e-01 7.98171603e-02 1.18686544e-02 7.76754668e+01] [-7.98152771e-02 9.96809471e-01 -6.33009725e-04 -4.76421710e+00] [-1.18813122e-02 -3.16354550e-04 9.99929365e-01 3.63387427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.392320588 meters 0.023223049199979112 Centerline is valid? [True, True] Translation: X:77.71, Y:-4.76, Z:0.37 [[ 9.96771379e-01 7.96442309e-02 1.01791197e-02 7.77074442e+01] [-7.96428273e-02 9.96823317e-01 -5.43819540e-04 -4.76193960e+00] [-1.01900959e-02 -2.68630119e-04 9.99948044e-01 3.65177452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.422320588 meters 0.022750742621121787 Centerline is valid? [True, True] Translation: X:77.74, Y:-4.75, Z:0.37 [[ 9.97021600e-01 7.58144631e-02 1.41455269e-02 7.77380655e+01] [-7.58113769e-02 9.97121891e-01 -7.55040789e-04 -4.75434579e+00] [-1.41620575e-02 -3.19599893e-04 9.99899662e-01 3.66710488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.452320588 meters 0.022478745237516903 Centerline is valid? [True, True] Translation: X:77.77, Y:-4.75, Z:0.37 [[ 9.97267823e-01 7.21205413e-02 1.59848881e-02 7.77708136e+01] [-7.21160707e-02 9.97395879e-01 -8.56674203e-04 -4.75473205e+00] [-1.60050454e-02 -2.98433706e-04 9.99871867e-01 3.66778889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48232058800001 meters 0.022302134367054093 Centerline is valid? [True, True] Translation: X:77.80, Y:-4.76, Z:0.37 [[ 9.97563179e-01 6.76446517e-02 1.70852252e-02 7.78032598e+01] [-6.76388534e-02 9.97709448e-01 -9.17663673e-04 -4.75566179e+00] [-1.71081657e-02 -2.40197554e-04 9.99853616e-01 3.66928484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.512320588 meters 0.02197085129617326 Centerline is valid? [True, True] Translation: X:77.84, Y:-4.76, Z:0.37 [[ 9.97810628e-01 6.37545848e-02 1.75870367e-02 7.78351367e+01] [-6.37477963e-02 9.97965592e-01 -9.46906422e-04 -4.75552627e+00] [-1.76116271e-02 -1.76301538e-04 9.99844888e-01 3.67192065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.542320588 meters 0.021669397298017017 Centerline is valid? [True, True] Translation: X:77.87, Y:-4.75, Z:0.37 [[ 9.98189489e-01 5.80555144e-02 1.57258107e-02 7.78677736e+01] [-5.80493454e-02 9.98313354e-01 -8.48851292e-04 -4.74967382e+00] [-1.57485673e-02 -6.55585805e-05 9.99875981e-01 3.66859236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.572320588 meters 0.021517137724387604 Centerline is valid? [True, True] Translation: X:77.90, Y:-4.75, Z:0.37 [[ 9.98354413e-01 5.57777656e-02 1.33156748e-02 7.78998918e+01] [-5.57731159e-02 9.98443208e-01 -7.20564551e-04 -4.74908177e+00] [-1.33351366e-02 -2.32778749e-05 9.99911083e-01 3.66764457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.602320588 meters 0.02145147488316813 Centerline is valid? [True, True] Translation: X:77.93, Y:-4.75, Z:0.37 [[ 9.98438125e-01 5.44487880e-02 1.25155924e-02 7.79323025e+01] [-5.44445548e-02 9.98516564e-01 -6.78954152e-04 -4.75079370e+00] [-1.25339946e-02 -3.51214721e-06 9.99921446e-01 3.65562139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.632320588 meters 0.02158494464608629 Centerline is valid? [True, True] Translation: X:77.96, Y:-4.75, Z:0.37 [[ 9.98470289e-01 5.37273158e-02 1.30559432e-02 7.79641755e+01] [-5.37226256e-02 9.98555645e-01 -7.09937879e-04 -4.75371452e+00] [-1.30752288e-02 7.45233258e-06 9.99914516e-01 3.65324314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.662320588 meters 0.0215062145390607 Centerline is valid? [True, True] Translation: X:78.00, Y:-4.76, Z:0.37 [[ 9.98553083e-01 5.24182900e-02 1.20026303e-02 7.79965080e+01] [-5.24142119e-02 9.98625216e-01 -6.54290666e-04 -4.75802517e+00] [-1.20204261e-02 2.42355515e-05 9.99927752e-01 3.67452443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.692320588 meters 0.021296588290840718 Centerline is valid? [True, True] Translation: X:78.03, Y:-4.76, Z:0.37 [[ 9.98574989e-01 5.23589422e-02 1.03214474e-02 7.80283478e+01] [-5.23559089e-02 9.98628330e-01 -5.64058737e-04 -4.76087766e+00] [-1.03368233e-02 2.28661872e-05 9.99946573e-01 3.68866205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.722320588 meters 0.021424144234507357 Centerline is valid? [True, True] Translation: X:78.06, Y:-4.76, Z:0.37 [[ 9.98672457e-01 5.07562259e-02 8.78230085e-03 7.80605191e+01] [-5.07539571e-02 9.98711071e-01 -4.81167596e-04 -4.76311656e+00] [-8.79540334e-03 3.47923055e-05 9.99961319e-01 3.69852964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.752320588 meters 0.021548675519933988 Centerline is valid? [True, True] Translation: X:78.09, Y:-4.76, Z:0.37 [[ 9.98819845e-01 4.79400393e-02 7.78912320e-03 7.80920200e+01] [-4.79381670e-02 9.98850214e-01 -4.27006961e-04 -4.76498172e+00] [-7.80063810e-03 5.31067382e-05 9.99969573e-01 3.70204097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.782320588 meters 0.02215900786944111 Centerline is valid? [True, True] Translation: X:78.12, Y:-4.77, Z:0.37 [[ 9.99106459e-01 4.15073649e-02 7.96385818e-03 7.81233506e+01] [-4.15051994e-02 9.99138192e-01 -4.37079133e-04 -4.76784251e+00] [-7.97513687e-03 1.06147063e-04 9.99968192e-01 3.67431832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.812320588 meters 0.022474721884913437 Centerline is valid? [True, True] Translation: X:78.15, Y:-4.77, Z:0.37 [[ 9.99268759e-01 3.75015616e-02 7.45522059e-03 7.81547217e+01] [-3.74995487e-02 9.99296561e-01 -4.09650280e-04 -4.77147306e+00] [-7.46533882e-03 1.29783319e-04 9.99972126e-01 3.67582293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.842320588 meters 0.023123553799003493 Centerline is valid? [True, True] Translation: X:78.19, Y:-4.78, Z:0.37 [[ 9.99355239e-01 3.48598290e-02 8.59644327e-03 7.81858802e+01] [-3.48570507e-02 9.99392197e-01 -4.72848642e-04 -4.77594247e+00] [-8.60770174e-03 1.72897109e-04 9.99962938e-01 3.67376623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.872320588 meters 0.023547123599715798 Centerline is valid? [True, True] Translation: X:78.22, Y:-4.78, Z:0.37 [[ 9.99478647e-01 3.15018367e-02 7.07591375e-03 7.82181556e+01] [-3.14998615e-02 9.99503680e-01 -3.90452807e-04 -4.77981963e+00] [-7.08470182e-03 1.67358941e-04 9.99974889e-01 3.69308650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.902320588 meters 0.02398869781309434 Centerline is valid? [True, True] Translation: X:78.25, Y:-4.79, Z:0.37 [[ 9.99576851e-01 2.88458654e-02 3.74641827e-03 7.82499154e+01] [-2.88452902e-02 9.99583867e-01 -2.07485670e-04 -4.78544123e+00] [-3.75084436e-03 9.93313504e-05 9.99992961e-01 3.69339143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.932320588 meters 0.02388408999009073 Centerline is valid? [True, True] Translation: X:78.28, Y:-4.79, Z:0.37 [[ 9.99556080e-01 2.94273395e-02 4.65565241e-03 7.82805813e+01] [-2.94264611e-02 9.99566915e-01 -2.57067264e-04 -4.79170286e+00] [-4.66120092e-03 1.19953772e-04 9.99989129e-01 3.68288113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.962320588 meters 0.023780465744818763 Centerline is valid? [True, True] Translation: X:78.31, Y:-4.80, Z:0.37 [[ 9.99533530e-01 3.01008941e-02 5.16323375e-03 7.83115497e+01] [-3.00998195e-02 9.99546857e-01 -2.85721862e-04 -4.79929555e+00] [-5.16949455e-03 1.30176177e-04 9.99986630e-01 3.68933300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.992320588 meters 0.023683950005080615 Centerline is valid? [True, True] Translation: X:78.34, Y:-4.81, Z:0.37 [[ 9.99490933e-01 3.11007820e-02 7.11447093e-03 7.83430918e+01] [-3.10987648e-02 9.99516239e-01 -3.94020581e-04 -4.80532322e+00] [-7.12328358e-03 1.72568740e-04 9.99974614e-01 3.70403154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.022320588 meters 0.02342146144382753 Centerline is valid? [True, True] Translation: X:78.37, Y:-4.81, Z:0.37 [[ 9.99464309e-01 3.20593821e-02 6.57961315e-03 7.83748353e+01] [-3.20576699e-02 9.99485954e-01 -3.65552668e-04 -4.80912651e+00] [-6.58795032e-03 1.54429779e-04 9.99978287e-01 3.71554014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.052320588 meters 0.02317828805638443 Centerline is valid? [True, True] Translation: X:78.41, Y:-4.81, Z:0.37 [[ 9.99429260e-01 3.33887362e-02 5.13290359e-03 7.84071419e+01] [-3.33877077e-02 9.99442434e-01 -2.85962148e-04 -4.81210649e+00] [-5.13958958e-03 1.14423053e-04 9.99986786e-01 3.71669830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.082320588 meters 0.023396633015009945 Centerline is valid? [True, True] Translation: X:78.44, Y:-4.82, Z:0.37 [[ 9.99395383e-01 3.39426832e-02 7.53416513e-03 7.84376915e+01] [-3.39404840e-02 9.99423768e-01 -4.19599917e-04 -4.81949906e+00] [-7.54406605e-03 1.63633008e-04 9.99971530e-01 3.69367274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.112320588 meters 0.0235493532991968 Centerline is valid? [True, True] Translation: X:78.47, Y:-4.82, Z:0.37 [[ 9.99378620e-01 3.35971097e-02 1.06587101e-02 7.84691556e+01] [-3.35926773e-02 9.99435430e-01 -5.94656229e-04 -4.82475936e+00] [-1.06726713e-02 2.36232113e-04 9.99943018e-01 3.69473304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.142320588 meters 0.023543003620582727 Centerline is valid? [True, True] Translation: X:78.50, Y:-4.83, Z:0.37 [[ 9.99380353e-01 3.31252613e-02 1.19006776e-02 7.85007779e+01] [-3.31196837e-02 9.99451171e-01 -6.65513739e-04 -4.83072771e+00] [-1.19161915e-02 2.70954677e-04 9.99928963e-01 3.70862360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.172320588 meters 0.023548223777110133 Centerline is valid? [True, True] Translation: X:78.53, Y:-4.84, Z:0.37 [[ 9.99354346e-01 3.39503266e-02 1.17586542e-02 7.85322308e+01] [-3.39449208e-02 9.99423488e-01 -6.59059756e-04 -4.83660637e+00] [-1.17742504e-02 2.59487647e-04 9.99930647e-01 3.70223699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.202320588 meters 0.022819176703336875 Centerline is valid? [True, True] Translation: X:78.56, Y:-4.85, Z:0.37 [[ 9.99292236e-01 3.73213493e-02 4.70581957e-03 7.85630780e+01] [-3.73205178e-02 9.99303312e-01 -2.64423255e-04 -4.84935253e+00] [-4.71240971e-03 8.86124826e-05 9.99988893e-01 3.68763176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23232058800001 meters 0.02275216022122086 Centerline is valid? [True, True] Translation: X:78.59, Y:-4.86, Z:0.37 [[ 9.99226898e-01 3.89944500e-02 5.00382928e-03 7.85943547e+01] [-3.89935302e-02 9.99239424e-01 -2.81300337e-04 -4.85634742e+00] [-5.01099264e-03 8.59658957e-05 9.99987441e-01 3.67889996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.262320588 meters 0.022520866400693413 Centerline is valid? [True, True] Translation: X:78.63, Y:-4.86, Z:0.37 [[ 9.99125475e-01 4.12075687e-02 7.08675680e-03 7.86263207e+01] [-4.12057714e-02 9.99150602e-01 -3.99499390e-04 -4.86239079e+00] [-7.09719972e-03 1.07134737e-04 9.99974809e-01 3.68295494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.292320588 meters 0.022515712466491054 Centerline is valid? [True, True] Translation: X:78.66, Y:-4.87, Z:0.37 [[ 9.99079188e-01 4.17070861e-02 1.00645721e-02 7.86587382e+01] [-4.17034760e-02 9.99129870e-01 -5.68386840e-04 -4.86603972e+00] [-1.00795204e-02 1.48135821e-04 9.99949189e-01 3.70779727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.322320588 meters 0.022367249557396857 Centerline is valid? [True, True] Translation: X:78.69, Y:-4.87, Z:0.37 [[ 9.99054644e-01 4.23900311e-02 9.63863106e-03 7.86909307e+01] [-4.23867398e-02 9.99101129e-01 -5.45588735e-04 -4.87206112e+00] [-9.65309470e-03 1.36522813e-04 9.99953398e-01 3.73487241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.352320588 meters 0.022191512156185873 Centerline is valid? [True, True] Translation: X:78.72, Y:-4.88, Z:0.37 [[ 9.99021463e-01 4.32941610e-02 9.04058701e-03 7.87228770e+01] [-4.32912916e-02 9.99062361e-01 -5.12939588e-04 -4.87710166e+00] [-9.05431749e-03 1.21058969e-04 9.99959001e-01 3.72103679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.382320588 meters 0.02224267225446463 Centerline is valid? [True, True] Translation: X:78.75, Y:-4.88, Z:0.37 [[ 9.98995725e-01 4.40225090e-02 8.34029117e-03 7.87546734e+01] [-4.40200829e-02 9.99030534e-01 -4.74322793e-04 -4.88170299e+00] [-8.35308641e-03 1.06706134e-04 9.99965107e-01 3.70115082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.412320588 meters 0.02242721542691268 Centerline is valid? [True, True] Translation: X:78.79, Y:-4.89, Z:0.37 [[ 9.98966116e-01 4.44236004e-02 9.65623716e-03 7.87866799e+01] [-4.44203561e-02 9.99012777e-01 -5.50301468e-04 -4.88642493e+00] [-9.67115068e-03 1.20799027e-04 9.99953226e-01 3.67933341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.442320588 meters 0.022436848963041135 Centerline is valid? [True, True] Translation: X:78.82, Y:-4.90, Z:0.37 [[ 9.98905898e-01 4.53888868e-02 1.12630143e-02 7.88185252e+01] [-4.53845189e-02 9.98969385e-01 -6.43230703e-04 -4.89794611e+00] [-1.12806020e-02 1.31360456e-04 9.99936363e-01 3.66939485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.472320588 meters 0.02225609056699201 Centerline is valid? [True, True] Translation: X:78.85, Y:-4.91, Z:0.37 [[ 9.98875159e-01 4.62088988e-02 1.06373707e-02 7.88503664e+01] [-4.62050343e-02 9.98931791e-01 -6.08899710e-04 -4.90668023e+00] [-1.06541443e-02 1.16714718e-04 9.99943236e-01 3.68888858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.502320588 meters 0.022151165597035543 Centerline is valid? [True, True] Translation: X:78.88, Y:-4.91, Z:0.37 [[ 9.98860596e-01 4.67860979e-02 9.41119327e-03 7.88820105e+01] [-4.67830863e-02 9.98904926e-01 -5.40007767e-04 -4.91378347e+00] [-9.42615218e-03 9.91078129e-05 9.99955568e-01 3.72030905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.532320588 meters 0.021988503272076985 Centerline is valid? [True, True] Translation: X:78.91, Y:-4.92, Z:0.37 [[ 9.98812963e-01 4.78523155e-02 9.10064245e-03 7.89137701e+01] [-4.78495326e-02 9.98854418e-01 -5.23404625e-04 -4.91836183e+00] [-9.11526304e-03 8.73218367e-05 9.99958451e-01 3.74443148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.562320588 meters 0.021855478747539788 Centerline is valid? [True, True] Translation: X:78.95, Y:-4.92, Z:0.37 [[ 9.98652552e-01 5.10096685e-02 9.54436169e-03 7.89457985e+01] [-5.10067399e-02 9.98698158e-01 -5.50165662e-04 -4.92331201e+00] [-9.56000020e-03 6.25975676e-05 9.99954300e-01 3.72958789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.592320588 meters 0.022008465117881883 Centerline is valid? [True, True] Translation: X:78.98, Y:-4.93, Z:0.37 [[ 9.98486840e-01 5.35767784e-02 1.23918847e-02 7.89775656e+01] [-5.35720214e-02 9.98563732e-01 -7.15743939e-04 -4.93017731e+00] [-1.24124338e-02 5.08025942e-05 9.99922961e-01 3.70192315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.622320588 meters 0.02210876138106604 Centerline is valid? [True, True] Translation: X:79.01, Y:-4.94, Z:0.37 [[ 9.98395570e-01 5.48693980e-02 1.39869238e-02 7.90096864e+01] [-5.48634395e-02 9.98493539e-01 -8.09642621e-04 -4.93835177e+00] [-1.40102777e-02 4.09728578e-05 9.99901850e-01 3.69486855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.652320588 meters 0.022084530488140422 Centerline is valid? [True, True] Translation: X:79.04, Y:-4.95, Z:0.37 [[ 9.98300624e-01 5.61049039e-02 1.57513151e-02 7.90413241e+01] [-5.60974693e-02 9.98424879e-01 -9.13788435e-04 -4.94547092e+00] [-1.57777729e-02 2.86266520e-05 9.99875523e-01 3.69514236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.682320588 meters 0.022152526994553823 Centerline is valid? [True, True] Translation: X:79.07, Y:-4.95, Z:0.37 [[ 9.98201297e-01 5.75696375e-02 1.67304149e-02 7.90736589e+01] [-5.75614188e-02 9.98341493e-01 -9.72778085e-04 -4.95002950e+00] [-1.67586698e-02 8.00193065e-06 9.99859564e-01 3.70952208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.712320588 meters 0.02192252134291375 Centerline is valid? [True, True] Translation: X:79.11, Y:-4.96, Z:0.37 [[ 9.98104822e-01 6.02634979e-02 1.24529294e-02 7.91059206e+01] [-6.02591243e-02 9.98182503e-01 -7.26470016e-04 -4.95570220e+00] [-1.24740759e-02 -2.53093957e-05 9.99922195e-01 3.73387708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.742320588 meters 0.02181986919779302 Centerline is valid? [True, True] Translation: X:79.14, Y:-4.96, Z:0.37 [[ 9.98061746e-01 6.14057321e-02 1.01038122e-02 7.91381712e+01] [-6.14028977e-02 9.98112887e-01 -5.90799080e-04 -4.96081814e+00] [-1.01210236e-02 -3.07493832e-05 9.99948781e-01 3.72687462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.772320588 meters 0.02202314109062279 Centerline is valid? [True, True] Translation: X:79.17, Y:-4.97, Z:0.37 [[ 9.97943595e-01 6.33314336e-02 9.88491439e-03 7.91709223e+01] [-6.33287918e-02 9.97992549e-01 -5.80349092e-04 -4.96594378e+00] [-9.90182525e-03 -4.68440266e-05 9.99950975e-01 3.71910912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.802320588 meters 0.022174891064669792 Centerline is valid? [True, True] Translation: X:79.20, Y:-4.97, Z:0.37 [[ 9.97770448e-01 6.56171835e-02 1.21868390e-02 7.92029451e+01] [-6.56133256e-02 9.97844867e-01 -7.16554744e-04 -4.96977351e+00] [-1.22075930e-02 -8.46618861e-05 9.99925481e-01 3.71362432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.832320588 meters 0.022293653949502782 Centerline is valid? [True, True] Translation: X:79.24, Y:-4.97, Z:0.37 [[ 9.97560912e-01 6.82552796e-02 1.46097247e-02 7.92351920e+01] [-6.82499909e-02 9.97667879e-01 -8.60856969e-04 -4.97278119e+00] [-1.46344111e-02 -1.38356315e-04 9.99892902e-01 3.71869114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.862320588 meters 0.022971724335190784 Centerline is valid? [True, True] Translation: X:79.27, Y:-4.98, Z:0.37 [[ 9.96967325e-01 7.58857872e-02 1.72481702e-02 7.92665740e+01] [-7.58794044e-02 9.97116475e-01 -1.02514233e-03 -4.97651391e+00] [-1.72762284e-02 -2.86747478e-04 9.99850714e-01 3.73396200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.892320588 meters 0.023303351321609385 Centerline is valid? [True, True] Translation: X:79.30, Y:-4.98, Z:0.38 [[ 9.96679672e-01 7.95418208e-02 1.73991531e-02 7.92988686e+01] [-7.95358688e-02 9.96831467e-01 -1.03490082e-03 -4.98001473e+00] [-1.74263412e-02 -3.52392150e-04 9.99848088e-01 3.75472310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.922320588 meters 0.02407194091378733 Centerline is valid? [True, True] Translation: X:79.33, Y:-4.98, Z:0.38 [[ 9.96321872e-01 8.39371010e-02 1.72421118e-02 7.93309207e+01] [-8.39318742e-02 9.96470965e-01 -1.02783227e-03 -4.98212582e+00] [-1.72675370e-02 -4.23110987e-04 9.99850815e-01 3.75544687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.952320588 meters 0.024771006284942127 Centerline is valid? [True, True] Translation: X:79.36, Y:-4.98, Z:0.37 [[ 9.95792056e-01 9.01544369e-02 1.64426057e-02 7.93636121e+01] [-9.01504952e-02 9.95927670e-01 -9.82285727e-04 -4.97571181e+00] [-1.64642034e-02 -5.04156719e-04 9.99864329e-01 3.74327393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98232058800001 meters 0.02497417895484742 Centerline is valid? [True, True] Translation: X:79.40, Y:-4.97, Z:0.37 [[ 9.95532033e-01 9.31853070e-02 1.52469651e-02 7.93958418e+01] [-9.31822423e-02 9.95648651e-01 -9.12845732e-04 -4.97317036e+00] [-1.52656841e-02 -5.11979232e-04 9.99883342e-01 3.73752266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.012320588 meters 0.02497417895484742 Centerline is valid? [True, True] Translation: X:79.43, Y:-4.98, Z:0.37 [[ 9.95513971e-01 9.33780997e-02 1.52467681e-02 7.94283169e+01] [-9.33750073e-02 9.95630588e-01 -9.16133336e-04 -4.97506744e+00] [-1.52656955e-02 -5.11643544e-04 9.99883342e-01 3.73916215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.042320588 meters 0.0255019358017633 Centerline is valid? [True, True] Translation: X:79.46, Y:-4.98, Z:0.37 [[ 9.95357128e-01 9.50339759e-02 1.52555412e-02 7.94605043e+01] [-9.50310492e-02 9.95473885e-01 -9.18291206e-04 -4.97606575e+00] [-1.52737617e-02 -5.35722390e-04 9.99883206e-01 3.72395823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.072320588 meters 0.025945610831748515 Centerline is valid? [True, True] Translation: X:79.49, Y:-4.98, Z:0.37 [[ 9.95160702e-01 9.67630639e-02 1.70905421e-02 7.94927023e+01] [-9.67596098e-02 9.95307247e-01 -1.03083758e-03 -4.97996972e+00] [-1.71100874e-02 -6.27825132e-04 9.99853415e-01 3.72322041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.102320588 meters 0.025557675981260828 Centerline is valid? [True, True] Translation: X:79.53, Y:-4.98, Z:0.37 [[ 9.95197620e-01 9.63943653e-02 1.70241776e-02 7.95252074e+01] [-9.63908473e-02 9.95343029e-01 -1.02898356e-03 -4.98311630e+00] [-1.70440848e-02 -6.16932919e-04 9.99854549e-01 3.74964648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.132320588 meters 0.025745579520826165 Centerline is valid? [True, True] Translation: X:79.56, Y:-4.99, Z:0.38 [[ 9.95304323e-01 9.51837187e-02 1.75887718e-02 7.95572659e+01] [-9.51797353e-02 9.95459534e-01 -1.06535211e-03 -4.98553483e+00] [-1.76103148e-02 -6.13745082e-04 9.99844738e-01 3.75399145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.162320588 meters 0.024635105079454607 Centerline is valid? [True, True] Translation: X:79.59, Y:-4.98, Z:0.38 [[ 9.95892988e-01 8.89016923e-02 1.71360707e-02 7.95894452e+01] [-8.88969405e-02 9.96040286e-01 -1.04033885e-03 -4.98156664e+00] [-1.71607047e-02 -4.87278092e-04 9.99852626e-01 3.75422154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.192320588 meters 0.024164243902966027 Centerline is valid? [True, True] Translation: X:79.62, Y:-4.98, Z:0.37 [[ 9.96176457e-01 8.58017301e-02 1.64477870e-02 7.96222947e+01] [-8.57968540e-02 9.96312147e-01 -1.00316708e-03 -4.98055458e+00] [-1.64732035e-02 -4.11836957e-04 9.99864223e-01 3.74077310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.222320588 meters 0.023796919496680908 Centerline is valid? [True, True] Translation: X:79.66, Y:-4.98, Z:0.37 [[ 9.96432342e-01 8.30522136e-02 1.49972539e-02 7.96550570e+01] [-8.30478164e-02 9.96545142e-01 -9.16820208e-04 -4.98110211e+00] [-1.50215845e-02 -3.31939885e-04 9.99887115e-01 3.73795448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.252320588 meters 0.023483657504365946 Centerline is valid? [True, True] Translation: X:79.69, Y:-4.98, Z:0.37 [[ 9.96626175e-01 8.12114152e-02 1.18732399e-02 7.96869444e+01] [-8.12085097e-02 9.96696869e-01 -7.27426078e-04 -4.98308175e+00] [-1.18930964e-02 -2.39236250e-04 9.99929246e-01 3.74336824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.282320588 meters 0.023130540918362363 Centerline is valid? [True, True] Translation: X:79.72, Y:-4.98, Z:0.38 [[ 9.96704236e-01 8.03329071e-02 1.12823025e-02 7.97196093e+01] [-8.03302039e-02 9.96768066e-01 -6.93290152e-04 -4.98359637e+00] [-1.13015329e-02 -2.15304429e-04 9.99936112e-01 3.77982336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.312320588 meters 0.02322455539707958 Centerline is valid? [True, True] Translation: X:79.75, Y:-4.98, Z:0.38 [[ 9.96677442e-01 8.04060110e-02 1.29980669e-02 7.97520853e+01] [-8.04024107e-02 9.96762164e-01 -8.00162571e-04 -4.98309691e+00] [-1.30203192e-02 -2.47571926e-04 9.99915201e-01 3.78199049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.342320588 meters 0.02331866729684522 Centerline is valid? [True, True] Translation: X:79.78, Y:-4.98, Z:0.38 [[ 9.96595646e-01 8.11960065e-02 1.42943300e-02 7.97841618e+01] [-8.11917073e-02 9.96698113e-01 -8.81789961e-04 -4.98370006e+00] [-1.43187296e-02 -2.81793024e-04 9.99897442e-01 3.78764367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.372320588 meters 0.023401567147529657 Centerline is valid? [True, True] Translation: X:79.82, Y:-4.99, Z:0.38 [[ 9.96602172e-01 8.10765589e-02 1.45156094e-02 7.98169809e+01] [-8.10720657e-02 9.96707837e-01 -8.98681097e-04 -4.98696222e+00] [-1.45406836e-02 -2.81182903e-04 9.99894239e-01 3.78211889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.402320588 meters 0.02329266553095829 Centerline is valid? [True, True] Translation: X:79.85, Y:-4.99, Z:0.38 [[ 9.96679019e-01 8.02098690e-02 1.40467214e-02 7.98488392e+01] [-8.02055534e-02 9.96777964e-01 -8.71208230e-04 -4.99189530e+00] [-1.40713418e-02 -2.58310098e-04 9.99900960e-01 3.78083868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.432320588 meters 0.02310967806904202 Centerline is valid? [True, True] Translation: X:79.88, Y:-5.00, Z:0.38 [[ 9.96834691e-01 7.83104099e-02 1.37141575e-02 7.98807549e+01] [-7.83060913e-02 9.96928999e-01 -8.52418368e-04 -4.99696186e+00] [-1.37387945e-02 -2.24181869e-04 9.99905593e-01 3.77626006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.462320588 meters 0.022958393810762496 Centerline is valid? [True, True] Translation: X:79.91, Y:-5.00, Z:0.38 [[ 9.97042526e-01 7.54922510e-02 1.43917098e-02 7.99125023e+01] [-7.54871742e-02 9.97146370e-01 -8.96431721e-04 -4.99906137e+00] [-1.44183148e-02 -1.92608956e-04 9.99896032e-01 3.79267302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.492320588 meters 0.02284561878396909 Centerline is valid? [True, True] Translation: X:79.94, Y:-5.00, Z:0.38 [[ 9.97221055e-01 7.29953115e-02 1.48947053e-02 7.99444628e+01] [-7.29895653e-02 9.97332271e-01 -9.29756128e-04 -4.99826158e+00] [-1.49228381e-02 -1.59985680e-04 9.99888635e-01 3.79648576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.522320588 meters 0.022905385862033556 Centerline is valid? [True, True] Translation: X:79.98, Y:-5.00, Z:0.38 [[ 9.97299312e-01 7.15486394e-02 1.65793234e-02 7.99767609e+01] [-7.15412844e-02 9.97437100e-01 -1.03705985e-03 -4.99823138e+00] [-1.66110325e-02 -1.51847014e-04 9.99862016e-01 3.79285482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.552320588 meters 0.022837065413721606 Centerline is valid? [True, True] Translation: X:80.01, Y:-5.00, Z:0.38 [[ 9.97611026e-01 6.73659645e-02 1.52992532e-02 8.00091901e+01] [-6.73591771e-02 9.97728330e-01 -9.59101864e-04 -5.00007579e+00] [-1.53291092e-02 -7.37345113e-05 9.99882500e-01 3.79538161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.582320588 meters 0.022610109872794232 Centerline is valid? [True, True] Translation: X:80.04, Y:-5.00, Z:0.38 [[ 9.97716150e-01 6.61038673e-02 1.38839130e-02 8.00410621e+01] [-6.60981289e-02 9.97812746e-01 -8.72284613e-04 -5.00270618e+00] [-1.39112068e-02 -4.74082262e-05 9.99903233e-01 3.79647328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.612320588 meters 0.022676422304911605 Centerline is valid? [True, True] Translation: X:80.07, Y:-5.01, Z:0.38 [[ 9.97754533e-01 6.59667690e-02 1.15878316e-02 8.00729453e+01] [-6.59627431e-02 9.97821820e-01 -7.29696893e-04 -5.00578244e+00] [-1.16107270e-02 -3.63067794e-05 9.99932593e-01 3.79546748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.642320588 meters 0.02259631223417434 Centerline is valid? [True, True] Translation: X:80.11, Y:-5.01, Z:0.38 [[ 9.97711469e-01 6.66072757e-02 1.16316835e-02 8.01057694e+01] [-6.66032310e-02 9.97779269e-01 -7.35176830e-04 -5.00878931e+00] [-1.16548208e-02 -4.12133507e-05 9.99932079e-01 3.79245635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.672320588 meters 0.02274976918547323 Centerline is valid? [True, True] Translation: X:80.14, Y:-5.01, Z:0.38 [[ 9.97621300e-01 6.78079529e-02 1.24025510e-02 8.01380219e+01] [-6.78034316e-02 9.97698390e-01 -7.85149992e-04 -5.01118808e+00] [-1.24272446e-02 -5.76531642e-05 9.99922777e-01 3.79419643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.702320588 meters 0.022909473384348112 Centerline is valid? [True, True] Translation: X:80.17, Y:-5.01, Z:0.38 [[ 9.97530227e-01 6.91111009e-02 1.25340250e-02 8.01707525e+01] [-6.91065501e-02 9.97608967e-01 -7.96344448e-04 -5.01183999e+00] [-1.25590920e-02 -7.18055693e-05 9.99921129e-01 3.80611578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73232058800001 meters 0.022814529397875524 Centerline is valid? [True, True] Translation: X:80.20, Y:-5.02, Z:0.38 [[ 9.97511436e-01 6.96082798e-02 1.12081405e-02 8.02024642e+01] [-6.96046579e-02 9.97574400e-01 -7.13376579e-04 -5.01502982e+00] [-1.12306110e-02 -6.85374915e-05 9.99936932e-01 3.80799668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.762320588 meters 0.022882660627805234 Centerline is valid? [True, True] Translation: X:80.23, Y:-5.02, Z:0.38 [[ 9.97520220e-01 6.97223912e-02 9.60201283e-03 8.02346268e+01] [-6.97197250e-02 9.97566431e-01 -6.12536375e-04 -5.01959732e+00] [-9.62135317e-03 -5.84322746e-05 9.99953712e-01 3.80513843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.792320588 meters 0.022879967178120734 Centerline is valid? [True, True] Translation: X:80.27, Y:-5.02, Z:0.38 [[ 9.97546555e-01 6.95651467e-02 7.84603825e-03 8.02666556e+01] [-6.95633523e-02 9.97577410e-01 -5.01702241e-04 -5.02406955e+00] [-7.86193151e-03 -4.53253815e-05 9.99969094e-01 3.80427598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.822320588 meters 0.02285494720460622 Centerline is valid? [True, True] Translation: X:80.30, Y:-5.03, Z:0.38 [[ 9.97698492e-01 6.73778785e-02 7.61191176e-03 8.02988564e+01] [-6.73761179e-02 9.97727528e-01 -4.87788108e-04 -5.02540862e+00] [-7.62748003e-03 -2.61956038e-05 9.99970910e-01 3.80615755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.852320588 meters 0.022807618989273887 Centerline is valid? [True, True] Translation: X:80.33, Y:-5.03, Z:0.38 [[ 9.97759792e-01 6.64258990e-02 7.93708155e-03 8.03315709e+01] [-6.64239464e-02 9.97791361e-01 -5.09659621e-04 -5.02560542e+00] [-7.95340600e-03 -1.86944023e-05 9.99968371e-01 3.81144159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.882320588 meters 0.02268655237841485 Centerline is valid? [True, True] Translation: X:80.36, Y:-5.03, Z:0.38 [[ 9.97803487e-01 6.59667859e-02 6.04856724e-03 8.03637970e+01] [-6.59656375e-02 9.97821819e-01 -3.89375140e-04 -5.02689723e+00] [-6.06107819e-03 -1.04777214e-05 9.99981631e-01 3.81910190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.912320588 meters 0.022600727477359563 Centerline is valid? [True, True] Translation: X:80.40, Y:-5.03, Z:0.38 [[ 9.97780875e-01 6.64365949e-02 4.41638627e-03 8.03963120e+01] [-6.64359824e-02 9.97790649e-01 -2.85399449e-04 -5.03007620e+00] [-4.42558989e-03 -8.64084874e-06 9.99990207e-01 3.83096316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.942320588 meters 0.02257651270716679 Centerline is valid? [True, True] Translation: X:80.43, Y:-5.04, Z:0.38 [[ 9.97761629e-01 6.68216884e-02 2.56788524e-03 8.04283950e+01] [-6.68214813e-02 9.97764933e-01 -1.66473781e-04 -5.03748549e+00] [-2.57326990e-03 -5.48874425e-06 9.99996689e-01 3.84918302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.972320588 meters 0.022518634096115157 Centerline is valid? [True, True] Translation: X:80.46, Y:-5.04, Z:0.38 [[ 9.97729519e-01 6.72508614e-02 3.62346927e-03 8.04608487e+01] [-6.72504510e-02 9.97736098e-01 -2.35122762e-04 -5.04172287e+00] [-3.63107830e-03 -9.09102187e-06 9.99993408e-01 3.84745909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.002320588 meters 0.022589950606661486 Centerline is valid? [True, True] Translation: X:80.49, Y:-5.05, Z:0.38 [[ 9.97728942e-01 6.71662479e-02 5.06491638e-03 8.04925637e+01] [-6.71654428e-02 9.97741798e-01 -3.29080001e-04 -5.04560943e+00] [-5.07558185e-03 -1.18547102e-05 9.99987119e-01 3.83814385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.032320588 meters 0.022623936221261 Centerline is valid? [True, True] Translation: X:80.52, Y:-5.05, Z:0.38 [[ 9.97657351e-01 6.81123621e-02 6.36516121e-03 8.05241206e+01] [-6.81111054e-02 9.97677656e-01 -4.14247410e-04 -5.04927159e+00] [-6.37859448e-03 -2.02611918e-05 9.99979656e-01 3.83332393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.062320588 meters 0.022751542170724025 Centerline is valid? [True, True] Translation: X:80.56, Y:-5.05, Z:0.38 [[ 9.97539162e-01 6.96825091e-02 7.74386563e-03 8.05562082e+01] [-6.96806894e-02 9.97569219e-01 -5.04868141e-04 -5.05216003e+00] [-7.76022247e-03 -3.59721538e-05 9.99969888e-01 3.82491104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.092320588 meters 0.022757432239640808 Centerline is valid? [True, True] Translation: X:80.59, Y:-5.05, Z:0.38 [[ 9.97408168e-01 7.15543713e-02 7.54438293e-03 8.05895629e+01] [-7.15526832e-02 9.97436700e-01 -4.93775271e-04 -5.05313756e+00] [-7.56037619e-03 -4.73253531e-05 9.99971419e-01 3.83284175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.122320588 meters 0.022811046225954278 Centerline is valid? [True, True] Translation: X:80.62, Y:-5.05, Z:0.39 [[ 9.97172410e-01 7.47017852e-02 8.17483620e-03 8.06218432e+01] [-7.46999035e-02 9.97205915e-01 -5.35701536e-04 -5.04935477e+00] [-8.19201288e-03 -7.64726835e-05 9.99966442e-01 3.85628416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.152320588 meters 0.022819961882948832 Centerline is valid? [True, True] Translation: X:80.65, Y:-5.05, Z:0.39 [[ 9.97050164e-01 7.62105032e-02 9.10654731e-03 8.06544245e+01] [-7.62082204e-02 9.97091746e-01 -5.97921752e-04 -5.05088111e+00] [-9.12563108e-03 -9.78357843e-05 9.99958356e-01 3.87393481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.182320588 meters 0.02293977488258393 Centerline is valid? [True, True] Translation: X:80.69, Y:-5.05, Z:0.39 [[ 9.96935360e-01 7.76389349e-02 9.59604713e-03 8.06868790e+01] [-7.76364542e-02 9.96981536e-01 -6.31315815e-04 -5.05413734e+00] [-9.61609649e-03 -1.15622014e-04 9.99953758e-01 3.89246245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.212320588 meters 0.02299913196309403 Centerline is valid? [True, True] Translation: X:80.72, Y:-5.06, Z:0.39 [[ 9.96767143e-01 7.99865126e-02 7.57765010e-03 8.07193378e+01] [-7.99850183e-02 9.96795940e-01 -5.00533073e-04 -5.05721153e+00] [-7.59340675e-03 -1.07183561e-04 9.99971164e-01 3.90779819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.242320588 meters 0.023289196023569225 Centerline is valid? [True, True] Translation: X:80.75, Y:-5.05, Z:0.39 [[ 9.96533906e-01 8.31406490e-02 2.79388457e-03 8.07522099e+01] [-8.31404563e-02 9.96537822e-01 -1.85227231e-04 -5.05428121e+00] [-2.79961155e-03 -4.76996220e-05 9.99996080e-01 3.87705879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.272320588 meters 0.023365454265849052 Centerline is valid? [True, True] Translation: X:80.78, Y:-5.05, Z:0.39 [[ 9.96413047e-01 8.46211592e-02 5.46312857e-04 8.07841935e+01] [-8.46211517e-02 9.96413197e-01 -3.68327631e-05 -5.05132396e+00] [-5.47470171e-04 -9.52897738e-06 9.99999850e-01 3.85049098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.302320588 meters 0.023353131553148804 Centerline is valid? [True, True] Translation: X:80.81, Y:-5.05, Z:0.38 [[ 9.96406278e-01 8.47025085e-02 1.19798780e-04 8.08149575e+01] [-8.47025082e-02 9.96406285e-01 -7.92932139e-06 -5.04906679e+00] [-1.20039891e-04 -2.24643156e-06 9.99999993e-01 3.84168205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.332320588 meters 0.02347934862653047 Centerline is valid? [True, True] Translation: X:80.85, Y:-5.05, Z:0.39 [[ 9.96465649e-01 8.40012153e-02 -7.65583535e-05 8.08460363e+01] [-8.40012152e-02 9.96465652e-01 5.06729524e-06 -5.04815262e+00] [ 7.67134287e-05 1.38160909e-06 9.99999997e-01 3.85036229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.362320588 meters 0.023480696216356747 Centerline is valid? [True, True] Translation: X:80.88, Y:-5.05, Z:0.39 [[ 9.96485700e-01 8.36885080e-02 3.53317306e-03 8.08754326e+01] [-8.36882067e-02 9.96491962e-01 -2.33281414e-04 -5.04812068e+00] [-3.54030152e-03 -6.32233244e-05 9.99993731e-01 3.85494834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.392320588 meters 0.023238274895010652 Centerline is valid? [True, True] Translation: X:80.91, Y:-5.04, Z:0.39 [[ 9.96583608e-01 8.22530487e-02 7.45302668e-03 8.09072397e+01] [-8.22516564e-02 9.96611470e-01 -4.93642137e-04 -5.04436295e+00] [-7.46837544e-03 -1.21068128e-04 9.99972104e-01 3.89819149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.422320588 meters 0.023117003512504532 Centerline is valid? [True, True] Translation: X:80.94, Y:-5.04, Z:0.39 [[ 9.96745688e-01 8.00369600e-02 9.59782653e-03 8.09398241e+01] [-8.00345337e-02 9.96791888e-01 -6.37228979e-04 -5.04413661e+00] [-9.61803749e-03 -1.33002334e-04 9.99953737e-01 3.90439362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.452320588 meters 0.023034087258445173 Centerline is valid? [True, True] Translation: X:80.97, Y:-5.05, Z:0.39 [[ 9.96926963e-01 7.75455462e-02 1.11048886e-02 8.09718802e+01] [-7.75421281e-02 9.96988803e-01 -7.38676673e-04 -5.04526126e+00] [-1.11287307e-02 -1.24690000e-04 9.99938066e-01 3.90220167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48232058800001 meters 0.022969057375950504 Centerline is valid? [True, True] Translation: X:81.00, Y:-5.05, Z:0.39 [[ 9.97209733e-01 7.39690906e-02 1.00658780e-02 8.10039795e+01] [-7.39660854e-02 9.97260532e-01 -6.71016164e-04 -5.04612567e+00] [-1.00879373e-02 -7.53897410e-05 9.99949113e-01 3.89048986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.512320588 meters 0.022717628771245498 Centerline is valid? [True, True] Translation: X:81.04, Y:-5.04, Z:0.39 [[ 9.97673419e-01 6.79401580e-02 5.64660752e-03 8.10366095e+01] [-6.79391098e-02 9.97689398e-01 -3.77462926e-04 -5.04172399e+00] [-5.65920535e-03 -7.04076040e-06 9.99983987e-01 3.85595695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.542320588 meters 0.022654757667689002 Centerline is valid? [True, True] Translation: X:81.07, Y:-5.04, Z:0.39 [[ 9.97736414e-01 6.70720990e-02 4.83536821e-03 8.10690433e+01] [-6.70713165e-02 9.97748131e-01 -3.23973672e-04 -5.04175803e+00] [-4.84620919e-03 -1.07418206e-06 9.99988257e-01 3.85581677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.572320588 meters 0.02273128561798322 Centerline is valid? [True, True] Translation: X:81.10, Y:-5.04, Z:0.39 [[ 9.97952210e-01 6.38024373e-02 4.54262363e-03 8.11014488e+01] [-6.38017099e-02 9.97962549e-01 -3.05007207e-04 -5.04268894e+00] [-4.55282846e-03 1.45554610e-05 9.99989636e-01 3.86583304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.602320588 meters 0.02278953454437717 Centerline is valid? [True, True] Translation: X:81.13, Y:-5.05, Z:0.39 [[ 9.98116132e-01 6.11707780e-02 4.72469468e-03 8.11332107e+01] [-6.11699588e-02 9.98127314e-01 -3.17826614e-04 -5.04525276e+00] [-4.73528851e-03 2.82184917e-05 9.99988788e-01 3.87639202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.632320588 meters 0.023097556744419233 Centerline is valid? [True, True] Translation: X:81.17, Y:-5.05, Z:0.39 [[ 9.98308385e-01 5.79889536e-02 4.20123189e-03 8.11656847e+01] [-5.79882751e-02 9.98317224e-01 -2.83234577e-04 -5.04717153e+00] [-4.21058663e-03 3.91332624e-05 9.99991135e-01 3.89020919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.662320588 meters 0.023545014658573053 Centerline is valid? [True, True] Translation: X:81.20, Y:-5.05, Z:0.39 [[ 9.98635747e-01 5.18259238e-02 6.38107500e-03 8.11974271e+01] [-5.18242261e-02 9.98656129e-01 -4.31227451e-04 -5.04675660e+00] [-6.39484842e-03 9.99448748e-05 9.99979548e-01 3.90409893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.692320588 meters 0.023722963408310666 Centerline is valid? [True, True] Translation: X:81.23, Y:-5.05, Z:0.39 [[ 9.98714483e-01 4.96969821e-02 9.97958524e-03 8.12298444e+01] [-4.96927181e-02 9.98764326e-01 -6.74932100e-04 -5.04895278e+00] [-1.00007958e-02 1.78151747e-04 9.99949975e-01 3.91071463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.722320588 meters 0.024111523650190956 Centerline is valid? [True, True] Translation: X:81.26, Y:-5.05, Z:0.39 [[ 9.98757681e-01 4.78379901e-02 1.39506852e-02 8.12622490e+01] [-4.78294547e-02 9.98855070e-01 -9.45016528e-04 -5.05200880e+00] [-1.39799203e-02 2.76588850e-04 9.99902238e-01 3.90195736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.752320588 meters 0.02427198662204922 Centerline is valid? [True, True] Translation: X:81.29, Y:-5.06, Z:0.39 [[ 9.98765000e-01 4.73553710e-02 1.50313977e-02 8.12937578e+01] [-4.73453888e-02 9.98878058e-01 -1.01944623e-03 -5.05580273e+00] [-1.50628096e-02 3.06519848e-04 9.99886502e-01 3.88982424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.782320588 meters 0.024155049412833397 Centerline is valid? [True, True] Translation: X:81.33, Y:-5.06, Z:0.39 [[ 9.98924795e-01 4.57965348e-02 7.20638757e-03 8.13259563e+01] [-4.57941877e-02 9.98950775e-01 -4.90444523e-04 -5.06017288e+00] [-7.22128711e-03 1.59906529e-04 9.99973913e-01 3.85478648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.812320588 meters 0.024550359216554324 Centerline is valid? [True, True] Translation: X:81.36, Y:-5.06, Z:0.38 [[ 9.99018179e-01 4.42312297e-02 2.50506553e-03 8.13578279e+01] [-4.42309395e-02 9.99021318e-01 -1.71174149e-04 -5.06407262e+00] [-2.51018511e-03 6.02046846e-05 9.99996848e-01 3.84802890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.842320588 meters 0.024874905778764472 Centerline is valid? [True, True] Translation: X:81.39, Y:-5.07, Z:0.38 [[ 9.99116019e-01 4.19667042e-02 2.44462421e-03 8.13889151e+01] [-4.19664214e-02 9.99119008e-01 -1.66886501e-04 -5.06976882e+00] [-2.44947419e-03 6.41468468e-05 9.99996998e-01 3.84658551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.872320588 meters 0.025102854414706634 Centerline is valid? [True, True] Translation: X:81.42, Y:-5.08, Z:0.39 [[ 9.99177427e-01 4.02895539e-02 4.60666398e-03 8.14199847e+01] [-4.02885318e-02 9.99188038e-01 -3.14492268e-04 -5.07684956e+00] [-4.61559429e-03 1.28637847e-04 9.99989340e-01 3.85845225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.902320588 meters 0.025102854414706634 Centerline is valid? [True, True] Translation: X:81.45, Y:-5.08, Z:0.39 [[ 9.99172376e-01 4.04146203e-02 4.60660311e-03 8.14516001e+01] [-4.04135955e-02 9.99182987e-01 -3.15383650e-04 -5.07897245e+00] [-4.61558556e-03 1.28953236e-04 9.99989340e-01 3.86004912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.932320588 meters 0.02519432447454957 Centerline is valid? [True, True] Translation: X:81.48, Y:-5.09, Z:0.39 [[ 9.99192770e-01 3.97611106e-02 5.73250930e-03 8.14831674e+01] [-3.97595095e-02 9.99209201e-01 -3.93032373e-04 -5.08731449e+00] [-5.74360344e-03 1.64793348e-04 9.99983492e-01 3.87583941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.962320588 meters 0.02492122136245602 Centerline is valid? [True, True] Translation: X:81.52, Y:-5.10, Z:0.39 [[ 9.99168139e-01 4.03783152e-02 5.71160362e-03 8.15151823e+01] [-4.03767317e-02 9.99184450e-01 -3.92323322e-04 -5.09515836e+00] [-5.72278688e-03 1.61381077e-04 9.99983612e-01 3.89524842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.992320588 meters 0.024376069426739724 Centerline is valid? [True, True] Translation: X:81.55, Y:-5.10, Z:0.39 [[ 9.98995449e-01 4.41502141e-02 7.67148833e-03 8.15466766e+01] [-4.41474626e-02 9.99024886e-01 -5.27712100e-04 -5.10423199e+00] [-7.68730636e-03 1.88505242e-04 9.99970434e-01 3.90240160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.022320588 meters 0.024001911614037294 Centerline is valid? [True, True] Translation: X:81.58, Y:-5.11, Z:0.39 [[ 9.98858554e-01 4.69988679e-02 8.52614456e-03 8.15786837e+01] [-4.69955642e-02 9.98894925e-01 -5.87524850e-04 -5.11019859e+00] [-8.54433554e-03 1.86163247e-04 9.99963479e-01 3.90916523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.052320588 meters 0.023743765079760358 Centerline is valid? [True, True] Translation: X:81.61, Y:-5.12, Z:0.39 [[ 9.98711426e-01 4.96636839e-02 1.04405569e-02 8.16102877e+01] [-4.96588628e-02 9.98765978e-01 -7.20655044e-04 -5.11677393e+00] [-1.04634634e-02 2.01260243e-04 9.99945236e-01 3.88892047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.082320588 meters 0.023074706761173073 Centerline is valid? [True, True] Translation: X:81.64, Y:-5.13, Z:0.39 [[ 9.98320356e-01 5.70364021e-02 1.01644396e-02 8.16414142e+01] [-5.70322009e-02 9.98372092e-01 -7.02932387e-04 -5.13220141e+00] [-1.01879855e-02 1.22051351e-04 9.99948094e-01 3.86384322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.112320588 meters 0.022760234099616354 Centerline is valid? [True, True] Translation: X:81.67, Y:-5.14, Z:0.39 [[ 9.97974019e-01 6.28569790e-02 9.84159350e-03 8.16733827e+01] [-6.28533103e-02 9.98022543e-01 -6.81934324e-04 -5.14073197e+00] [-9.86499650e-03 6.19760078e-05 9.99951338e-01 3.86760439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.142320588 meters 0.02252116190395273 Centerline is valid? [True, True] Translation: X:81.71, Y:-5.15, Z:0.39 [[ 9.97552799e-01 6.91719526e-02 1.01810645e-02 8.17053674e+01] [-6.91683413e-02 9.97604752e-01 -7.06816010e-04 -5.14665802e+00] [-1.02055701e-02 8.78946911e-07 9.99947922e-01 3.88316698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.172320588 meters 0.022766263398697133 Centerline is valid? [True, True] Translation: X:81.74, Y:-5.15, Z:0.39 [[ 9.96982765e-01 7.64593437e-02 1.33916177e-02 8.17369815e+01] [-7.64537310e-02 9.97072695e-01 -9.31309849e-04 -5.14980071e+00] [-1.34236237e-02 -9.53392664e-05 9.99909895e-01 3.88933602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.202320588 meters 0.023106446937400132 Centerline is valid? [True, True] Translation: X:81.77, Y:-5.15, Z:0.39 [[ 9.96302653e-01 8.43884235e-02 1.61126307e-02 8.17687576e+01] [-8.43812001e-02 9.96432907e-01 -1.12884085e-03 -5.15078850e+00] [-1.61504166e-02 -2.34935977e-04 9.99869546e-01 3.90061250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23232058800001 meters 0.024747857130735462 Centerline is valid? [True, True] Translation: X:81.80, Y:-5.15, Z:0.39 [[ 9.94923753e-01 9.91056684e-02 1.74582791e-02 8.17983870e+01] [-9.90994905e-02 9.95076781e-01 -1.22076688e-03 -5.15077683e+00] [-1.74933131e-02 -5.15536595e-04 9.99846847e-01 3.89092779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.262320588 meters 0.02589528866968349 Centerline is valid? [True, True] Translation: X:81.83, Y:-5.15, Z:0.39 [[ 9.94171194e-01 1.06504268e-01 1.67474714e-02 8.18299618e+01] [-1.06499481e-01 9.94312058e-01 -1.17999007e-03 -5.15266525e+00] [-1.67778868e-02 -6.10484875e-04 9.99859055e-01 3.88635593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.292320588 meters 0.027275772540325243 Centerline is valid? [True, True] Translation: X:81.86, Y:-5.16, Z:0.39 [[ 9.93447179e-01 1.13304844e-01 1.49905006e-02 8.18612486e+01] [-1.13301790e-01 9.93560059e-01 -1.05560823e-03 -5.15565888e+00] [-1.50135681e-02 -6.49759526e-04 9.99887079e-01 3.88815680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.322320588 meters 0.028561547091865903 Centerline is valid? [True, True] Translation: X:81.89, Y:-5.16, Z:0.39 [[ 9.92719901e-01 1.19598040e-01 1.42656030e-02 8.18918810e+01] [-1.19595918e-01 9.92822143e-01 -1.00485394e-03 -5.15713008e+00] [-1.42833851e-02 -7.08569376e-04 9.99897736e-01 3.88962359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.352320588 meters 0.02982338185676071 Centerline is valid? [True, True] Translation: X:81.92, Y:-5.16, Z:0.39 [[ 9.92086745e-01 1.24895743e-01 1.28430242e-02 8.19229931e+01] [-1.24894460e-01 9.92169620e-01 -9.05052393e-04 -5.15663342e+00] [-1.28554957e-02 -7.06132099e-04 9.99917115e-01 3.89052115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.382320588 meters 0.031377703864545956 Centerline is valid? [True, True] Translation: X:81.95, Y:-5.14, Z:0.39 [[ 9.91180032e-01 1.31358872e-01 1.75211710e-02 8.19543830e+01] [-1.31357491e-01 9.91334295e-01 -1.23467222e-03 -5.14460164e+00] [-1.75315229e-02 -1.07775461e-03 9.99845730e-01 3.86605783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.412320588 meters 0.031666269661072055 Centerline is valid? [True, True] Translation: X:81.99, Y:-5.14, Z:0.39 [[ 9.91034551e-01 1.32187578e-01 1.94155526e-02 8.19871886e+01] [-1.32185985e-01 9.91223984e-01 -1.37104247e-03 -5.13825039e+00] [-1.94263961e-02 -1.20771348e-03 9.99810560e-01 3.87478269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.442320588 meters 0.03148135503010356 Centerline is valid? [True, True] Translation: X:82.02, Y:-5.13, Z:0.39 [[ 9.91163754e-01 1.31044467e-01 2.05368192e-02 8.20200905e+01] [-1.31042391e-01 9.91375702e-01 -1.45262190e-03 -5.13262193e+00] [-2.05500616e-02 -1.25140771e-03 9.99788042e-01 3.89043203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.472320588 meters 0.02935616901673853 Centerline is valid? [True, True] Translation: X:82.05, Y:-5.12, Z:0.39 [[ 9.91865207e-01 1.26302166e-01 1.58484912e-02 8.20522316e+01] [-1.26300322e-01 9.91991417e-01 -1.12123851e-03 -5.12225577e+00] [-1.58631821e-02 -8.89552067e-04 9.99873776e-01 3.93355058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.502320588 meters 0.02915753283119432 Centerline is valid? [True, True] Translation: X:82.08, Y:-5.12, Z:0.39 [[ 9.92118738e-01 1.24411479e-01 1.49061612e-02 8.20842648e+01] [-1.24409601e-01 9.92230384e-01 -1.05685882e-03 -5.12044370e+00] [-1.49218314e-02 -8.05940129e-04 9.99888338e-01 3.93895575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.532320588 meters 0.02872997575765236 Centerline is valid? [True, True] Translation: X:82.12, Y:-5.12, Z:0.39 [[ 9.92244073e-01 1.23301997e-01 1.57580859e-02 8.21166218e+01] [-1.23299728e-01 9.92368845e-01 -1.11915274e-03 -5.11668416e+00] [-1.57758273e-02 -8.32495032e-04 9.99875207e-01 3.93991523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.562320588 meters 0.02819480420105875 Centerline is valid? [True, True] Translation: X:82.15, Y:-5.11, Z:0.39 [[ 9.92301410e-01 1.22778773e-01 1.62260701e-02 8.21496110e+01] [-1.22776266e-01 9.92433704e-01 -1.15437378e-03 -5.10950030e+00] [-1.62450315e-02 -8.46689575e-04 9.99867682e-01 3.94388807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.592320588 meters 0.027962122860046422 Centerline is valid? [True, True] Translation: X:82.18, Y:-5.10, Z:0.39 [[ 9.92545397e-01 1.20760883e-01 1.64451880e-02 8.21821443e+01] [-1.20757997e-01 9.92681284e-01 -1.17202533e-03 -5.10093141e+00] [-1.64663652e-02 -8.22599629e-04 9.99864082e-01 3.92701360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.622320588 meters 0.02698527371451656 Centerline is valid? [True, True] Translation: X:82.21, Y:-5.08, Z:0.39 [[ 9.93095107e-01 1.16542512e-01 1.34145589e-02 8.22147755e+01] [-1.16540199e-01 9.93185515e-01 -9.56688471e-04 -5.08260152e+00] [-1.34346404e-02 -6.13252714e-04 9.99909563e-01 3.91598296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.652320588 meters 0.026417678187280132 Centerline is valid? [True, True] Translation: X:82.25, Y:-5.08, Z:0.39 [[ 9.93439449e-01 1.13751590e-01 1.17744452e-02 8.22465056e+01] [-1.13749603e-01 9.93509095e-01 -8.40512726e-04 -5.07831539e+00] [-1.17936280e-02 -5.04339966e-04 9.99930326e-01 3.93368511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.682320588 meters 0.02575062590137548 Centerline is valid? [True, True] Translation: X:82.28, Y:-5.08, Z:0.39 [[ 9.93876239e-01 1.09887963e-01 1.16042081e-02 8.22784946e+01] [-1.09885756e-01 9.93943878e-01 -8.29542920e-04 -5.07667511e+00] [-1.16250884e-02 -4.50674191e-04 9.99932325e-01 3.94958470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.712320588 meters 0.025051469681284886 Centerline is valid? [True, True] Translation: X:82.31, Y:-5.08, Z:0.40 [[ 9.94355859e-01 1.05539987e-01 1.08506977e-02 8.23105506e+01] [-1.05537787e-01 9.94414990e-01 -7.76795620e-04 -5.07555725e+00] [-1.08720795e-02 -3.72747346e-04 9.99940828e-01 3.95622567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.742320588 meters 0.024157837781462126 Centerline is valid? [True, True] Translation: X:82.34, Y:-5.07, Z:0.40 [[ 9.94895711e-01 1.00263330e-01 1.13925006e-02 8.23417789e+01] [-1.00260558e-01 9.94960881e-01 -8.15605445e-04 -5.07362378e+00] [-1.14168678e-02 -3.30776110e-04 9.99934771e-01 3.95989807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.772320588 meters 0.023353735529723803 Centerline is valid? [True, True] Translation: X:82.37, Y:-5.07, Z:0.39 [[ 9.95914001e-01 8.89066530e-02 1.58401024e-02 8.23735879e+01] [-8.88998388e-02 9.96039924e-01 -1.13519745e-03 -5.06609663e+00] [-1.58783010e-02 -2.77623517e-04 9.99873893e-01 3.92905511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.802320588 meters 0.023125438107663064 Centerline is valid? [True, True] Translation: X:82.41, Y:-5.06, Z:0.39 [[ 9.96342482e-01 8.40740745e-02 1.52711594e-02 8.24061073e+01] [-8.40671368e-02 9.96459489e-01 -1.09681701e-03 -5.06327410e+00] [-1.53093056e-02 -1.90997262e-04 9.99882787e-01 3.92016537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.832320588 meters 0.022948660835612162 Centerline is valid? [True, True] Translation: X:82.44, Y:-5.06, Z:0.39 [[ 9.96764681e-01 7.94004698e-02 1.24793937e-02 8.24384339e+01] [-7.93954483e-02 9.96842794e-01 -8.98068945e-04 -5.06109215e+00] [-1.25113007e-02 -9.56436480e-05 9.99921726e-01 3.91322037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.862320588 meters 0.0224467041267595 Centerline is valid? [True, True] Translation: X:82.47, Y:-5.06, Z:0.39 [[ 9.97389181e-01 7.21465998e-02 3.11291983e-03 8.24702406e+01] [-7.21462500e-02 9.97394039e-01 -2.24659229e-04 -5.06120412e+00] [-3.12101608e-03 -5.12808041e-07 9.99995130e-01 3.91502305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.892320588 meters 0.022602373282260908 Centerline is valid? [True, True] Translation: X:82.50, Y:-5.07, Z:0.39 [[ 9.97669554e-01 6.81065648e-02 4.11797866e-03 8.24977069e+01] [-6.81059410e-02 9.97678052e-01 -2.91693352e-04 -5.06590299e+00] [-4.12828316e-03 1.05547647e-05 9.99991479e-01 3.91997581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.922320588 meters 0.022685210347831657 Centerline is valid? [True, True] Translation: X:82.53, Y:-5.07, Z:0.39 [[ 9.97913892e-01 6.41635868e-02 7.13431664e-03 8.25265703e+01] [-6.41616202e-02 9.97939393e-01 -5.04425307e-04 -5.07124746e+00] [-7.15198136e-03 4.56237066e-05 9.99974423e-01 3.93909712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.952320588 meters 0.02294526863516286 Centerline is valid? [True, True] Translation: X:82.56, Y:-5.07, Z:0.40 [[ 9.98146498e-01 6.00360367e-02 9.96203109e-03 8.25566177e+01] [-6.00319647e-02 9.98196204e-01 -7.07553087e-04 -5.07414547e+00] [-9.98654031e-03 1.08201338e-04 9.99950127e-01 3.96648680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98232058800001 meters 0.023143866858663355 Centerline is valid? [True, True] Translation: X:82.59, Y:-5.07, Z:0.40 [[ 9.98281085e-01 5.73092935e-02 1.22686674e-02 8.25890694e+01] [-5.73028838e-02 9.98356458e-01 -8.73629590e-04 -5.07496663e+00] [-1.22985704e-02 1.69097872e-04 9.99924355e-01 3.97333347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.012320588 meters 0.023534492620315445 Centerline is valid? [True, True] Translation: X:82.62, Y:-5.08, Z:0.40 [[ 9.98516191e-01 5.31765196e-02 1.17334801e-02 8.26209103e+01] [-5.31703539e-02 9.98585105e-01 -8.37027527e-04 -5.07516773e+00] [-1.17613887e-02 2.11912250e-04 9.99930810e-01 3.95780764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.042320588 meters 0.023701736411982328 Centerline is valid? [True, True] Translation: X:82.65, Y:-5.08, Z:0.39 [[ 9.98545352e-01 5.29589480e-02 1.01257157e-02 8.26533002e+01] [-5.29543312e-02 9.98596673e-01 -7.23699878e-04 -5.08024151e+00] [-1.01498324e-02 1.86446645e-04 9.99948472e-01 3.93443595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.072320588 meters 0.023526999601624046 Centerline is valid? [True, True] Translation: X:82.68, Y:-5.09, Z:0.39 [[ 9.98529836e-01 5.35985543e-02 8.08469361e-03 8.26848000e+01] [-5.35956227e-02 9.98562554e-01 -5.78987121e-04 -5.08657578e+00] [-8.10410517e-03 1.44831726e-04 9.99967151e-01 3.92346153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.102320588 meters 0.023389643663205107 Centerline is valid? [True, True] Translation: X:82.72, Y:-5.09, Z:0.39 [[ 9.98486094e-01 5.46837545e-02 5.93353258e-03 8.27159555e+01] [-5.46821932e-02 9.98503719e-01 -4.25153960e-04 -5.09258224e+00] [-5.94790337e-03 1.00051741e-04 9.99982306e-01 3.92722107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.132320588 meters 0.023046543509846446 Centerline is valid? [True, True] Translation: X:82.75, Y:-5.10, Z:0.40 [[ 9.98409465e-01 5.62901699e-02 3.15550217e-03 8.27459203e+01] [-5.62897370e-02 9.98414450e-01 -2.25931515e-04 -5.09726168e+00] [-3.16321669e-03 4.79497759e-05 9.99994996e-01 3.95627422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.162320588 meters 0.02329684944240815 Centerline is valid? [True, True] Translation: X:82.77, Y:-5.10, Z:0.40 [[ 9.98449439e-01 5.55183326e-02 4.05375080e-03 8.27745925e+01] [-5.55176282e-02 9.98457666e-01 -2.86181551e-04 -5.09945639e+00] [-4.06338689e-03 6.06831790e-05 9.99991743e-01 3.95402926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.192320588 meters 0.02337093069908592 Centerline is valid? [True, True] Translation: X:82.80, Y:-5.10, Z:0.40 [[ 9.98486909e-01 5.47378159e-02 5.25971212e-03 8.28039370e+01] [-5.47366072e-02 9.98500758e-01 -3.73585833e-04 -5.10256407e+00] [-5.27227582e-03 8.51217675e-05 9.99986098e-01 3.95851905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.222320588 meters 0.02323684096951841 Centerline is valid? [True, True] Translation: X:82.83, Y:-5.11, Z:0.40 [[ 9.98456403e-01 5.50630741e-02 7.27111976e-03 8.28342899e+01] [-5.50607695e-02 9.98482871e-01 -5.16891864e-04 -5.10779553e+00] [-7.28855019e-03 1.15740541e-04 9.99973431e-01 3.95459240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.252320588 meters 0.023029649983779325 Centerline is valid? [True, True] Translation: X:82.87, Y:-5.11, Z:0.40 [[ 9.98438007e-01 5.53281018e-02 7.76836535e-03 8.28657579e+01] [-5.53254666e-02 9.98468220e-01 -5.53865755e-04 -5.11371233e+00] [-7.78711026e-03 1.23212182e-04 9.99969672e-01 3.95880241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.282320588 meters 0.023100568488668878 Centerline is valid? [True, True] Translation: X:82.90, Y:-5.12, Z:0.40 [[ 9.98337349e-01 5.70609234e-02 8.16017018e-03 8.28966892e+01] [-5.70580723e-02 9.98370692e-01 -5.81965657e-04 -5.11882480e+00] [-8.18008224e-03 1.15394471e-04 9.99966536e-01 3.96910806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.312320588 meters 0.022758215561868675 Centerline is valid? [True, True] Translation: X:82.93, Y:-5.12, Z:0.40 [[ 9.98144645e-01 6.03404737e-02 8.14216406e-03 8.29290953e+01] [-6.03377331e-02 9.98177849e-01 -5.82041542e-04 -5.12287951e+00] [-8.16244848e-03 8.96819259e-05 9.99966683e-01 3.98217468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.342320588 meters 0.022258470860584193 Centerline is valid? [True, True] Translation: X:82.96, Y:-5.13, Z:0.40 [[ 9.97660066e-01 6.80622515e-02 6.47484391e-03 8.29610234e+01] [-6.80606745e-02 9.97681076e-01 -4.63834069e-04 -5.12561433e+00] [-6.49139883e-03 2.20664841e-05 9.99978930e-01 3.96253597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.372320588 meters 0.022169768324037383 Centerline is valid? [True, True] Translation: X:82.99, Y:-5.13, Z:0.39 [[ 9.97418764e-01 7.17183766e-02 3.50489970e-03 8.29921261e+01] [-7.17179363e-02 9.97424922e-01 -2.51283602e-04 -5.12845641e+00] [-3.51389596e-03 -7.29193664e-07 9.99993826e-01 3.94463194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.402320588 meters 0.022174422524254646 Centerline is valid? [True, True] Translation: X:83.02, Y:-5.13, Z:0.39 [[ 9.97195926e-01 7.47964016e-02 2.40500507e-03 8.30208914e+01] [-7.47962115e-02 9.97198826e-01 -1.69007230e-04 -5.13305647e+00] [-2.41090936e-03 -1.13519471e-05 9.99997094e-01 3.93545240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.432320588 meters 0.022499660583384876 Centerline is valid? [True, True] Translation: X:83.05, Y:-5.14, Z:0.40 [[ 9.96628536e-01 8.19498351e-02 3.97322873e-03 8.30492541e+01] [-8.19493756e-02 9.96636454e-01 -2.78584283e-04 -5.14275530e+00] [-3.98269453e-03 -4.79585678e-05 9.99992068e-01 3.96436806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.462320588 meters 0.022662334715204596 Centerline is valid? [True, True] Translation: X:83.08, Y:-5.15, Z:0.40 [[ 9.96385961e-01 8.48470883e-02 3.99855145e-03 8.30785612e+01] [-8.48466392e-02 9.96393982e-01 -2.82125346e-04 -5.14741933e+00] [-4.00807012e-03 -5.81579186e-05 9.99991966e-01 3.98556082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.492320588 meters 0.02283512670962272 Centerline is valid? [True, True] Translation: X:83.11, Y:-5.15, Z:0.40 [[ 9.96200431e-01 8.69828731e-02 4.32212291e-03 8.31083255e+01] [-8.69823696e-02 9.96209804e-01 -3.04693092e-04 -5.15051022e+00] [-4.33224430e-03 -7.24131030e-05 9.99990613e-01 3.99094523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.522320588 meters 0.02303335395826449 Centerline is valid? [True, True] Translation: X:83.14, Y:-5.15, Z:0.40 [[ 9.96030665e-01 8.88930654e-02 4.57562581e-03 8.31378077e+01] [-8.88925226e-02 9.96041172e-01 -3.22281562e-04 -5.15154088e+00] [-4.58616029e-03 -8.57366023e-05 9.99989480e-01 3.98679181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.552320588 meters 0.02323194905649402 Centerline is valid? [True, True] Translation: X:83.17, Y:-5.15, Z:0.40 [[ 9.95929861e-01 8.98807631e-02 6.72013175e-03 8.31671051e+01] [-8.98796192e-02 9.95952524e-01 -4.72641550e-04 -5.15110468e+00] [-6.73541356e-03 -1.33285049e-04 9.99977308e-01 3.97961912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.582320588 meters 0.023323227609667912 Centerline is valid? [True, True] Translation: X:83.20, Y:-5.15, Z:0.40 [[ 9.95775351e-01 9.15668401e-02 6.85306677e-03 8.31975261e+01] [-9.15656869e-02 9.95798922e-01 -4.82504081e-04 -5.14958760e+00] [-6.86845788e-03 -1.47040097e-04 9.99976401e-01 3.99439579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.612320588 meters 0.023497172860882758 Centerline is valid? [True, True] Translation: X:83.23, Y:-5.15, Z:0.40 [[ 9.95592699e-01 9.35895571e-02 6.01428426e-03 8.32275264e+01] [-9.35887058e-02 9.95610855e-01 -4.23447895e-04 -5.15131783e+00] [-6.02751700e-03 -1.41287448e-04 9.99981824e-01 4.00718757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.642320588 meters 0.02371032855483355 Centerline is valid? [True, True] Translation: X:83.26, Y:-5.15, Z:0.40 [[ 9.95378493e-01 9.57000949e-02 7.94658025e-03 8.32570733e+01] [-9.56986828e-02 9.95410192e-01 -5.58636256e-04 -5.15211808e+00] [-7.96356851e-03 -2.04422747e-04 9.99968269e-01 4.00385702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.672320588 meters 0.02414288285875749 Centerline is valid? [True, True] Translation: X:83.29, Y:-5.15, Z:0.40 [[ 9.95098042e-01 9.84414540e-02 9.44278204e-03 8.32880633e+01] [-9.84395750e-02 9.95142808e-01 -6.64693107e-04 -5.15237412e+00] [-9.46234999e-03 -2.68108641e-04 9.99955195e-01 3.99221321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.702320588 meters 0.024599695564479843 Centerline is valid? [True, True] Translation: X:83.32, Y:-5.15, Z:0.40 [[ 9.94782039e-01 1.01458539e-01 1.07172137e-02 8.33195171e+01] [-1.01456285e-01 9.94839712e-01 -7.55251189e-04 -5.15268460e+00] [-1.07385364e-02 -3.36018366e-04 9.99942284e-01 3.98087008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73232058800001 meters 0.02481605327865719 Centerline is valid? [True, True] Translation: X:83.35, Y:-5.15, Z:0.40 [[ 9.94578416e-01 1.03541335e-01 9.64191233e-03 8.33519693e+01] [-1.03539593e-01 9.94625100e-01 -6.81092763e-04 -5.15201283e+00] [-9.66060926e-03 -3.20919514e-04 9.99953284e-01 3.97123118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.762320588 meters 0.024711029054532648 Centerline is valid? [True, True] Translation: X:83.38, Y:-5.15, Z:0.40 [[ 9.94657253e-01 1.02872404e-01 8.61497198e-03 8.33834666e+01] [-1.02870985e-01 9.94694521e-01 -6.08855817e-04 -5.15389099e+00] [-8.63189988e-03 -2.80627801e-04 9.99962705e-01 3.98000921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.792320588 meters 0.024456756897354784 Centerline is valid? [True, True] Translation: X:83.41, Y:-5.15, Z:0.40 [[ 9.94801002e-01 1.01579858e-01 7.24561251e-03 8.34141513e+01] [-1.01578822e-01 9.94827362e-01 -5.11801105e-04 -5.15331953e+00] [-7.26012227e-03 -2.26860529e-04 9.99973619e-01 3.99758461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.822320588 meters 0.024456756897354784 Centerline is valid? [True, True] Translation: X:83.44, Y:-5.16, Z:0.40 [[ 9.94807640e-01 1.01514828e-01 7.24566915e-03 8.34432532e+01] [-1.01513796e-01 9.94834000e-01 -5.10998861e-04 -5.15538912e+00] [-7.26011199e-03 -2.27189809e-04 9.99973619e-01 3.99905499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.852320588 meters 0.024183386235597217 Centerline is valid? [True, True] Translation: X:83.47, Y:-5.15, Z:0.40 [[ 9.95070102e-01 9.90599158e-02 4.75663136e-03 8.34722492e+01] [-9.90594635e-02 9.95081460e-01 -3.31156186e-04 -5.15092597e+00] [-4.76603999e-03 -1.41665731e-04 9.99988632e-01 4.00058181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.882320588 meters 0.024097667360826282 Centerline is valid? [True, True] Translation: X:83.50, Y:-5.15, Z:0.40 [[ 9.95211948e-01 9.75400922e-02 6.25368074e-03 8.35005658e+01] [-9.75392989e-02 9.95231580e-01 -4.32451028e-04 -5.15144357e+00] [-6.26604188e-03 -1.79599205e-04 9.99980352e-01 3.99595678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.912320588 meters 0.023956946776429358 Centerline is valid? [True, True] Translation: X:83.53, Y:-5.15, Z:0.40 [[ 9.95357713e-01 9.58123722e-02 9.11110156e-03 8.35296126e+01] [-9.58106404e-02 9.95399381e-01 -6.27371119e-04 -5.15331148e+00] [-9.12929477e-03 -2.48481793e-04 9.99958296e-01 4.00125851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.942320588 meters 0.023832523438416388 Centerline is valid? [True, True] Translation: X:83.56, Y:-5.15, Z:0.40 [[ 9.95399776e-01 9.52656607e-02 1.01853168e-02 8.35605718e+01] [-9.52634413e-02 9.95451848e-01 -7.03946608e-04 -5.15444939e+00] [-1.02060543e-02 -2.69580030e-04 9.99947881e-01 4.00986953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.972320588 meters 0.02391581621658208 Centerline is valid? [True, True] Translation: X:83.59, Y:-5.15, Z:0.40 [[ 9.95411540e-01 9.50640560e-02 1.08945480e-02 8.35923846e+01] [-9.50614932e-02 9.95471117e-01 -7.54017290e-04 -5.15466300e+00] [-1.09168878e-02 -2.85094493e-04 9.99940368e-01 4.02126573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.002320588 meters 0.023908969231338104 Centerline is valid? [True, True] Translation: X:83.62, Y:-5.15, Z:0.40 [[ 9.95367310e-01 9.53855509e-02 1.20629781e-02 8.36243087e+01] [-9.53824234e-02 9.95440352e-01 -8.35639672e-04 -5.15429145e+00] [-1.20876831e-02 -3.18827672e-04 9.99926890e-01 3.99563429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.032320588 meters 0.0240521664509773 Centerline is valid? [True, True] Translation: X:83.66, Y:-5.16, Z:0.40 [[ 9.95266977e-01 9.63154302e-02 1.29221904e-02 8.36558685e+01] [-9.63118787e-02 9.95350800e-01 -8.98315275e-04 -5.15745218e+00] [-1.29486342e-02 -3.50496910e-04 9.99916101e-01 3.97913930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.062320588 meters 0.024194689031010835 Centerline is valid? [True, True] Translation: X:83.69, Y:-5.16, Z:0.40 [[ 9.95236071e-01 9.67314657e-02 1.21731592e-02 8.36884192e+01] [-9.67283287e-02 9.95310460e-01 -8.47587339e-04 -5.16011546e+00] [-1.21980610e-02 -3.33939848e-04 9.99925545e-01 3.98478186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.092320588 meters 0.023947859252170207 Centerline is valid? [True, True] Translation: X:83.72, Y:-5.16, Z:0.40 [[ 9.95330275e-01 9.59387588e-02 1.06488374e-02 8.37200803e+01] [-9.59363081e-02 9.95387198e-01 -7.41902375e-04 -5.16037700e+00] [-1.06708936e-02 -2.83172248e-04 9.99943024e-01 3.99536709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.122320588 meters 0.023873905076948507 Centerline is valid? [True, True] Translation: X:83.75, Y:-5.16, Z:0.40 [[ 9.95342997e-01 9.59474880e-02 9.29502448e-03 8.37518221e+01] [-9.59456150e-02 9.95386367e-01 -6.48241670e-04 -5.15900096e+00] [-9.31433780e-03 -2.46594033e-04 9.99956590e-01 3.99882357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.152320588 meters 0.023899409302561684 Centerline is valid? [True, True] Translation: X:83.78, Y:-5.16, Z:0.40 [[ 9.95381736e-01 9.54420331e-02 1.02965054e-02 8.37818544e+01] [-9.54397220e-02 9.95434953e-01 -7.16711517e-04 -5.16016604e+00] [-1.03179057e-02 -2.69294056e-04 9.99946733e-01 3.99677237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.182320588 meters 0.023716284148576006 Centerline is valid? [True, True] Translation: X:83.81, Y:-5.16, Z:0.40 [[ 9.95504171e-01 9.39599496e-02 1.19571812e-02 8.38123199e+01] [-9.39567214e-02 9.95575934e-01 -8.32689772e-04 -5.16129976e+00] [-1.19825213e-02 -2.94511398e-04 9.99928164e-01 3.99125329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.212320588 meters 0.02365182923139111 Centerline is valid? [True, True] Translation: X:83.84, Y:-5.16, Z:0.40 [[ 9.95649235e-01 9.19439633e-02 1.51297226e-02 8.38436230e+01] [-9.19385419e-02 9.95764124e-01 -1.05495879e-03 -5.16202712e+00] [-1.51626321e-02 -3.40635725e-04 9.99884983e-01 3.98793936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.242320588 meters 0.02334789354164622 Centerline is valid? [True, True] Translation: X:83.88, Y:-5.16, Z:0.40 [[ 9.95942180e-01 8.84994639e-02 1.63407343e-02 8.38756945e+01] [-8.84926355e-02 9.96076177e-01 -1.14189333e-03 -5.16321406e+00] [-1.63776731e-02 -3.08774909e-04 9.99865829e-01 3.99220330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.272320588 meters 0.023389246154569835 Centerline is valid? [True, True] Translation: X:83.91, Y:-5.17, Z:0.40 [[ 9.95968240e-01 8.82483053e-02 1.61090627e-02 8.39074067e+01] [-8.82416022e-02 9.96098463e-01 -1.12781402e-03 -5.16605802e+00] [-1.61457402e-02 -2.98222553e-04 9.99869605e-01 3.98283631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.302320588 meters 0.023174485538780255 Centerline is valid? [True, True] Translation: X:83.94, Y:-5.17, Z:0.40 [[ 9.96031412e-01 8.77440676e-02 1.49132370e-02 8.39395633e+01] [-8.77382364e-02 9.96143016e-01 -1.04609106e-03 -5.16711021e+00] [-1.49475052e-02 -2.66521557e-04 9.99888244e-01 3.98271476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.332320588 meters 0.02315536540932504 Centerline is valid? [True, True] Translation: X:83.97, Y:-5.17, Z:0.40 [[ 9.96086425e-01 8.72313984e-02 1.42308512e-02 8.39720759e+01] [-8.72260092e-02 9.96188046e-01 -1.00012880e-03 -5.16641670e+00] [-1.42638465e-02 -2.45085638e-04 9.99898236e-01 3.99461884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.362320588 meters 0.022982741282854328 Centerline is valid? [True, True] Translation: X:84.00, Y:-5.16, Z:0.40 [[ 9.96042456e-01 8.80976634e-02 1.17570172e-02 8.40048629e+01] [-8.80940259e-02 9.96111820e-01 -8.27919740e-04 -5.16072300e+00] [-1.17842416e-02 -2.11079763e-04 9.99930541e-01 4.00985951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.392320588 meters 0.023001942790850004 Centerline is valid? [True, True] Translation: X:84.04, Y:-5.16, Z:0.40 [[ 9.96123693e-01 8.73991654e-02 9.94858651e-03 8.40360090e+01] [-8.73965218e-02 9.96173357e-01 -7.00996632e-04 -5.16044925e+00] [-9.97178334e-03 -1.71192504e-04 9.99950266e-01 4.00054323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.422320588 meters 0.02294216894035033 Centerline is valid? [True, True] Translation: X:84.07, Y:-5.16, Z:0.40 [[ 9.96166340e-01 8.70863192e-02 8.28222404e-03 8.40653269e+01] [-8.70844857e-02 9.96200759e-01 -5.82439276e-04 -5.16129949e+00] [-8.30148037e-03 -1.41046818e-04 9.99965532e-01 3.99248719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.452320588 meters 0.02292921287739245 Centerline is valid? [True, True] Translation: X:84.09, Y:-5.16, Z:0.40 [[ 9.96350731e-01 8.48319836e-02 9.42099020e-03 8.40936957e+01] [-8.48295700e-02 9.96395260e-01 -6.56219063e-04 -5.16220779e+00] [-9.44269834e-03 -1.45354204e-04 9.99955406e-01 3.98549409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48232058800001 meters 0.022794858588074077 Centerline is valid? [True, True] Translation: X:84.12, Y:-5.16, Z:0.40 [[ 9.96498567e-01 8.25765853e-02 1.31039621e-02 8.41231592e+01] [-8.25716939e-02 9.96584707e-01 -9.14795257e-04 -5.16363940e+00] [-1.31347489e-02 -1.70424189e-04 9.99913721e-01 3.98906471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.512320588 meters 0.02269873484096171 Centerline is valid? [True, True] Translation: X:84.15, Y:-5.17, Z:0.40 [[ 9.96865339e-01 7.70534334e-02 1.79517257e-02 8.41544996e+01] [-7.70433223e-02 9.97026956e-01 -1.25517177e-03 -5.16575718e+00] [-1.79950697e-02 -1.31823354e-04 9.99838067e-01 3.99938182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.542320588 meters 0.022489779537119885 Centerline is valid? [True, True] Translation: X:84.19, Y:-5.16, Z:0.40 [[ 9.97171363e-01 7.33404730e-02 1.64453246e-02 8.41863865e+01] [-7.33314411e-02 9.97306960e-01 -1.15236935e-03 -5.16492166e+00] [-1.64855520e-02 -5.68496436e-05 9.99864102e-01 3.99153222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.572320588 meters 0.02246197290234032 Centerline is valid? [True, True] Translation: X:84.22, Y:-5.16, Z:0.40 [[ 9.97364880e-01 7.12227994e-02 1.38061485e-02 8.42186744e+01] [-7.12162048e-02 9.97460432e-01 -9.69330824e-04 -5.16173641e+00] [-1.38401253e-02 -1.64449778e-05 9.99904221e-01 3.98729448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.602320588 meters 0.022465249492350486 Centerline is valid? [True, True] Translation: X:84.25, Y:-5.16, Z:0.40 [[ 9.97510091e-01 6.94316203e-02 1.23640348e-02 8.42514006e+01] [-6.94261728e-02 9.97586713e-01 -8.69776481e-04 -5.15895316e+00] [-1.23945868e-02 9.22319879e-06 9.99923184e-01 3.97711187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.632320588 meters 0.022659772754763458 Centerline is valid? [True, True] Translation: X:84.28, Y:-5.16, Z:0.40 [[ 9.97571358e-01 6.80449284e-02 1.48752648e-02 8.42828063e+01] [-6.80368818e-02 9.97682257e-01 -1.04692103e-03 -5.16224785e+00] [-1.49120254e-02 3.23118062e-05 9.99888809e-01 3.95842123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.662320588 meters 0.022588876057731397 Centerline is valid? [True, True] Translation: X:84.31, Y:-5.17, Z:0.40 [[ 9.97579695e-01 6.80363522e-02 1.43459940e-02 8.43145619e+01] [-6.80288356e-02 9.97682842e-01 -1.01186186e-03 -5.16962756e+00] [-1.43815955e-02 3.34715771e-05 9.99896579e-01 3.96192671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.692320588 meters 0.02250054767108519 Centerline is valid? [True, True] Translation: X:84.35, Y:-5.18, Z:0.40 [[ 9.97569739e-01 6.87119441e-02 1.15449364e-02 8.43466296e+01] [-6.87071029e-02 9.97636541e-01 -8.15905119e-04 -5.17529457e+00] [-1.15737129e-02 2.07031215e-05 9.99933022e-01 3.97565593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.722320588 meters 0.02250454489180339 Centerline is valid? [True, True] Translation: X:84.38, Y:-5.18, Z:0.40 [[ 9.97501036e-01 6.98732717e-02 1.04598674e-02 8.43779699e+01] [-6.98693572e-02 9.97555876e-01 -7.39638517e-04 -5.17663864e+00] [-1.04859831e-02 6.96597880e-06 9.99945021e-01 3.98054898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.752320588 meters 0.02264496416823577 Centerline is valid? [True, True] Translation: X:84.41, Y:-5.18, Z:0.40 [[ 9.97360570e-01 7.15145275e-02 1.25525285e-02 8.44098889e+01] [-7.15090104e-02 9.97439558e-01 -8.88372590e-04 -5.17532662e+00] [-1.25839200e-02 -1.15910984e-05 9.99920819e-01 3.98055813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.782320588 meters 0.022646580626603487 Centerline is valid? [True, True] Translation: X:84.44, Y:-5.18, Z:0.40 [[ 9.97229831e-01 7.29226907e-02 1.46610339e-02 8.44409375e+01] [-7.29153036e-02 9.97337596e-01 -1.03848047e-03 -5.17543272e+00] [-1.46977291e-02 -3.34100330e-05 9.99891982e-01 3.99088808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.812320588 meters 0.0227557116451253 Centerline is valid? [True, True] Translation: X:84.47, Y:-5.18, Z:0.40 [[ 9.97089038e-01 7.47012924e-02 1.52698019e-02 8.44730944e+01] [-7.46934523e-02 9.97205953e-01 -1.08389723e-03 -5.17965580e+00] [-1.53081059e-02 -5.98121765e-05 9.99882822e-01 3.99342316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.842320588 meters 0.02277028239734345 Centerline is valid? [True, True] Translation: X:84.51, Y:-5.18, Z:0.40 [[ 9.97026260e-01 7.56546092e-02 1.46634494e-02 8.45050911e+01] [-7.56474541e-02 9.97134081e-01 -1.04279551e-03 -5.18256362e+00] [-1.47003175e-02 -6.95581106e-05 9.99891942e-01 3.97395461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.872320588 meters 0.022770093717303676 Centerline is valid? [True, True] Translation: X:84.54, Y:-5.18, Z:0.40 [[ 9.96928965e-01 7.73192377e-02 1.24247233e-02 8.45372503e+01] [-7.73142086e-02 9.97006384e-01 -8.85297107e-04 -5.18391420e+00] [-1.24559789e-02 -7.80293202e-05 9.99922418e-01 3.96544691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.902320588 meters 0.02289771072037399 Centerline is valid? [True, True] Translation: X:84.57, Y:-5.18, Z:0.40 [[ 9.96822277e-01 7.86957255e-02 1.23422155e-02 8.45690864e+01] [-7.86908627e-02 9.96898678e-01 -8.79892064e-04 -5.18476408e+00] [-1.23731821e-02 -9.41235757e-05 9.99923445e-01 3.96001792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.932320588 meters 0.02294833988628647 Centerline is valid? [True, True] Translation: X:84.60, Y:-5.18, Z:0.40 [[ 9.96788879e-01 7.90426882e-02 1.28134734e-02 8.46006903e+01] [-7.90374649e-02 9.96871227e-01 -9.14315373e-04 -5.18486790e+00] [-1.28456529e-02 -1.01365056e-04 9.99917486e-01 3.99997817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.962320588 meters 0.0227651403903062 Centerline is valid? [True, True] Translation: X:84.63, Y:-5.19, Z:0.40 [[ 9.96829532e-01 7.84836445e-02 1.30843704e-02 8.46317822e+01] [-7.84781388e-02 9.96915397e-01 -9.34486002e-04 -5.18611277e+00] [-1.31173521e-02 -9.53137892e-05 9.99913959e-01 4.02491661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.992320588 meters 0.02281265509067778 Centerline is valid? [True, True] Translation: X:84.66, Y:-5.19, Z:0.40 [[ 9.96991022e-01 7.65795921e-02 1.20194969e-02 8.46627419e+01] [-7.65747980e-02 9.97063469e-01 -8.59244181e-04 -5.18747876e+00] [-1.20500018e-02 -6.37318116e-05 9.99927394e-01 4.04115328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.022320588 meters 0.022694427659400714 Centerline is valid? [True, True] Translation: X:84.69, Y:-5.19, Z:0.40 [[ 9.97101420e-01 7.52436041e-02 1.12764645e-02 8.46941927e+01] [-7.52392904e-02 9.97165181e-01 -8.06884386e-04 -5.18999735e+00] [-1.13052106e-02 -4.38876202e-05 9.99936093e-01 4.03770482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.052320588 meters 0.022902975930676757 Centerline is valid? [True, True] Translation: X:84.72, Y:-5.19, Z:0.40 [[ 9.97179021e-01 7.42648024e-02 1.08967232e-02 8.47247260e+01] [-7.42607194e-02 9.97238556e-01 -7.79394772e-04 -5.19302556e+00] [-1.09245141e-02 -3.20023893e-05 9.99940325e-01 4.01536505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.082320588 meters 0.022946577407987497 Centerline is valid? [True, True] Translation: X:84.76, Y:-5.19, Z:0.40 [[ 9.97253189e-01 7.29943912e-02 1.25656552e-02 8.47550192e+01] [-7.29888608e-02 9.97332351e-01 -8.98766148e-04 -5.19178801e+00] [-1.25977393e-02 -2.08554493e-05 9.99920645e-01 4.00176624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.112320588 meters 0.022855773203953114 Centerline is valid? [True, True] Translation: X:84.79, Y:-5.19, Z:0.40 [[ 9.97254893e-01 7.28866384e-02 1.30466881e-02 8.47866002e+01] [-7.28806521e-02 9.97340232e-01 -9.34333150e-04 -5.19035770e+00] [-1.30800874e-02 -1.90828338e-05 9.99914452e-01 4.01029632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.142320588 meters 0.0227769043893356 Centerline is valid? [True, True] Translation: X:84.82, Y:-5.19, Z:0.40 [[ 9.97348844e-01 7.17241935e-02 1.22851202e-02 8.48183380e+01] [-7.17187874e-02 9.97424503e-01 -8.80613535e-04 -5.18978478e+00] [-1.23166412e-02 -2.79502987e-06 9.99924147e-01 4.01727959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.172320588 meters 0.022626888101948035 Centerline is valid? [True, True] Translation: X:84.85, Y:-5.19, Z:0.40 [[ 9.97479400e-01 7.04346897e-02 8.59072397e-03 8.48498947e+01] [-7.04319926e-02 9.97516393e-01 -6.16458811e-04 -5.19260927e+00] [-8.61280807e-03 9.84315750e-06 9.99962909e-01 4.02494841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.202320588 meters 0.022779900191186746 Centerline is valid? [True, True] Translation: X:84.88, Y:-5.20, Z:0.40 [[ 9.97508340e-01 6.99028517e-02 9.52381825e-03 8.48794880e+01] [-6.98995252e-02 9.97553804e-01 -6.82105295e-04 -5.19594511e+00] [-9.54820222e-03 1.46953475e-05 9.99954415e-01 4.02322009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23232058800001 meters 0.022726248888368435 Centerline is valid? [True, True] Translation: X:84.91, Y:-5.20, Z:0.40 [[ 9.97511304e-01 6.98656519e-02 9.48630055e-03 8.49087060e+01] [-6.98623556e-02 9.97556410e-01 -6.78810230e-04 -5.19824665e+00] [-9.51054544e-03 1.43855744e-05 9.99954774e-01 4.03132040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.262320588 meters 0.022847602802900803 Centerline is valid? [True, True] Translation: X:84.94, Y:-5.20, Z:0.40 [[ 9.97496959e-01 6.98375996e-02 1.10691849e-02 8.49386774e+01] [-6.98331173e-02 9.97558374e-01 -7.91405887e-04 -5.19978150e+00] [-1.10974280e-02 1.64292789e-05 9.99938422e-01 4.03082559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.292320588 meters 0.022829741740005113 Centerline is valid? [True, True] Translation: X:84.97, Y:-5.20, Z:0.40 [[ 9.97466113e-01 6.99870028e-02 1.27739017e-02 8.49693362e+01] [-6.99810409e-02 9.97547903e-01 -9.13664469e-04 -5.20007762e+00] [-1.28065235e-02 1.74184113e-05 9.99917993e-01 4.03169123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.322320588 meters 0.02296466613907468 Centerline is valid? [True, True] Translation: X:85.00, Y:-5.20, Z:0.40 [[ 9.97156258e-01 7.39452087e-02 1.45431514e-02 8.50008281e+01] [-7.39378833e-02 9.97262305e-01 -1.04146431e-03 -5.19779336e+00] [-1.45803480e-02 -3.67871791e-05 9.99893700e-01 4.03196948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.352320588 meters 0.022875162270003774 Centerline is valid? [True, True] Translation: X:85.03, Y:-5.20, Z:0.40 [[ 9.96953764e-01 7.68621126e-02 1.32441709e-02 8.50318124e+01] [-7.68562832e-02 9.97041730e-01 -9.49313483e-04 -5.19872989e+00] [-1.32779573e-02 -7.14760965e-05 9.99911841e-01 4.04119354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.382320588 meters 0.022895981913162358 Centerline is valid? [True, True] Translation: X:85.06, Y:-5.20, Z:0.40 [[ 9.96741599e-01 7.95182896e-02 1.35287010e-02 8.50632186e+01] [-7.95124400e-02 9.96833401e-01 -9.70568476e-04 -5.19991190e+00] [-1.35630390e-02 -1.08294055e-04 9.99908012e-01 4.04455578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.412320588 meters 0.023042854976750342 Centerline is valid? [True, True] Translation: X:85.09, Y:-5.20, Z:0.40 [[ 9.96554889e-01 8.19427819e-02 1.27958285e-02 8.50943419e+01] [-8.19377378e-02 9.96637027e-01 -9.18836115e-04 -5.20210066e+00] [-1.28280885e-02 -1.32790622e-04 9.99917708e-01 4.03969943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.442320588 meters 0.02303223659247989 Centerline is valid? [True, True] Translation: X:85.12, Y:-5.20, Z:0.40 [[ 9.96475658e-01 8.31271238e-02 1.12314287e-02 8.51245638e+01] [-8.31233161e-02 9.96538943e-01 -8.06216028e-04 -5.20434795e+00] [-1.12595745e-02 -1.30218952e-04 9.99936601e-01 4.03977584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.472320588 meters 0.023125782399227614 Centerline is valid? [True, True] Translation: X:85.15, Y:-5.20, Z:0.40 [[ 9.96491959e-01 8.29408765e-02 1.11618367e-02 8.51534523e+01] [-8.29371860e-02 9.96554461e-01 -7.93910389e-04 -5.20463087e+00] [-1.11892258e-02 -1.34606007e-04 9.99937390e-01 4.04304758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.502320588 meters 0.022961787905974217 Centerline is valid? [True, True] Translation: X:85.18, Y:-5.20, Z:0.41 [[ 9.96579097e-01 8.16233963e-02 1.29508753e-02 8.51824401e+01] [-8.16183886e-02 9.96663233e-01 -9.15618858e-04 -5.20390675e+00] [-1.29823971e-02 -1.44542955e-04 9.99915715e-01 4.06393592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.532320588 meters 0.022931697436746577 Centerline is valid? [True, True] Translation: X:85.21, Y:-5.20, Z:0.41 [[ 9.96610747e-01 8.07192591e-02 1.58562205e-02 8.52118473e+01] [-8.07116151e-02 9.96736864e-01 -1.12246709e-03 -5.20352068e+00] [-1.58950842e-02 -1.61118398e-04 9.99873652e-01 4.06902972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.562320588 meters 0.023071708941429306 Centerline is valid? [True, True] Translation: X:85.24, Y:-5.20, Z:0.41 [[ 9.96668911e-01 7.95169335e-02 1.81146105e-02 8.52429782e+01] [-7.95067244e-02 9.96833502e-01 -1.28420559e-03 -5.20444061e+00] [-1.81593667e-02 -1.60305556e-04 9.99835092e-01 4.05702872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.592320588 meters 0.02276574151662339 Centerline is valid? [True, True] Translation: X:85.27, Y:-5.21, Z:0.40 [[ 9.97009260e-01 7.63422576e-02 1.20164787e-02 8.52745758e+01] [-7.63375173e-02 9.97081669e-01 -8.53336171e-04 -5.20837263e+00] [-1.20465562e-02 -6.65240822e-05 9.99927435e-01 4.03040438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.622320588 meters 0.022491046917520678 Centerline is valid? [True, True] Translation: X:85.30, Y:-5.21, Z:0.40 [[ 9.97192247e-01 7.45381231e-02 7.18969571e-03 8.53042056e+01] [-7.45363871e-02 9.97218164e-01 -5.09482913e-04 -5.21254183e+00] [-7.20767106e-03 -2.78415310e-05 9.99974024e-01 4.01235054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.652320588 meters 0.022445624017045574 Centerline is valid? [True, True] Translation: X:85.33, Y:-5.22, Z:0.40 [[ 9.97271016e-01 7.37034979e-02 4.27963036e-03 8.53330670e+01] [-7.37028923e-02 9.97280198e-01 -2.99274325e-04 -5.21711364e+00] [-4.29004818e-03 -1.69635252e-05 9.99990798e-01 4.01700660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.682320588 meters 0.02247596008500108 Centerline is valid? [True, True] Translation: X:85.36, Y:-5.22, Z:0.40 [[ 9.97274721e-01 7.35650616e-02 5.59567771e-03 8.53617761e+01] [-7.35640347e-02 9.97290420e-01 -3.89408672e-04 -5.22065199e+00] [-5.60916264e-03 -2.32932044e-05 9.99984268e-01 4.03203811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.712320588 meters 0.02247596008500108 Centerline is valid? [True, True] Translation: X:85.39, Y:-5.22, Z:0.40 [[ 9.97312676e-01 7.30487039e-02 5.59590128e-03 8.53890924e+01] [-7.30476869e-02 9.97328374e-01 -3.86194355e-04 -5.22287975e+00] [-5.60916213e-03 -2.36111192e-05 9.99984268e-01 4.03342283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.742320588 meters 0.02254071220397816 Centerline is valid? [True, True] Translation: X:85.42, Y:-5.22, Z:0.41 [[ 9.97200974e-01 7.35840862e-02 1.32514003e-02 8.54181196e+01] [-7.35784581e-02 9.97289014e-01 -9.12410387e-04 -5.22330630e+00] [-1.32826148e-02 -6.51610721e-05 9.99911780e-01 4.08204054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.772320588 meters 0.02271550859284258 Centerline is valid? [True, True] Translation: X:85.45, Y:-5.22, Z:0.41 [[ 9.97104128e-01 7.43598022e-02 1.59367038e-02 8.54499456e+01] [-7.43516956e-02 9.97231474e-01 -1.10139354e-03 -5.22348501e+00] [-1.59744820e-02 -8.67169091e-05 9.99872396e-01 4.09082503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.802320588 meters 0.022604143918362095 Centerline is valid? [True, True] Translation: X:85.48, Y:-5.22, Z:0.41 [[ 9.97067637e-01 7.49845066e-02 1.52791329e-02 8.54823416e+01] [-7.49770934e-02 9.97184695e-01 -1.05824595e-03 -5.22424904e+00] [-1.53154695e-02 -9.04421924e-05 9.99882707e-01 4.08721971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.832320588 meters 0.022548109582394723 Centerline is valid? [True, True] Translation: X:85.51, Y:-5.23, Z:0.41 [[ 9.97046482e-01 7.51808571e-02 1.56892088e-02 8.55134271e+01] [-7.51730544e-02 9.97169910e-01 -1.08731376e-03 -5.22555670e+00] [-1.57265521e-02 -9.53033886e-05 9.99876326e-01 4.05409360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.862320588 meters 0.022536766908757926 Centerline is valid? [True, True] Translation: X:85.55, Y:-5.23, Z:0.40 [[ 9.96982049e-01 7.64240096e-02 1.36442217e-02 8.55451040e+01] [-7.64181958e-02 9.97075404e-01 -9.47713216e-04 -5.23028753e+00] [-1.36767459e-02 -9.78137421e-05 9.99906464e-01 4.00568742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.892320588 meters 0.022548593503773768 Centerline is valid? [True, True] Translation: X:85.58, Y:-5.23, Z:0.40 [[ 9.96959337e-01 7.67890771e-02 1.32483009e-02 8.55765837e+01] [-7.67836210e-02 9.97047355e-01 -9.20748392e-04 -5.23356937e+00] [-1.32798868e-02 -9.93038089e-05 9.99911813e-01 4.01676878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.922320588 meters 0.02248578262990314 Centerline is valid? [True, True] Translation: X:85.61, Y:-5.23, Z:0.40 [[ 9.96956644e-01 7.69598954e-02 1.24348083e-02 8.56074844e+01] [-7.69551058e-02 9.97034185e-01 -8.63910703e-04 -5.23438146e+00] [-1.24644154e-02 -9.56404750e-05 9.99922312e-01 4.03795105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.952320588 meters 0.022372450136376364 Centerline is valid? [True, True] Translation: X:85.64, Y:-5.23, Z:0.41 [[ 9.97010857e-01 7.63527133e-02 1.18158864e-02 8.56371092e+01] [-7.63483588e-02 9.97080867e-01 -8.19825517e-04 -5.23193920e+00] [-1.18439901e-02 -8.47485923e-05 9.99929854e-01 4.07452277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98232058800001 meters 0.022110832621240643 Centerline is valid? [True, True] Translation: X:85.67, Y:-5.23, Z:0.41 [[ 9.97056573e-01 7.58875840e-02 1.09208280e-02 8.56672749e+01] [-7.58838442e-02 9.97116377e-01 -7.57000634e-04 -5.22775493e+00] [-1.09467834e-02 -7.39419558e-05 9.99940079e-01 4.09946400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.012320588 meters 0.022192093744910133 Centerline is valid? [True, True] Translation: X:85.70, Y:-5.22, Z:0.41 [[ 9.97065531e-01 7.57189684e-02 1.12678883e-02 8.56963164e+01] [-7.57150558e-02 9.97129195e-01 -7.74028397e-04 -5.22421821e+00] [-1.12941490e-02 -8.13917550e-05 9.99936216e-01 4.10067315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.042320588 meters 0.022397409470099557 Centerline is valid? [True, True] Translation: X:85.72, Y:-5.23, Z:0.41 [[ 9.97071510e-01 7.51918146e-02 1.39497009e-02 8.57245451e+01] [-7.51858466e-02 9.97169084e-01 -9.52507201e-04 -5.22830041e+00] [-1.39818312e-02 -9.91022753e-05 9.99902245e-01 4.08019481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.072320588 meters 0.022366682081922273 Centerline is valid? [True, True] Translation: X:85.76, Y:-5.23, Z:0.41 [[ 9.97107352e-01 7.46707853e-02 1.41846006e-02 8.57552673e+01] [-7.46645291e-02 9.97208236e-01 -9.70851017e-04 -5.23221963e+00] [-1.42174948e-02 -9.10438385e-05 9.99898922e-01 4.07298711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.102320588 meters 0.022468838724539433 Centerline is valid? [True, True] Translation: X:85.79, Y:-5.23, Z:0.41 [[ 9.97321684e-01 7.14117163e-02 1.58058363e-02 8.57858432e+01] [-7.14035389e-02 9.97446923e-01 -1.08181490e-03 -5.22714058e+00] [-1.58427370e-02 -4.96751920e-05 9.99874495e-01 4.06109960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.132320588 meters 0.022233543433693295 Centerline is valid? [True, True] Translation: X:85.82, Y:-5.22, Z:0.40 [[ 9.97532352e-01 6.86124858e-02 1.48840225e-02 8.58178545e+01] [-6.86049037e-02 9.97643387e-01 -1.02000447e-03 -5.22367597e+00] [-1.49189316e-02 -3.62947255e-06 9.99888707e-01 4.04777063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.162320588 meters 0.02229297325067717 Centerline is valid? [True, True] Translation: X:85.85, Y:-5.22, Z:0.41 [[ 9.97718955e-01 6.60994077e-02 1.37023899e-02 8.58488847e+01] [-6.60927325e-02 9.97813042e-01 -9.39913907e-04 -5.22311762e+00] [-1.37345511e-02 3.21415295e-05 9.99905676e-01 4.05351818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.192320588 meters 0.022220228456447097 Centerline is valid? [True, True] Translation: X:85.88, Y:-5.23, Z:0.41 [[ 9.97913002e-01 6.34549270e-02 1.19629739e-02 8.58794763e+01] [-6.34496523e-02 9.97984704e-01 -8.20321192e-04 -5.22512653e+00] [-1.19909184e-02 5.95626491e-05 9.99928105e-01 4.06721231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.222320588 meters 0.022119065087737342 Centerline is valid? [True, True] Translation: X:85.91, Y:-5.23, Z:0.41 [[ 9.97988856e-01 6.23954634e-02 1.11825944e-02 8.59092855e+01] [-6.23907994e-02 9.98051503e-01 -7.65791198e-04 -5.22711347e+00] [-1.12085870e-02 6.65600768e-05 9.99937180e-01 4.08401657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.252320588 meters 0.02207636316395664 Centerline is valid? [True, True] Translation: X:85.94, Y:-5.23, Z:0.41 [[ 9.98034779e-01 6.17475408e-02 1.06686647e-02 8.59389813e+01] [-6.17432659e-02 9.98091798e-01 -7.29913858e-04 -5.22701584e+00] [-1.06933771e-02 6.97612162e-05 9.99942822e-01 4.10520232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.282320588 meters 0.02237791694300715 Centerline is valid? [True, True] Translation: X:85.97, Y:-5.23, Z:0.41 [[ 9.98097962e-01 6.04863122e-02 1.19106908e-02 8.59685968e+01] [-6.04809027e-02 9.98169023e-01 -8.14176491e-04 -5.22978723e+00] [-1.19381291e-02 9.22585679e-05 9.99928734e-01 4.09681525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.312320588 meters 0.022651096891892587 Centerline is valid? [True, True] Translation: X:86.00, Y:-5.23, Z:0.41 [[ 9.98176355e-01 5.84768107e-02 1.49808580e-02 8.59988741e+01] [-5.84680205e-02 9.98288756e-01 -1.02444065e-03 -5.23475437e+00] [-1.50151281e-02 1.46671324e-04 9.99887256e-01 4.07528454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.342320588 meters 0.023109331478430754 Centerline is valid? [True, True] Translation: X:86.03, Y:-5.24, Z:0.41 [[ 9.98272299e-01 5.66432611e-02 1.56191745e-02 8.60306727e+01] [-5.66334410e-02 9.98394465e-01 -1.07067299e-03 -5.23998100e+00] [-1.56547438e-02 1.84255592e-04 9.99877440e-01 4.06142094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.372320588 meters 0.023542069062383222 Centerline is valid? [True, True] Translation: X:86.06, Y:-5.24, Z:0.41 [[ 9.98566469e-01 5.13311451e-02 1.51696943e-02 8.60632068e+01] [-5.13212403e-02 9.98681654e-01 -1.04175512e-03 -5.24246735e+00] [-1.52031699e-02 2.61734199e-04 9.99884391e-01 4.06707945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.402320588 meters 0.02380809375645061 Centerline is valid? [True, True] Translation: X:86.10, Y:-5.24, Z:0.41 [[ 9.98768027e-01 4.79327208e-02 1.28406617e-02 8.60954397e+01] [-4.79253219e-02 9.98850531e-01 -8.83474789e-04 -5.24453576e+00] [-1.28682491e-02 2.66993525e-04 9.99917165e-01 4.08323019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.432320588 meters 0.024661070827117715 Centerline is valid? [True, True] Translation: X:86.13, Y:-5.25, Z:0.41 [[ 9.98961498e-01 4.38776042e-02 1.22752582e-02 8.61278517e+01] [-4.38705178e-02 9.99036867e-01 -8.46096288e-04 -5.24834086e+00] [-1.23005602e-02 3.06695681e-04 9.99924298e-01 4.09166828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.462320588 meters 0.024973803522618028 Centerline is valid? [True, True] Translation: X:86.16, Y:-5.25, Z:0.41 [[ 9.99080710e-01 4.13528978e-02 1.12992563e-02 8.61593816e+01] [-4.13467162e-02 9.99144554e-01 -7.80228583e-04 -5.25436485e+00] [-1.13218551e-02 3.12324182e-04 9.99935857e-01 4.10293496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.492320588 meters 0.025505253842954597 Centerline is valid? [True, True] Translation: X:86.19, Y:-5.26, Z:0.41 [[ 9.99194053e-01 3.83207920e-02 1.19482854e-02 8.61911707e+01] [-3.83136464e-02 9.99265421e-01 -8.26451771e-04 -5.26482988e+00] [-1.19711787e-02 3.68003311e-04 9.99928275e-01 4.10164762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.522320588 meters 0.025610829578732786 Centerline is valid? [True, True] Translation: X:86.22, Y:-5.27, Z:0.41 [[ 9.99194653e-01 3.79530283e-02 1.30235253e-02 8.62233206e+01] [-3.79444876e-02 9.99279441e-01 -9.02348963e-04 -5.27181688e+00] [-1.30483880e-02 4.07451264e-04 9.99914783e-01 4.09109096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.552320588 meters 0.025495459729793075 Centerline is valid? [True, True] Translation: X:86.26, Y:-5.28, Z:0.41 [[ 9.99176962e-01 3.84279226e-02 1.29882171e-02 8.62553639e+01] [-3.84194478e-02 9.99261294e-01 -9.01473446e-04 -5.28033787e+00] [-1.30132644e-02 4.01731368e-04 9.99915243e-01 4.08651001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.582320588 meters 0.02571175850104858 Centerline is valid? [True, True] Translation: X:86.29, Y:-5.29, Z:0.41 [[ 9.99217609e-01 3.77116053e-02 1.19165327e-02 8.62872145e+01] [-3.77044027e-02 9.99288593e-01 -8.28586418e-04 -5.28806324e+00] [-1.19393025e-02 3.78632393e-04 9.99928652e-01 4.08540019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.612320588 meters 0.02565806127855053 Centerline is valid? [True, True] Translation: X:86.32, Y:-5.30, Z:0.41 [[ 9.99209298e-01 3.81689052e-02 1.11316314e-02 8.63188867e+01] [-3.81626333e-02 9.99271241e-01 -7.75380918e-04 -5.29651026e+00] [-1.11531146e-02 3.49955457e-04 9.99937741e-01 4.09452369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.642320588 meters 0.02544165032648138 Centerline is valid? [True, True] Translation: X:86.35, Y:-5.30, Z:0.41 [[ 9.99207208e-01 3.84823623e-02 1.02011177e-02 8.63504509e+01] [-3.84770984e-02 9.99259229e-01 -7.11843272e-04 -5.30362188e+00] [-1.02209545e-02 3.18769517e-04 9.99947714e-01 4.10660840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.672320588 meters 0.024890297198084263 Centerline is valid? [True, True] Translation: X:86.38, Y:-5.32, Z:0.41 [[ 9.99073549e-01 4.15001723e-02 1.13920438e-02 8.63820279e+01] [-4.14937885e-02 9.99138445e-01 -7.96258516e-04 -5.31543338e+00] [-1.14152738e-02 3.22821764e-04 9.99934792e-01 4.11925167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.702320588 meters 0.024432284516883812 Centerline is valid? [True, True] Translation: X:86.41, Y:-5.32, Z:0.41 [[ 9.98914858e-01 4.46929082e-02 1.31015203e-02 8.64134812e+01] [-4.46847190e-02 9.99000718e-01 -9.17271693e-04 -5.32351219e+00] [-1.31294238e-02 3.30838569e-04 9.99913751e-01 4.11115218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73232058800001 meters 0.02370861072082404 Centerline is valid? [True, True] Translation: X:86.45, Y:-5.33, Z:0.41 [[ 9.98755082e-01 4.80854754e-02 1.32692457e-02 8.64453030e+01] [-4.80773398e-02 9.98843182e-01 -9.31610920e-04 -5.33247659e+00] [-1.32986925e-02 2.92501109e-04 9.99911526e-01 4.11086397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.762320588 meters 0.02288430329988188 Centerline is valid? [True, True] Translation: X:86.48, Y:-5.35, Z:0.41 [[ 9.98576031e-01 5.25292014e-02 9.30558026e-03 8.64757452e+01] [-5.25253863e-02 9.98619375e-01 -6.54071529e-04 -5.34571116e+00] [-9.32709060e-03 1.64360954e-04 9.99956488e-01 4.09476125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.792320588 meters 0.022704818969302924 Centerline is valid? [True, True] Translation: X:86.51, Y:-5.35, Z:0.41 [[ 9.98430377e-01 5.54160399e-02 8.11449495e-03 8.65075553e+01] [-5.54132239e-02 9.98463343e-01 -5.71625133e-04 -5.35274411e+00] [-8.13370296e-03 1.21077571e-04 9.99966914e-01 4.08876602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.822320588 meters 0.022438801021017623 Centerline is valid? [True, True] Translation: X:86.54, Y:-5.36, Z:0.41 [[ 9.98280060e-01 5.80958523e-02 7.86094840e-03 8.65384269e+01] [-5.80932911e-02 9.98311005e-01 -5.53956182e-04 -5.36029145e+00] [-7.87985385e-03 9.63350475e-05 9.99968949e-01 4.09090086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.852320588 meters 0.02236705022117815 Centerline is valid? [True, True] Translation: X:86.57, Y:-5.37, Z:0.41 [[ 9.98071083e-01 6.11544911e-02 1.06884171e-02 8.65691248e+01] [-6.11499252e-02 9.98128308e-01 -7.53774831e-04 -5.36742250e+00] [-1.07145084e-02 9.87249547e-05 9.99942593e-01 4.09368747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.882320588 meters 0.0221349675629688 Centerline is valid? [True, True] Translation: X:86.60, Y:-5.37, Z:0.41 [[ 9.97864277e-01 6.41408900e-02 1.23625095e-02 8.66005568e+01] [-6.41349876e-02 9.97940850e-01 -8.73712172e-04 -5.37352365e+00] [-1.23930939e-02 7.89767696e-05 9.99923200e-01 4.10893366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.912320588 meters 0.021998067710352856 Centerline is valid? [True, True] Translation: X:86.63, Y:-5.38, Z:0.41 [[ 9.97308557e-01 7.24746293e-02 1.10936733e-02 8.66323885e+01] [-7.24703747e-02 9.97370256e-01 -7.85553671e-04 -5.37902580e+00] [-1.11214325e-02 -2.05232637e-05 9.99938155e-01 4.12786733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.942320588 meters 0.022068387151075137 Centerline is valid? [True, True] Translation: X:86.66, Y:-5.38, Z:0.41 [[ 9.96949528e-01 7.74058621e-02 9.99853059e-03 8.66643055e+01] [-7.74026402e-02 9.96999663e-01 -7.09387917e-04 -5.38184628e+00] [-1.00234424e-02 -6.66887158e-05 9.99949762e-01 4.13372376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.972320588 meters 0.022242679244725505 Centerline is valid? [True, True] Translation: X:86.70, Y:-5.39, Z:0.41 [[ 9.96550561e-01 8.22902035e-02 1.07378234e-02 8.66964527e+01] [-8.22867506e-02 9.96608402e-01 -7.63723934e-04 -5.38550987e+00] [-1.07642520e-02 -1.22491078e-04 9.99942056e-01 4.13403066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.002320588 meters 0.02281283358595879 Centerline is valid? [True, True] Translation: X:86.73, Y:-5.39, Z:0.41 [[ 9.96126373e-01 8.72846835e-02 1.06598630e-02 8.67278164e+01] [-8.72815584e-02 9.96183394e-01 -7.58928760e-04 -5.39091608e+00] [-1.06854214e-02 -1.74420506e-04 9.99942894e-01 4.13557339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.032320588 meters 0.02359528473931935 Centerline is valid? [True, True] Translation: X:86.76, Y:-5.40, Z:0.41 [[ 9.95398217e-01 9.49298369e-02 1.30658307e-02 8.67582908e+01] [-9.49258000e-02 9.95483916e-01 -9.30196684e-04 -5.39648277e+00] [-1.30951278e-02 -3.14368313e-04 9.99914206e-01 4.14344340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.062320588 meters 0.023576467142212065 Centerline is valid? [True, True] Translation: X:86.79, Y:-5.40, Z:0.42 [[ 9.95267656e-01 9.63742062e-02 1.24219490e-02 8.67904637e+01] [-9.63706430e-02 9.95345123e-01 -8.86506225e-04 -5.39653827e+00] [-1.24495627e-02 -3.14800241e-04 9.99922452e-01 4.15129904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.092320588 meters 0.02358073987633206 Centerline is valid? [True, True] Translation: X:86.82, Y:-5.40, Z:0.41 [[ 9.95234203e-01 9.69085183e-02 1.08452856e-02 8.68232199e+01] [-9.69058173e-02 9.95293254e-01 -7.75509903e-04 -5.39633026e+00] [-1.08693931e-02 -2.79157289e-04 9.99940887e-01 4.14914389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.122320588 meters 0.02354557698037708 Centerline is valid? [True, True] Translation: X:86.86, Y:-5.40, Z:0.41 [[ 9.95325539e-01 9.61716853e-02 8.83624569e-03 8.68550825e+01] [-9.61698518e-02 9.95364737e-01 -6.33151467e-04 -5.39853655e+00] [-8.85617861e-03 -2.19588614e-04 9.99960759e-01 4.14409830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.152320588 meters 0.023266484710756253 Centerline is valid? [True, True] Translation: X:86.89, Y:-5.40, Z:0.41 [[ 9.95674985e-01 9.25461006e-02 8.15743586e-03 8.68858012e+01] [-9.25444142e-02 9.95708386e-01 -5.84767858e-04 -5.40414082e+00] [-8.17654527e-03 -1.72686394e-04 9.99966557e-01 4.13718905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.182320588 meters 0.022927772306592608 Centerline is valid? [True, True] Translation: X:86.92, Y:-5.41, Z:0.41 [[ 9.95830152e-01 9.06927303e-02 9.85580443e-03 8.69175713e+01] [-9.06901721e-02 9.95878905e-01 -7.07095966e-04 -5.40569004e+00] [-9.87931618e-03 -1.89677117e-04 9.99951180e-01 4.14543356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.212320588 meters 0.022938908069715207 Centerline is valid? [True, True] Translation: X:86.95, Y:-5.41, Z:0.42 [[ 9.95932118e-01 8.95557858e-02 9.94873282e-03 8.69488558e+01] [-8.95531159e-02 9.95981792e-01 -7.14418101e-04 -5.40549125e+00] [-9.97273701e-03 -1.79428091e-04 9.99950255e-01 4.16796759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.242320588 meters 0.02272498984704387 Centerline is valid? [True, True] Translation: X:86.98, Y:-5.41, Z:0.42 [[ 9.95962590e-01 8.90792353e-02 1.11089921e-02 8.69799603e+01] [-8.90758690e-02 9.96024524e-01 -7.98430061e-04 -5.40518334e+00] [-1.11359521e-02 -1.94336657e-04 9.99937974e-01 4.17891581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.272320588 meters 0.02270408659467126 Centerline is valid? [True, True] Translation: X:87.01, Y:-5.41, Z:0.42 [[ 9.95946930e-01 8.92502502e-02 1.11402529e-02 8.70124502e+01] [-8.92468551e-02 9.96009214e-01 -8.02509663e-04 -5.40799180e+00] [-1.11674187e-02 -1.94975503e-04 9.99937623e-01 4.18319495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.302320588 meters 0.022833875941623255 Centerline is valid? [True, True] Translation: X:87.04, Y:-5.41, Z:0.42 [[ 9.95956422e-01 8.92209963e-02 1.05080506e-02 8.70444352e+01] [-8.92179590e-02 9.96011838e-01 -7.58394135e-04 -5.41204145e+00] [-1.05338075e-02 -1.82179322e-04 9.99944501e-01 4.17991181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.332320588 meters 0.022687511412776508 Centerline is valid? [True, True] Translation: X:87.08, Y:-5.42, Z:0.42 [[ 9.96066061e-01 8.83404602e-02 6.95452507e-03 8.70766348e+01] [-8.83391003e-02 9.96090332e-01 -5.03075172e-04 -5.41571941e+00] [-6.97177708e-03 -1.13260383e-04 9.99975690e-01 4.15508312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.362320588 meters 0.02253167215054302 Centerline is valid? [True, True] Translation: X:87.11, Y:-5.42, Z:0.41 [[ 9.96123135e-01 8.77124903e-02 6.72456626e-03 8.71076336e+01] [-8.77112089e-02 9.96145827e-01 -4.85795496e-04 -5.41602491e+00] [-6.74125895e-03 -1.05907704e-04 9.99977272e-01 4.14367407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.392320588 meters 0.022658108492327786 Centerline is valid? [True, True] Translation: X:87.14, Y:-5.42, Z:0.41 [[ 9.96230449e-01 8.64827466e-02 6.75472946e-03 8.71378809e+01] [-8.64814307e-02 9.96253344e-01 -4.87199814e-04 -5.41560751e+00] [-6.77155619e-03 -9.87953785e-05 9.99977068e-01 4.14216305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.422320588 meters 0.022606147456578834 Centerline is valid? [True, True] Translation: X:87.17, Y:-5.42, Z:0.42 [[ 9.96309089e-01 8.55477834e-02 7.05523525e-03 8.71677748e+01] [-8.55463276e-02 9.96334064e-01 -5.08415786e-04 -5.41719688e+00] [-7.07286505e-03 -9.70101977e-05 9.99974982e-01 4.15086233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.452320588 meters 0.02231747529503624 Centerline is valid? [True, True] Translation: X:87.20, Y:-5.42, Z:0.42 [[ 9.96438706e-01 8.36542521e-02 1.05768806e-02 8.71975573e+01] [-8.36508792e-02 9.96494832e-01 -7.61663501e-04 -5.41802265e+00] [-1.06035233e-02 -1.25814370e-04 9.99943773e-01 4.20482836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.482320588 meters 0.02257220902053205 Centerline is valid? [True, True] Translation: X:87.23, Y:-5.42, Z:0.42 [[ 9.96407065e-01 8.36530868e-02 1.32333714e-02 8.72301269e+01] [-8.36477689e-02 9.96494926e-01 -9.55818241e-04 -5.41762823e+00] [-1.32669446e-02 -1.54557944e-04 9.99911978e-01 4.21549064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.512320588 meters 0.022701829926910357 Centerline is valid? [True, True] Translation: X:87.26, Y:-5.41, Z:0.42 [[ 9.96339227e-01 8.43671910e-02 1.37956890e-02 8.72623029e+01] [-8.43614553e-02 9.96434719e-01 -9.98208377e-04 -5.41494758e+00] [-1.38307195e-02 -1.69270236e-04 9.99904337e-01 4.18648067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.542320588 meters 0.022702645549739005 Centerline is valid? [True, True] Translation: X:87.29, Y:-5.42, Z:0.42 [[ 9.96320615e-01 8.46517821e-02 1.33905650e-02 8.72946907e+01] [-8.46463800e-02 9.96410582e-01 -9.70687081e-04 -5.41608778e+00] [-1.34246710e-02 -1.66347300e-04 9.99909871e-01 4.16116772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.572320588 meters 0.022745404968445477 Centerline is valid? [True, True] Translation: X:87.33, Y:-5.42, Z:0.42 [[ 9.96354886e-01 8.41979993e-02 1.36980877e-02 8.73266296e+01] [-8.41922788e-02 9.96449031e-01 -9.94762055e-04 -5.41579240e+00] [-1.37332031e-02 -1.62137182e-04 9.99905682e-01 4.15106495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.602320588 meters 0.022558449335979606 Centerline is valid? [True, True] Translation: X:87.36, Y:-5.41, Z:0.42 [[ 9.96452631e-01 8.32879585e-02 1.20528462e-02 8.73589879e+01] [-8.32834429e-02 9.96525514e-01 -8.76957540e-04 -5.41408716e+00] [-1.20840088e-02 -1.29955883e-04 9.99926977e-01 4.16317597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.632320588 meters 0.022558449335979606 Centerline is valid? [True, True] Translation: X:87.39, Y:-5.42, Z:0.42 [[ 9.96441701e-01 8.34186280e-02 1.20527313e-02 8.73905971e+01] [-8.34141029e-02 9.96514584e-01 -8.78536826e-04 -5.41635108e+00] [-1.20840088e-02 -1.29957035e-04 9.99926977e-01 4.16477241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.662320588 meters 0.022474147018669 Centerline is valid? [True, True] Translation: X:87.42, Y:-5.42, Z:0.42 [[ 9.96583583e-01 8.19227800e-02 1.04795291e-02 8.74227685e+01] [-8.19192609e-02 9.96638675e-01 -7.65335890e-04 -5.41504160e+00] [-1.05070024e-02 -9.57540947e-05 9.99944795e-01 4.17581835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.692320588 meters 0.02226946662452318 Centerline is valid? [True, True] Translation: X:87.45, Y:-5.42, Z:0.42 [[ 9.96848164e-01 7.88780989e-02 8.48425066e-03 8.74539259e+01] [-7.88756791e-02 9.96884268e-01 -6.19961061e-04 -5.41529543e+00] [-8.50671736e-03 -5.11939867e-05 9.99963816e-01 4.18425185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.722320588 meters 0.022092787857125276 Centerline is valid? [True, True] Translation: X:87.48, Y:-5.42, Z:0.42 [[ 9.97286846e-01 7.33354585e-02 6.39197750e-03 8.74841686e+01] [-7.33339727e-02 9.97307330e-01 -4.66827673e-04 -5.42042036e+00] [-6.40900104e-03 -3.18800615e-06 9.99979462e-01 4.18798581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.752320588 meters 0.022208031024285844 Centerline is valid? [True, True] Translation: X:87.51, Y:-5.42, Z:0.42 [[ 9.97444310e-01 7.10883086e-02 7.16245735e-03 8.75132667e+01] [-7.10863937e-02 9.97470026e-01 -5.21906582e-04 -5.42216583e+00] [-7.18143797e-03 1.14194874e-05 9.99974213e-01 4.18596323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.782320588 meters 0.022331296780838384 Centerline is valid? [True, True] Translation: X:87.54, Y:-5.42, Z:0.42 [[ 9.97618043e-01 6.83429872e-02 9.35290642e-03 8.75429303e+01] [-6.83396039e-02 9.97661884e-01 -6.81228046e-04 -5.42091365e+00] [-9.37759540e-03 4.04314697e-05 9.99956029e-01 4.18400487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.812320588 meters 0.022561814865947608 Centerline is valid? [True, True] Translation: X:87.57, Y:-5.42, Z:0.42 [[ 9.97769802e-01 6.58007989e-02 1.12105706e-02 8.75748799e+01] [-6.57957616e-02 9.97832776e-01 -8.17961759e-04 -5.41834970e+00] [-1.12400974e-02 7.85295083e-05 9.99936825e-01 4.17985189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.842320588 meters 0.022456999699340424 Centerline is valid? [True, True] Translation: X:87.61, Y:-5.42, Z:0.42 [[ 9.97844644e-01 6.45877447e-02 1.15969311e-02 8.76076993e+01] [-6.45822512e-02 9.97912027e-01 -8.47964391e-04 -5.41708774e+00] [-1.16274851e-02 9.71808126e-05 9.99932394e-01 4.19046670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.872320588 meters 0.02236086952163279 Centerline is valid? [True, True] Translation: X:87.64, Y:-5.42, Z:0.42 [[ 9.98019725e-01 6.23054612e-02 8.64049429e-03 8.76399681e+01] [-6.23023151e-02 9.98057123e-01 -6.33058049e-04 -5.41849814e+00] [-8.66314985e-03 9.34816220e-05 9.99962470e-01 4.19883257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.902320588 meters 0.022559030826598245 Centerline is valid? [True, True] Translation: X:87.67, Y:-5.42, Z:0.42 [[ 9.98101199e-01 6.11618092e-02 7.29583843e-03 8.76706356e+01] [-6.11595339e-02 9.98127860e-01 -5.34774629e-04 -5.42321519e+00] [-7.31488739e-03 8.75491207e-05 9.99973242e-01 4.19484296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.932320588 meters 0.022919289073784245 Centerline is valid? [True, True] Translation: X:87.70, Y:-5.43, Z:0.42 [[ 9.98281956e-01 5.83395949e-02 5.44319017e-03 8.77011330e+01] [-5.83382877e-02 9.98296792e-01 -3.98741280e-04 -5.42760708e+00] [-5.45718169e-03 8.05098307e-05 9.99985106e-01 4.18565566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.962320588 meters 0.024072170074734986 Centerline is valid? [True, True] Translation: X:87.73, Y:-5.43, Z:0.42 [[ 9.98783655e-01 4.88424554e-02 6.75466735e-03 8.77309679e+01] [-4.88402275e-02 9.98806482e-01 -4.94485594e-04 -5.43413324e+00] [-6.77075742e-03 1.63984639e-04 9.99977065e-01 4.17823370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.992320588 meters 0.024564725796559446 Centerline is valid? [True, True] Translation: X:87.76, Y:-5.44, Z:0.42 [[ 9.98951554e-01 4.49695233e-02 8.57523712e-03 8.77620893e+01] [-4.49657811e-02 9.98988330e-01 -6.28789617e-04 -5.43906431e+00] [-8.59483818e-03 2.42538130e-04 9.99963034e-01 4.18908959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.022320588 meters 0.02550677521889656 Centerline is valid? [True, True] Translation: X:87.79, Y:-5.44, Z:0.42 [[ 9.99066093e-01 4.19717843e-02 1.02621305e-02 8.77937714e+01] [-4.19662512e-02 9.99118744e-01 -7.54013785e-04 -5.44260382e+00] [-1.02847342e-02 3.22646461e-04 9.99947059e-01 4.20333888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.052320588 meters 0.025580555450847208 Centerline is valid? [True, True] Translation: X:87.83, Y:-5.45, Z:0.42 [[ 9.99098181e-01 4.07844722e-02 1.18089990e-02 8.78261714e+01] [-4.07770467e-02 9.99167892e-01 -8.69002726e-04 -5.44639343e+00] [-1.18346144e-02 3.86682940e-04 9.99929894e-01 4.20896561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.082320588 meters 0.025748408744217962 Centerline is valid? [True, True] Translation: X:87.86, Y:-5.45, Z:0.42 [[ 9.99101751e-01 4.07543446e-02 1.16092221e-02 8.78591184e+01] [-4.07471373e-02 9.99169123e-01 -8.56773758e-04 -5.44888842e+00] [-1.16344935e-02 3.82961594e-04 9.99932244e-01 4.21413643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.112320588 meters 0.025017222591556934 Centerline is valid? [True, True] Translation: X:87.89, Y:-5.46, Z:0.42 [[ 9.98955524e-01 4.40608552e-02 1.21038395e-02 8.78905651e+01] [-4.40532496e-02 9.99028784e-01 -8.94391554e-04 -5.45564928e+00] [-1.21314917e-02 3.60243921e-04 9.99926346e-01 4.19951384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.142320588 meters 0.024608243777492208 Centerline is valid? [True, True] Translation: X:87.92, Y:-5.46, Z:0.42 [[ 9.98853695e-01 4.62543852e-02 1.23218265e-02 8.79218626e+01] [-4.62466512e-02 9.98929635e-01 -9.12015953e-04 -5.46290711e+00] [-1.23508224e-02 3.41127291e-04 9.99923667e-01 4.20023881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.172320588 meters 0.024388985982157517 Centerline is valid? [True, True] Translation: X:87.95, Y:-5.47, Z:0.42 [[ 9.98799065e-01 4.72425801e-02 1.29832805e-02 8.79539678e+01] [-4.72340562e-02 9.98883385e-01 -9.62557967e-04 -5.47020845e+00] [-1.30142569e-02 3.48148996e-04 9.99915250e-01 4.20391810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.202320588 meters 0.0241996353889154 Centerline is valid? [True, True] Translation: X:87.99, Y:-5.48, Z:0.42 [[ 9.98708375e-01 4.91945240e-02 1.27074741e-02 8.79858801e+01] [-4.91864957e-02 9.98789166e-01 -9.43720512e-04 -5.47633333e+00] [-1.27385133e-02 3.17465460e-04 9.99918811e-01 4.21959336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.232320588 meters 0.02360299989140668 Centerline is valid? [True, True] Translation: X:88.02, Y:-5.48, Z:0.42 [[ 9.98505500e-01 5.30218756e-02 1.32456526e-02 8.80174588e+01] [-5.30134679e-02 9.98593311e-01 -9.85312118e-04 -5.48236031e+00] [-1.32792632e-02 2.81641588e-04 9.99911787e-01 4.22825057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.262320588 meters 0.023498130109552328 Centerline is valid? [True, True] Translation: X:88.05, Y:-5.49, Z:0.42 [[ 9.98350142e-01 5.57368329e-02 1.37984983e-02 8.80495404e+01] [-5.57279440e-02 9.98445461e-01 -1.02816082e-03 -5.48511955e+00] [-1.38343544e-02 2.57502565e-04 9.99904268e-01 4.21966016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.292320588 meters 0.023110457262661786 Centerline is valid? [True, True] Translation: X:88.08, Y:-5.49, Z:0.42 [[ 9.98252511e-01 5.77764989e-02 1.24016264e-02 8.80817210e+01] [-5.77694558e-02 9.98329521e-01 -9.25706341e-04 -5.48746559e+00] [-1.24343938e-02 2.07653470e-04 9.99922668e-01 4.19884743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.322320588 meters 0.022895279772552388 Centerline is valid? [True, True] Translation: X:88.11, Y:-5.49, Z:0.42 [[ 9.98126259e-01 5.99741227e-02 1.21274554e-02 8.81133691e+01] [-5.99675243e-02 9.98199916e-01 -9.07321280e-04 -5.49066218e+00] [-1.21600407e-02 1.78367720e-04 9.99926048e-01 4.19925816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.352320588 meters 0.022567559653521602 Centerline is valid? [True, True] Translation: X:88.14, Y:-5.50, Z:0.42 [[ 9.97968224e-01 6.26235701e-02 1.17351272e-02 8.81448887e+01] [-6.26175586e-02 9.98037208e-01 -8.79352626e-04 -5.49549361e+00] [-1.17671617e-02 1.42740965e-04 9.99930754e-01 4.21122934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.382320588 meters 0.02216520890327433 Centerline is valid? [True, True] Translation: X:88.18, Y:-5.51, Z:0.42 [[ 9.97449357e-01 6.98143289e-02 1.48572984e-02 8.81757196e+01] [-6.98054544e-02 9.97560000e-01 -1.11570430e-03 -5.50903026e+00] [-1.48989387e-02 7.57380753e-05 9.99889002e-01 4.24931880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.412320588 meters 0.022114024593489236 Centerline is valid? [True, True] Translation: X:88.21, Y:-5.52, Z:0.42 [[ 9.97336135e-01 7.16895484e-02 1.34626159e-02 8.82074863e+01] [-7.16824097e-02 9.97426993e-01 -1.01267506e-03 -5.51541148e+00] [-1.35005747e-02 4.49446779e-05 9.99908862e-01 4.24881743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.442320588 meters 0.022256964265788555 Centerline is valid? [True, True] Translation: X:88.24, Y:-5.52, Z:0.42 [[ 9.97291922e-01 7.26154312e-02 1.16542820e-02 8.82395621e+01] [-7.26101258e-02 9.97360014e-01 -8.78266003e-04 -5.51904937e+00] [-1.16872905e-02 2.96687103e-05 9.99931701e-01 4.23532032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.472320588 meters 0.022087879369853694 Centerline is valid? [True, True] Translation: X:88.27, Y:-5.52, Z:0.42 [[ 9.97285941e-01 7.30622004e-02 9.09209238e-03 8.82722019e+01] [-7.30589736e-02 9.97327386e-01 -6.86974414e-04 -5.52059605e+00] [-9.11798459e-03 2.08509875e-05 9.99958430e-01 4.22171946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.502320588 meters 0.02198388450299586 Centerline is valid? [True, True] Translation: X:88.30, Y:-5.52, Z:0.42 [[ 9.97111814e-01 7.52435653e-02 1.03167709e-02 8.83039372e+01] [-7.52395162e-02 9.97165185e-01 -7.80590061e-04 -5.52228670e+00] [-1.03462592e-02 2.10671911e-06 9.99946476e-01 4.20101018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.532320588 meters 0.022062074533447572 Centerline is valid? [True, True] Translation: X:88.34, Y:-5.53, Z:0.42 [[ 9.96871287e-01 7.81090917e-02 1.21081009e-02 8.83359258e+01] [-7.81037077e-02 9.96944817e-01 -9.17605767e-04 -5.52766068e+00] [-1.21427818e-02 -3.09527302e-05 9.99926273e-01 4.21868473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.562320588 meters 0.022267996961666793 Centerline is valid? [True, True] Translation: X:88.37, Y:-5.53, Z:0.43 [[ 9.96587336e-01 8.13192948e-02 1.41722716e-02 8.83672028e+01] [-8.13122270e-02 9.96688099e-01 -1.07516478e-03 -5.53428536e+00] [-1.42127661e-02 -8.08833562e-05 9.99898990e-01 4.25202337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.592320588 meters 0.02220546239684543 Centerline is valid? [True, True] Translation: X:88.40, Y:-5.54, Z:0.43 [[ 9.96407446e-01 8.34362277e-02 1.45119448e-02 8.83992049e+01] [-8.34290114e-02 9.96513113e-01 -1.10300275e-03 -5.54074336e+00] [-1.45533736e-02 -1.11677050e-04 9.99894088e-01 4.27580489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.622320588 meters 0.022327394463253037 Centerline is valid? [True, True] Translation: X:88.43, Y:-5.55, Z:0.43 [[ 9.96213336e-01 8.62334967e-02 1.10803293e-02 8.84311962e+01] [-8.62294446e-02 9.96274947e-01 -8.43807521e-04 -5.54661404e+00] [-1.11118190e-02 -1.14838339e-04 9.99938255e-01 4.26641909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.652320588 meters 0.02243339859387869 Centerline is valid? [True, True] Translation: X:88.46, Y:-5.55, Z:0.42 [[ 9.96012074e-01 8.86107733e-02 1.03960933e-02 8.84636542e+01] [-8.86073207e-02 9.96066320e-01 -7.93139905e-04 -5.54901622e+00] [-1.04254792e-02 -1.31193053e-04 9.99945645e-01 4.24711228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.682320588 meters 0.022573228092329298 Centerline is valid? [True, True] Translation: X:88.50, Y:-5.55, Z:0.42 [[ 9.95883064e-01 8.98030660e-02 1.23422641e-02 8.84962050e+01] [-8.97982725e-02 9.95959528e-01 -9.43134577e-04 -5.55058701e+00] [-1.23770919e-02 -1.69062239e-04 9.99923387e-01 4.23941336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.712320588 meters 0.02274064020819921 Centerline is valid? [True, True] Translation: X:88.53, Y:-5.55, Z:0.42 [[ 9.95681090e-01 9.14010495e-02 1.62792844e-02 8.85281373e+01] [-9.13928916e-02 9.95814133e-01 -1.24593873e-03 -5.55336943e+00] [-1.63250216e-02 -2.47253249e-04 9.99866707e-01 4.22447379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.742320588 meters 0.022809705971546575 Centerline is valid? [True, True] Translation: X:88.56, Y:-5.56, Z:0.42 [[ 9.95668763e-01 9.13536847e-02 1.72689851e-02 8.85604350e+01] [-9.13444584e-02 9.95818476e-01 -1.32394747e-03 -5.55705099e+00] [-1.73177219e-02 -2.59212954e-04 9.99850003e-01 4.23744523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.772320588 meters 0.022825074627444156 Centerline is valid? [True, True] Translation: X:88.59, Y:-5.56, Z:0.42 [[ 9.95745061e-01 9.04384193e-02 1.76823555e-02 8.85927128e+01] [-9.04285328e-02 9.95902019e-01 -1.35951519e-03 -5.56157479e+00] [-1.77328459e-02 -2.45258926e-04 9.99842731e-01 4.23688155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.802320588 meters 0.022494599312637836 Centerline is valid? [True, True] Translation: X:88.62, Y:-5.57, Z:0.42 [[ 9.96019328e-01 8.81536937e-02 1.32069840e-02 8.86244282e+01] [-8.81479557e-02 9.96106874e-01 -1.01708126e-03 -5.56500808e+00] [-1.32452270e-02 -1.51136048e-04 9.99912267e-01 4.23851043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.832320588 meters 0.022504826808120656 Centerline is valid? [True, True] Translation: X:88.66, Y:-5.57, Z:0.42 [[ 9.96067035e-01 8.75210637e-02 1.38030913e-02 8.86570518e+01] [-8.75146924e-02 9.96162658e-01 -1.06608912e-03 -5.56740094e+00] [-1.38434294e-02 -1.46077057e-04 9.99904164e-01 4.23853820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.862320588 meters 0.022526469603104473 Centerline is valid? [True, True] Translation: X:88.69, Y:-5.57, Z:0.42 [[ 9.96019371e-01 8.76064287e-02 1.64476636e-02 8.86887811e+01] [-8.75973663e-02 9.96155150e-01 -1.27200093e-03 -5.57095719e+00] [-1.64958602e-02 -1.73834447e-04 9.99863919e-01 4.24688832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.892320588 meters 0.022445680937697828 Centerline is valid? [True, True] Translation: X:88.72, Y:-5.58, Z:0.43 [[ 9.95846711e-01 8.95405523e-02 1.64868673e-02 8.87208558e+01] [-8.95316755e-02 9.95983156e-01 -1.27722011e-03 -5.57891673e+00] [-1.65350052e-02 -2.04181404e-04 9.99863267e-01 4.26821874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.922320588 meters 0.02238496138104553 Centerline is valid? [True, True] Translation: X:88.75, Y:-5.58, Z:0.43 [[ 9.95801940e-01 9.03177415e-02 1.48728773e-02 8.87523617e+01] [-9.03105640e-02 9.95912982e-01 -1.15488345e-03 -5.58279374e+00] [-1.49163981e-02 -1.93142759e-04 9.99888726e-01 4.26921330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.952320588 meters 0.022448502803000158 Centerline is valid? [True, True] Translation: X:88.78, Y:-5.59, Z:0.43 [[ 9.95732964e-01 9.12927395e-02 1.34721924e-02 8.87841409e+01] [-9.12869161e-02 9.95824081e-01 -1.04785549e-03 -5.58517168e+00] [-1.35115952e-02 -1.86450641e-04 9.99908697e-01 4.25679510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.982320588 meters 0.02259738604192915 Centerline is valid? [True, True] Translation: X:88.82, Y:-5.59, Z:0.42 [[ 9.95703030e-01 9.15481738e-02 1.39429933e-02 8.88162604e+01] [-9.15419355e-02 9.95800630e-01 -1.08631614e-03 -5.58666807e+00] [-1.39838917e-02 -1.94720319e-04 9.99902202e-01 4.24638428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.012320588 meters 0.022607837744966126 Centerline is valid? [True, True] Translation: X:88.85, Y:-5.59, Z:0.42 [[ 9.95571473e-01 9.29499659e-02 1.40621891e-02 8.88481879e+01] [-9.29437248e-02 9.95670758e-01 -1.09812144e-03 -5.58944028e+00] [-1.41033808e-02 -2.13733851e-04 9.99900520e-01 4.24861091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.042320588 meters 0.0226720075829928 Centerline is valid? [True, True] Translation: X:88.88, Y:-5.60, Z:0.42 [[ 9.95553243e-01 9.31331586e-02 1.41405519e-02 8.88812292e+01] [-9.31268224e-02 9.95653639e-01 -1.10733280e-03 -5.59679989e+00] [-1.41822214e-02 -2.14455902e-04 9.99899404e-01 4.24939709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.072320588 meters 0.02253630774491838 Centerline is valid? [True, True] Translation: X:88.91, Y:-5.60, Z:0.43 [[ 9.95531982e-01 9.33798814e-02 1.40096483e-02 8.89136794e+01] [-9.33736468e-02 9.95630530e-01 -1.09989977e-03 -5.60081924e+00] [-1.40511421e-02 -2.13146555e-04 9.99901255e-01 4.26285390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.102320588 meters 0.02236718880672114 Centerline is valid? [True, True] Translation: X:88.95, Y:-5.60, Z:0.43 [[ 9.95557216e-01 9.31438019e-02 1.37862677e-02 8.89457904e+01] [-9.31377208e-02 9.95652645e-01 -1.08388019e-03 -5.60219944e+00] [-1.38272907e-02 -2.04956816e-04 9.99904377e-01 4.28939752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.132320588 meters 0.022382946018005417 Centerline is valid? [True, True] Translation: X:88.98, Y:-5.60, Z:0.43 [[ 9.95526530e-01 9.36381176e-02 1.26027810e-02 8.89784318e+01] [-9.36330533e-02 9.95606281e-01 -9.92589371e-04 -5.60325287e+00] [-1.26403521e-02 -1.91887809e-04 9.99920089e-01 4.30129015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.162320588 meters 0.022491426852205478 Centerline is valid? [True, True] Translation: X:89.01, Y:-5.61, Z:0.43 [[ 9.95479049e-01 9.43511080e-02 1.09238743e-02 8.90108843e+01] [-9.43473289e-02 9.95538969e-01 -8.61912430e-04 -5.60514811e+00] [-1.09564650e-02 -1.72622597e-04 9.99939961e-01 4.29809848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.192320588 meters 0.022704419220314156 Centerline is valid? [True, True] Translation: X:89.04, Y:-5.61, Z:0.43 [[ 9.95454666e-01 9.48163420e-02 8.93697611e-03 8.90430353e+01] [-9.48138195e-02 9.95494772e-01 -7.06471338e-04 -5.60800393e+00] [-8.96369802e-03 -1.44088651e-04 9.99959815e-01 4.25250900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.222320588 meters 0.0224741913809197 Centerline is valid? [True, True] Translation: X:89.07, Y:-5.61, Z:0.42 [[ 9.95532884e-01 9.38503565e-02 1.03144242e-02 8.90749386e+01] [-9.38469315e-02 9.95586303e-01 -8.16638369e-04 -5.60929271e+00] [-1.03455413e-02 -1.54986710e-04 9.99946471e-01 4.23937844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.252320588 meters 0.02259324349463062 Centerline is valid? [True, True] Translation: X:89.11, Y:-5.61, Z:0.42 [[ 9.95618248e-01 9.26950045e-02 1.23264249e-02 8.91072211e+01] [-9.26900055e-02 9.95694535e-01 -9.77455246e-04 -5.61016487e+00] [-1.23639591e-02 -1.69364112e-04 9.99923549e-01 4.23992555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.282320588 meters 0.022357247469925456 Centerline is valid? [True, True] Translation: X:89.14, Y:-5.61, Z:0.43 [[ 9.95721620e-01 9.14259022e-02 1.34074565e-02 8.91400529e+01] [-9.14198328e-02 9.95811869e-01 -1.06615670e-03 -5.61230688e+00] [-1.34487787e-02 -1.64112155e-04 9.99909548e-01 4.26462430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.312320588 meters 0.022185023118083 Centerline is valid? [True, True] Translation: X:89.17, Y:-5.62, Z:0.43 [[ 9.95990498e-01 8.85236527e-02 1.29031074e-02 8.91722419e+01] [-8.85177692e-02 9.96074068e-01 -1.02749596e-03 -5.61651933e+00] [-1.29434084e-02 -1.18778068e-04 9.99916224e-01 4.29677105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.342320588 meters 0.022044951277374426 Centerline is valid? [True, True] Translation: X:89.20, Y:-5.62, Z:0.43 [[ 9.96117252e-01 8.73409277e-02 1.10445797e-02 8.92042042e+01] [-8.73365268e-02 9.96178475e-01 -8.81082402e-04 -5.61667607e+00] [-1.10793272e-02 -8.69338532e-05 9.99938619e-01 4.29280773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.372320588 meters 0.022032881515790307 Centerline is valid? [True, True] Translation: X:89.24, Y:-5.61, Z:0.43 [[ 9.96188681e-01 8.65093588e-02 1.11463877e-02 8.92365698e+01] [-8.65048078e-02 9.96251035e-01 -8.90676688e-04 -5.61438015e+00] [-1.11816522e-02 -7.69340913e-05 9.99937480e-01 4.28633756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.402320588 meters 0.021906730713663804 Centerline is valid? [True, True] Translation: X:89.27, Y:-5.61, Z:0.43 [[ 9.96200657e-01 8.62795311e-02 1.18361450e-02 8.92693551e+01] [-8.62743649e-02 9.96270965e-01 -9.47335747e-04 -5.61384951e+00] [-1.18737432e-02 -7.74193954e-05 9.99929502e-01 4.26064339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.432320588 meters 0.021991238210407722 Centerline is valid? [True, True] Translation: X:89.30, Y:-5.62, Z:0.42 [[ 9.96104835e-01 8.73722893e-02 1.18844368e-02 8.93020453e+01] [-8.73671261e-02 9.96175725e-01 -9.53919525e-04 -5.61725420e+00] [-1.19223336e-02 -8.81052412e-05 9.99928923e-01 4.24989452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.462320588 meters 0.021957259512395022 Centerline is valid? [True, True] Translation: X:89.33, Y:-5.63, Z:0.43 [[ 9.96008828e-01 8.87903705e-02 9.09315692e-03 8.93332521e+01] [-8.87873969e-02 9.96050332e-01 -7.30984839e-04 -5.62653804e+00] [-9.12214639e-03 -7.92903798e-05 9.99958389e-01 4.25242354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.492320588 meters 0.02182771883880655 Centerline is valid? [True, True] Translation: X:89.37, Y:-5.63, Z:0.43 [[ 9.96007396e-01 8.89164907e-02 7.94509026e-03 8.93651047e+01] [-8.89142153e-02 9.96039082e-01 -6.39852067e-04 -5.62911426e+00] [-7.97051381e-03 -6.91340746e-05 9.99968233e-01 4.27220114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.522320588 meters 0.02182771883880655 Centerline is valid? [True, True] Translation: X:89.40, Y:-5.63, Z:0.43 [[ 9.95995367e-01 8.90511428e-02 7.94500309e-03 8.93966845e+01] [-8.90488631e-02 9.96027052e-01 -6.40934138e-04 -5.63162250e+00] [-7.97051393e-03 -6.91260606e-05 9.99968233e-01 4.27379745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.552320588 meters 0.02181889410467128 Centerline is valid? [True, True] Translation: X:89.43, Y:-5.63, Z:0.43 [[ 9.95977633e-01 8.92034714e-02 8.44366909e-03 8.94284423e+01] [-8.92008926e-02 9.96013421e-01 -6.82268216e-04 -5.63204932e+00] [-8.47086843e-03 -7.36589375e-05 9.99964119e-01 4.29322894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.582320588 meters 0.021707764394811303 Centerline is valid? [True, True] Translation: X:89.46, Y:-5.63, Z:0.43 [[ 9.95902243e-01 8.98777985e-02 1.00350789e-02 8.94610134e+01] [-8.98741781e-02 9.95952796e-01 -8.12065255e-04 -5.63305794e+00] [-1.00674516e-02 -9.31568626e-05 9.99949318e-01 4.30934135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.612320588 meters 0.021926882069160044 Centerline is valid? [True, True] Translation: X:89.49, Y:-5.64, Z:0.43 [[ 9.95632059e-01 9.23362392e-02 1.38138347e-02 8.94931408e+01] [-9.23295930e-02 9.95727871e-01 -1.11946230e-03 -5.63736642e+00] [-1.38581872e-02 -1.60853185e-04 9.99903958e-01 4.30736235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.642320588 meters 0.022171881716869554 Centerline is valid? [True, True] Translation: X:89.53, Y:-5.64, Z:0.43 [[ 9.95446628e-01 9.44104060e-02 1.31409883e-02 8.95254014e+01] [-9.44045487e-02 9.95533346e-01 -1.06671759e-03 -5.64017896e+00] [-1.31830013e-02 -1.78708640e-04 9.99913084e-01 4.30446227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.672320588 meters 0.022201254411754977 Centerline is valid? [True, True] Translation: X:89.56, Y:-5.64, Z:0.43 [[ 9.95207573e-01 9.71053299e-02 1.15083413e-02 8.95584539e+01] [-9.71009865e-02 9.95274093e-01 -9.36890518e-04 -5.64098198e+00] [-1.15449310e-02 -1.85070754e-04 9.99933338e-01 4.30420685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.702320588 meters 0.022483690155181767 Centerline is valid? [True, True] Translation: X:89.59, Y:-5.64, Z:0.43 [[ 9.94886978e-01 1.00690572e-01 7.83000370e-03 8.95912120e+01] [-1.00688664e-01 9.94917778e-01 -6.38473021e-04 -5.64119063e+00] [-7.85449810e-03 -1.53184121e-04 9.99969141e-01 4.29522348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.732320588 meters 0.022554483945454215 Centerline is valid? [True, True] Translation: X:89.62, Y:-5.64, Z:0.43 [[ 9.94696984e-01 1.02644810e-01 6.47705423e-03 8.96234847e+01] [-1.02643540e-01 9.94718062e-01 -5.29128738e-04 -5.64475410e+00] [-6.49715516e-03 -1.38505015e-04 9.99978884e-01 4.29369024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.762320588 meters 0.022660854958489796 Centerline is valid? [True, True] Translation: X:89.66, Y:-5.65, Z:0.43 [[ 9.94587673e-01 1.03586965e-01 8.06851971e-03 8.96551032e+01] [-1.03585017e-01 9.94620384e-01 -6.60062168e-04 -5.64770204e+00] [-8.09348801e-03 -1.79288058e-04 9.99967231e-01 4.30391402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.792320588 meters 0.02263086120524705 Centerline is valid? [True, True] Translation: X:89.69, Y:-5.65, Z:0.43 [[ 9.94489074e-01 1.04411056e-01 9.47701014e-03 8.96876729e+01] [-1.04408395e-01 9.94534205e-01 -7.76422444e-04 -5.64958132e+00] [-9.50627783e-03 -2.17335781e-04 9.99954791e-01 4.32377312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.822320588 meters 0.022722168490831276 Centerline is valid? [True, True] Translation: X:89.72, Y:-5.65, Z:0.43 [[ 9.94512243e-01 1.03869743e-01 1.25090024e-02 8.97199778e+01] [-1.03865046e-01 9.94590870e-01 -1.02629461e-03 -5.64672535e+00] [-1.25479406e-02 -2.78585560e-04 9.99921233e-01 4.34334266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.852320588 meters 0.022751650585989217 Centerline is valid? [True, True] Translation: X:89.75, Y:-5.65, Z:0.43 [[ 9.94537240e-01 1.03627761e-01 1.25285925e-02 8.97522148e+01] [-1.03623009e-01 9.94616113e-01 -1.02957576e-03 -5.64705314e+00] [-1.25678326e-02 -2.74299020e-04 9.99920984e-01 4.33107694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.882320588 meters 0.022645076546294055 Centerline is valid? [True, True] Translation: X:89.78, Y:-5.65, Z:0.43 [[ 9.94614726e-01 1.02893941e-01 1.24251539e-02 8.97847926e+01] [-1.02889190e-01 9.94692298e-01 -1.02274726e-03 -5.64849363e+00] [-1.24644393e-02 -2.61174529e-04 9.99922282e-01 4.31271779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.912320588 meters 0.02267580795210862 Centerline is valid? [True, True] Translation: X:89.82, Y:-5.65, Z:0.43 [[ 9.94648180e-01 1.02553738e-01 1.25589893e-02 8.98168690e+01] [-1.02548836e-01 9.94727432e-01 -1.03542228e-03 -5.64981859e+00] [-1.25989576e-02 -2.58028838e-04 9.99920597e-01 4.30703487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.942320588 meters 0.022410007520138057 Centerline is valid? [True, True] Translation: X:89.85, Y:-5.65, Z:0.43 [[ 9.94893912e-01 1.00198590e-01 1.20973998e-02 8.98495880e+01] [-1.00193847e-01 9.94967434e-01 -9.99025261e-04 -5.64793697e+00] [-1.21366198e-02 -2.18160879e-04 9.99926325e-01 4.30908732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.972320588 meters 0.022228390970567058 Centerline is valid? [True, True] Translation: X:89.88, Y:-5.65, Z:0.43 [[ 9.95089113e-01 9.82683173e-02 1.18741086e-02 8.98822788e+01] [-9.82635913e-02 9.95159938e-01 -9.82189482e-04 -5.64790306e+00] [-1.19131552e-02 -1.89426489e-04 9.99929018e-01 4.30730818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.002320588 meters 0.022031490364164966 Centerline is valid? [True, True] Translation: X:89.91, Y:-5.65, Z:0.43 [[ 9.95334489e-01 9.57994737e-02 1.14767276e-02 8.99144375e+01] [-9.57948767e-02 9.95400642e-01 -9.50875665e-04 -5.64817396e+00] [-1.15150354e-02 -1.52972363e-04 9.99933688e-01 4.30578093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.032320588 meters 0.021601317649500996 Centerline is valid? [True, True] Translation: X:89.95, Y:-5.65, Z:0.43 [[ 9.95801787e-01 9.08130431e-02 1.14800792e-02 8.99468674e+01] [-9.08080942e-02 9.95867954e-01 -9.52693143e-04 -5.64892990e+00] [-1.15191600e-02 -9.37905811e-05 9.99933648e-01 4.31635201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.062320588 meters 0.021538252578538586 Centerline is valid? [True, True] Translation: X:89.98, Y:-5.65, Z:0.43 [[ 9.96051705e-01 8.77847512e-02 1.32226446e-02 8.99791045e+01] [-8.77778969e-02 9.96139465e-01 -1.09896491e-03 -5.65165948e+00] [-1.32680705e-02 -6.60300630e-05 9.99911973e-01 4.31819298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.092320588 meters 0.02157844551185419 Centerline is valid? [True, True] Translation: X:90.01, Y:-5.65, Z:0.43 [[ 9.96287802e-01 8.50919461e-02 1.30374630e-02 9.00110153e+01] [-8.50850292e-02 9.96373103e-01 -1.08530289e-03 -5.65322066e+00] [-1.30825280e-02 -2.80188811e-05 9.99914420e-01 4.32612973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.122320588 meters 0.021571859003328454 Centerline is valid? [True, True] Translation: X:90.04, Y:-5.65, Z:0.43 [[ 9.96412186e-01 8.36793002e-02 1.26700426e-02 9.00433468e+01] [-8.36726316e-02 9.96492737e-01 -1.05643243e-03 -5.65326390e+00] [-1.27140069e-02 -7.49365862e-06 9.99919174e-01 4.32586001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.152320588 meters 0.021531234677050405 Centerline is valid? [True, True] Translation: X:90.08, Y:-5.65, Z:0.43 [[ 9.96479033e-01 8.33034611e-02 9.49057813e-03 9.00763527e+01] [-8.32996891e-02 9.96524226e-01 -7.92732185e-04 -5.64944383e+00] [-9.52362837e-03 -6.21207031e-07 9.99954649e-01 4.31011509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.182320588 meters 0.02162196516256553 Centerline is valid? [True, True] Translation: X:90.11, Y:-5.65, Z:0.43 [[ 9.96530299e-01 8.28982122e-02 7.43295229e-03 9.01087706e+01] [-8.28958788e-02 9.96558020e-01 -6.21994423e-04 -5.65107798e+00] [-7.45893044e-03 3.67517695e-06 9.99972182e-01 4.30495202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.212320588 meters 0.021367595090653318 Centerline is valid? [True, True] Translation: X:90.14, Y:-5.65, Z:0.43 [[ 9.96542370e-01 8.27079508e-02 7.91836439e-03 9.01402007e+01] [-8.27052922e-02 9.96573828e-01 -6.63172729e-04 -5.65448623e+00] [-7.94608437e-03 5.98908148e-06 9.99968429e-01 4.30308857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.242320588 meters 0.02133852561314765 Centerline is valid? [True, True] Translation: X:90.17, Y:-5.66, Z:0.43 [[ 9.96552419e-01 8.25961870e-02 7.81958384e-03 9.01717742e+01] [-8.25935881e-02 9.96583097e-01 -6.55265467e-04 -5.65794691e+00] [-7.84698751e-03 7.15889982e-06 9.99969212e-01 4.30934165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.272320588 meters 0.021373614718393778 Centerline is valid? [True, True] Translation: X:90.20, Y:-5.66, Z:0.43 [[ 9.96650751e-01 8.13884759e-02 7.94963006e-03 9.02031707e+01] [-8.13857473e-02 9.96682455e-01 -6.66678120e-04 -5.65977030e+00] [-7.97751672e-03 1.74586656e-05 9.99968179e-01 4.32442606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.302320588 meters 0.021505336779674616 Centerline is valid? [True, True] Translation: X:90.23, Y:-5.66, Z:0.43 [[ 9.96782116e-01 7.93930354e-02 1.10525687e-02 9.02342462e+01] [-7.93876315e-02 9.96843390e-01 -9.27499088e-04 -5.65944004e+00] [-1.10913170e-02 4.70772527e-05 9.99938488e-01 4.33721926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.332320588 meters 0.021684686112049947 Centerline is valid? [True, True] Translation: X:90.27, Y:-5.66, Z:0.43 [[ 9.96851946e-01 7.82068822e-02 1.30338389e-02 9.02661621e+01] [-7.81992399e-02 9.96937149e-01 -1.09573404e-03 -5.66242378e+00] [-1.30796122e-02 7.30483126e-05 9.99914456e-01 4.33125974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.362320588 meters 0.0215474443566351 Centerline is valid? [True, True] Translation: X:90.30, Y:-5.67, Z:0.43 [[ 9.96967679e-01 7.68572064e-02 1.21826564e-02 9.02977048e+01] [-7.68504091e-02 9.97042107e-01 -1.02580094e-03 -5.66688110e+00] [-1.22254616e-02 8.64482561e-05 9.99925263e-01 4.32936853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.392320588 meters 0.02172372273435267 Centerline is valid? [True, True] Translation: X:90.33, Y:-5.67, Z:0.43 [[ 9.97083449e-01 7.55479133e-02 1.08216692e-02 9.03301093e+01] [-7.55424568e-02 9.97142169e-01 -9.12684661e-04 -5.67130445e+00] [-1.08596941e-02 9.25272896e-05 9.99941028e-01 4.31465310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.422320588 meters 0.021682723848849686 Centerline is valid? [True, True] Translation: X:90.36, Y:-5.67, Z:0.43 [[ 9.97116410e-01 7.54062696e-02 8.52994743e-03 9.03618695e+01] [-7.54028635e-02 9.97152891e-01 -7.20656778e-04 -5.67270812e+00] [-8.56000378e-03 7.53962370e-05 9.99963360e-01 4.30973319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.452320588 meters 0.021426033754786116 Centerline is valid? [True, True] Translation: X:90.39, Y:-5.67, Z:0.43 [[ 9.96976108e-01 7.72276060e-02 8.63343051e-03 9.03931075e+01] [-7.72241831e-02 9.97013487e-01 -7.29626940e-04 -5.67332937e+00] [-8.66399400e-03 6.07110085e-05 9.99962465e-01 4.31763907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.482320588 meters 0.021405720657309148 Centerline is valid? [True, True] Translation: X:90.42, Y:-5.68, Z:0.43 [[ 9.96859803e-01 7.87415171e-02 8.38492896e-03 9.04247835e+01] [-7.87383372e-02 9.96895065e-01 -7.09185459e-04 -5.67535403e+00] [-8.41473664e-03 4.67431123e-05 9.99964594e-01 4.33575612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.512320588 meters 0.02126875642220396 Centerline is valid? [True, True] Translation: X:90.46, Y:-5.68, Z:0.44 [[ 9.96403072e-01 8.40669365e-02 1.06615350e-02 9.04561385e+01] [-8.40620936e-02 9.96460110e-01 -9.02354733e-04 -5.68196097e+00] [-1.06996526e-02 2.87807298e-06 9.99942757e-01 4.36131958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.542320588 meters 0.02132722107235761 Centerline is valid? [True, True] Translation: X:90.49, Y:-5.69, Z:0.44 [[ 9.96253093e-01 8.55418109e-02 1.27425942e-02 9.04881777e+01] [-8.55349886e-02 9.96334582e-01 -1.08042460e-03 -5.68529588e+00] [-1.27883087e-02 -1.35613029e-05 9.99918226e-01 4.36134746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.572320588 meters 0.021341832363714373 Centerline is valid? [True, True] Translation: X:90.52, Y:-5.69, Z:0.44 [[ 9.96185136e-01 8.62656244e-02 1.31687833e-02 9.05206438e+01] [-8.62583785e-02 9.96272172e-01 -1.11829168e-03 -5.68748194e+00] [-1.32161624e-02 -2.18923393e-05 9.99912662e-01 4.35688003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.602320588 meters 0.02126532544089275 Centerline is valid? [True, True] Translation: X:90.55, Y:-5.69, Z:0.43 [[ 9.96173402e-01 8.64040986e-02 1.31485428e-02 9.05523480e+01] [-8.63968642e-02 9.96260172e-01 -1.11829748e-03 -5.69066057e+00] [-1.31959950e-02 -2.19746624e-05 9.99912929e-01 4.33840396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.632320588 meters 0.021383773044965353 Centerline is valid? [True, True] Translation: X:90.58, Y:-5.70, Z:0.43 [[ 9.96326561e-01 8.47288290e-02 1.24261549e-02 9.05840217e+01] [-8.47222165e-02 9.96404047e-01 -1.05853838e-03 -5.69555083e+00] [-1.24711597e-02 1.87852294e-06 9.99922232e-01 4.32301960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.662320588 meters 0.0213312185312438 Centerline is valid? [True, True] Translation: X:90.62, Y:-5.70, Z:0.43 [[ 9.96656158e-01 8.11617641e-02 9.44832159e-03 9.06161826e+01] [-8.11577674e-02 9.96700941e-01 -8.06284107e-04 -5.70152615e+00] [-9.48259046e-03 3.67833342e-05 9.99955039e-01 4.32904346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.692320588 meters 0.021343240893453116 Centerline is valid? [True, True] Translation: X:90.65, Y:-5.70, Z:0.43 [[ 9.96809391e-01 7.94450676e-02 7.71486488e-03 9.06483057e+01] [-7.94423428e-02 9.96839244e-01 -6.59485748e-04 -5.70197155e+00] [-7.74287297e-03 4.44946467e-05 9.99970023e-01 4.34205337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.722320588 meters 0.02122765509504545 Centerline is valid? [True, True] Translation: X:90.68, Y:-5.70, Z:0.43 [[ 9.96860644e-01 7.88528183e-02 7.14773217e-03 9.06797642e+01] [-7.88504629e-02 9.96886268e-01 -6.11186416e-04 -5.70418404e+00] [-7.17366981e-03 4.56656939e-05 9.99974268e-01 4.33941767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.752320588 meters 0.021270159749322975 Centerline is valid? [True, True] Translation: X:90.71, Y:-5.71, Z:0.43 [[ 9.96709331e-01 8.06634394e-02 7.99487829e-03 9.07105406e+01] [-8.06605469e-02 9.96741395e-01 -6.84107518e-04 -5.71175975e+00] [-8.02400860e-03 3.69850911e-05 9.99967806e-01 4.33814115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.782320588 meters 0.021251464778328982 Centerline is valid? [True, True] Translation: X:90.74, Y:-5.72, Z:0.43 [[ 9.96520355e-01 8.26712785e-02 1.06133214e-02 9.07425679e+01] [-8.26662774e-02 9.96576871e-01 -9.09793829e-04 -5.71926896e+00] [-1.06522044e-02 2.92643003e-05 9.99943263e-01 4.33507411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.812320588 meters 0.021176943664661472 Centerline is valid? [True, True] Translation: X:90.77, Y:-5.72, Z:0.43 [[ 9.96331588e-01 8.48726739e-02 1.09543017e-02 9.07747488e+01] [-8.48674636e-02 9.96391805e-01 -9.40450422e-04 -5.72443036e+00] [-1.09945950e-02 7.33665784e-06 9.99939558e-01 4.34248497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.842320588 meters 0.02127645285040501 Centerline is valid? [True, True] Translation: X:90.81, Y:-5.73, Z:0.43 [[ 9.96096691e-01 8.75832711e-02 1.09796567e-02 9.08069797e+01] [-8.75781793e-02 9.96157202e-01 -9.44617101e-04 -5.72722986e+00] [-1.10201967e-02 -2.06483745e-05 9.99939276e-01 4.34082335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.872320588 meters 0.021365952259890873 Centerline is valid? [True, True] Translation: X:90.84, Y:-5.73, Z:0.43 [[ 9.95561222e-01 9.38024855e-02 7.67767456e-03 9.08385895e+01] [-9.38001720e-02 9.95590825e-01 -6.61658129e-04 -5.73249123e+00] [-7.70588752e-03 -6.14460178e-05 9.99970307e-01 4.34294407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.902320588 meters 0.021453155361287495 Centerline is valid? [True, True] Translation: X:90.87, Y:-5.74, Z:0.44 [[ 9.95296188e-01 9.65683465e-02 7.74933125e-03 9.08707755e+01] [-9.65660655e-02 9.95326352e-01 -6.68857294e-04 -5.73696861e+00] [-7.77770405e-03 -8.26113136e-05 9.99969750e-01 4.35283132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.932320588 meters 0.021647947573212544 Centerline is valid? [True, True] Translation: X:90.90, Y:-5.74, Z:0.44 [[ 9.94974358e-01 9.97038655e-02 9.22854323e-03 9.09025078e+01] [-9.97007552e-02 9.95017147e-01 -7.97629633e-04 -5.73980764e+00] [-9.26208552e-03 -1.26471697e-04 9.99957098e-01 4.37577489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.962320588 meters 0.021842521454490116 Centerline is valid? [True, True] Translation: X:90.93, Y:-5.74, Z:0.44 [[ 9.94829418e-01 1.01067188e-01 9.99261877e-03 9.09345482e+01] [-1.01063597e-01 9.94879591e-01 -8.64942283e-04 -5.74149942e+00] [-1.00288698e-02 -1.49419972e-04 9.99949698e-01 4.38295630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.992320588 meters 0.021938239348732153 Centerline is valid? [True, True] Translation: X:90.97, Y:-5.75, Z:0.44 [[ 9.94748401e-01 1.01870890e-01 9.89652612e-03 9.09661193e+01] [-1.01867394e-01 9.94797617e-01 -8.57947409e-04 -5.74612622e+00] [-9.93244046e-03 -1.54691516e-04 9.99950660e-01 4.35104723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.022320588 meters 0.02192282163356365 Centerline is valid? [True, True] Translation: X:91.00, Y:-5.75, Z:0.43 [[ 9.94894763e-01 1.00381838e-01 1.03873473e-02 9.09980049e+01] [-1.00377892e-01 9.94948976e-01 -9.01854420e-04 -5.75122284e+00] [-1.04254104e-02 -1.45409785e-04 9.99945643e-01 4.32812876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.052320588 meters 0.02189888436419471 Centerline is valid? [True, True] Translation: X:91.03, Y:-5.75, Z:0.43 [[ 9.95033580e-01 9.89478192e-02 1.08399014e-02 9.10295299e+01] [-9.89434214e-02 9.95092614e-01 -9.42558227e-04 -5.75484798e+00] [-1.08799699e-02 -1.34659842e-04 9.99940802e-01 4.32285678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.082320588 meters 0.021784194325154427 Centerline is valid? [True, True] Translation: X:91.06, Y:-5.76, Z:0.43 [[ 9.95133003e-01 9.78281646e-02 1.18303607e-02 9.10620912e+01] [-9.78228292e-02 9.95203312e-01 -1.03020851e-03 -5.75701580e+00] [-1.18743976e-02 -1.32084863e-04 9.99929488e-01 4.34056885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.112320588 meters 0.021662458310871338 Centerline is valid? [True, True] Translation: X:91.09, Y:-5.76, Z:0.44 [[ 9.95155964e-01 9.75098851e-02 1.25071828e-02 9.10939637e+01] [-9.75038761e-02 9.95234547e-01 -1.09077621e-03 -5.75906827e+00] [-1.25539418e-02 -1.34006350e-04 9.99921187e-01 4.35867926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.142320588 meters 0.021742375855135384 Centerline is valid? [True, True] Translation: X:91.13, Y:-5.77, Z:0.44 [[ 9.94962888e-01 9.96710749e-02 1.07017996e-02 9.11260385e+01] [-9.96667725e-02 9.95020431e-01 -9.35932200e-04 -5.76654336e+00] [-1.07417946e-02 -1.35396024e-04 9.99942296e-01 4.39232496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.172320588 meters 0.0217215303756494 Centerline is valid? [True, True] Translation: X:91.16, Y:-5.77, Z:0.44 [[ 9.94780521e-01 1.01465472e-01 1.07922798e-02 9.11577181e+01] [-1.01461190e-01 9.94839049e-01 -9.44933556e-04 -5.77119042e+00] [-1.08324595e-02 -1.54996059e-04 9.99941315e-01 4.39113213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.202320588 meters 0.02199321449680384 Centerline is valid? [True, True] Translation: X:91.19, Y:-5.77, Z:0.44 [[ 9.94540069e-01 1.03670731e-01 1.19344078e-02 9.11902322e+01] [-1.03665635e-01 9.94611653e-01 -1.04646518e-03 -5.77389130e+00] [-1.19785888e-02 -1.96436406e-04 9.99928235e-01 4.37797585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.232320588 meters 0.0225598009884765 Centerline is valid? [True, True] Translation: X:91.22, Y:-5.77, Z:0.43 [[ 9.93955820e-01 1.08500276e-01 1.67187686e-02 9.12227367e+01] [-1.08490926e-01 9.94096356e-01 -1.46794666e-03 -5.77356140e+00] [-1.67793396e-02 -3.54760559e-04 9.99859154e-01 4.34841036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.262320588 meters 0.023003373736002197 Centerline is valid? [True, True] Translation: X:91.25, Y:-5.78, Z:0.43 [[ 9.93738636e-01 1.10509097e-01 1.64700453e-02 9.12544761e+01] [-1.10500262e-01 9.93875040e-01 -1.44830757e-03 -5.77638762e+00] [-1.65292180e-02 -3.80705129e-04 9.99863311e-01 4.34088630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.292320588 meters 0.022861560703372478 Centerline is valid? [True, True] Translation: X:91.29, Y:-5.78, Z:0.44 [[ 9.93640332e-01 1.11413238e-01 1.63088960e-02 9.12864146e+01] [-1.11404661e-01 9.93774088e-01 -1.43630755e-03 -5.77939775e+00] [-1.63673819e-02 -3.89713919e-04 9.99865969e-01 4.35231978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.322320588 meters 0.022850971121073697 Centerline is valid? [True, True] Translation: X:91.32, Y:-5.78, Z:0.44 [[ 9.93590572e-01 1.11826505e-01 1.65108329e-02 9.13190230e+01] [-1.11817736e-01 9.93727666e-01 -1.45625996e-03 -5.77840184e+00] [-1.65701199e-02 -3.99277787e-04 9.99862626e-01 4.37561652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.352320588 meters 0.022862246863490705 Centerline is valid? [True, True] Translation: X:91.35, Y:-5.78, Z:0.44 [[ 9.93561846e-01 1.11935720e-01 1.74714815e-02 9.13509313e+01] [-1.11925876e-01 9.93715360e-01 -1.54329255e-03 -5.77858584e+00] [-1.75344290e-02 -4.22154276e-04 9.99846171e-01 4.38692273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.382320588 meters 0.022711654401872252 Centerline is valid? [True, True] Translation: X:91.38, Y:-5.78, Z:0.44 [[ 9.93692509e-01 1.10883796e-01 1.67326271e-02 9.13828051e+01] [-1.10874580e-01 9.93833304e-01 -1.48028496e-03 -5.77958879e+00] [-1.67935817e-02 -3.84274936e-04 9.99858904e-01 4.39157746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.412320588 meters 0.022629451841852923 Centerline is valid? [True, True] Translation: X:91.42, Y:-5.78, Z:0.44 [[ 9.93830203e-01 1.09668129e-01 1.65658733e-02 9.14151050e+01] [-1.09658891e-01 9.93968195e-01 -1.46775184e-03 -5.78182051e+00] [-1.66269167e-02 -3.57899180e-04 9.99861699e-01 4.38333225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.442320588 meters 0.022629451841852923 Centerline is valid? [True, True] Translation: X:91.45, Y:-5.78, Z:0.44 [[ 9.93808303e-01 1.09866463e-01 1.65655503e-02 9.14475148e+01] [-1.09857191e-01 9.93946293e-01 -1.47139410e-03 -5.78464375e+00] [-1.66269241e-02 -3.57561157e-04 9.99861699e-01 4.38497144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.472320588 meters 0.022713958237455763 Centerline is valid? [True, True] Translation: X:91.48, Y:-5.79, Z:0.44 [[ 9.93911146e-01 1.08839752e-01 1.71622371e-02 9.14797392e+01] [-1.08829614e-01 9.94059246e-01 -1.52631165e-03 -5.78605668e+00] [-1.72264038e-02 -3.50741472e-04 9.99851553e-01 4.37493737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.502320588 meters 0.022746972982509977 Centerline is valid? [True, True] Translation: X:91.51, Y:-5.78, Z:0.44 [[ 9.93858715e-01 1.09053904e-01 1.87643483e-02 9.15121295e+01] [-1.09041778e-01 9.94035763e-01 -1.67121216e-03 -5.78274328e+00] [-1.88346855e-02 -3.85149128e-04 9.99822537e-01 4.36916977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.532320588 meters 0.022813351700870624 Centerline is valid? [True, True] Translation: X:91.54, Y:-5.78, Z:0.44 [[ 9.93766026e-01 1.09818857e-01 1.92068937e-02 9.15439725e+01] [-1.09806262e-01 9.93951534e-01 -1.71235972e-03 -5.78211272e+00] [-1.92787708e-02 -4.07352288e-04 9.99814064e-01 4.37821298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.562320588 meters 0.02268969145689989 Centerline is valid? [True, True] Translation: X:91.58, Y:-5.78, Z:0.44 [[ 9.93819117e-01 1.09470636e-01 1.84321048e-02 9.15763726e+01] [-1.09458928e-01 9.93989957e-01 -1.64591443e-03 -5.78104023e+00] [-1.85015064e-02 -3.81817206e-04 9.99828760e-01 4.38038435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.592320588 meters 0.02288167801652152 Centerline is valid? [True, True] Translation: X:91.61, Y:-5.78, Z:0.44 [[ 9.93729682e-01 1.10352663e-01 1.79891353e-02 9.16100030e+01] [-1.10341585e-01 9.93892420e-01 -1.61029516e-03 -5.78013401e+00] [-1.80569656e-02 -3.84751594e-04 9.99836886e-01 4.38668334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.622320588 meters 0.022821264005246148 Centerline is valid? [True, True] Translation: X:91.64, Y:-5.78, Z:0.44 [[ 9.93758770e-01 1.10317926e-01 1.65367065e-02 9.16423696e+01] [-1.10308527e-01 9.93896288e-01 -1.48221579e-03 -5.77933067e+00] [-1.65992862e-02 -3.51174806e-04 9.99862161e-01 4.38048355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.652320588 meters 0.022954246692981416 Centerline is valid? [True, True] Translation: X:91.67, Y:-5.78, Z:0.44 [[ 9.93737894e-01 1.10791541e-01 1.44994090e-02 9.16749889e+01] [-1.10784337e-01 9.93843618e-01 -1.30160826e-03 -5.77869754e+00] [-1.45543523e-02 -3.12849962e-04 9.99894031e-01 4.36834710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.682320588 meters 0.02281392787710252 Centerline is valid? [True, True] Translation: X:91.71, Y:-5.78, Z:0.44 [[ 9.93797497e-01 1.10232903e-01 1.46711541e-02 9.17070635e+01] [-1.10225437e-01 9.93905737e-01 -1.31896522e-03 -5.78069482e+00] [-1.47271376e-02 -3.06350037e-04 9.99891503e-01 4.36357969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.712320588 meters 0.0227889548247551 Centerline is valid? [True, True] Translation: X:91.74, Y:-5.78, Z:0.44 [[ 9.93969033e-01 1.08283800e-01 1.73257074e-02 9.17392276e+01] [-1.08273054e-01 9.94119969e-01 -1.55979490e-03 -5.78139592e+00] [-1.73927323e-02 -3.25519433e-04 9.99848682e-01 4.36239137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.742320588 meters 0.022772107543662084 Centerline is valid? [True, True] Translation: X:91.77, Y:-5.78, Z:0.44 [[ 9.94185517e-01 1.05905586e-01 1.94721525e-02 9.17719578e+01] [-1.05891414e-01 9.94376141e-01 -1.76037110e-03 -5.78072126e+00] [-1.95490770e-02 -3.11798314e-04 9.99808850e-01 4.37178078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.772320588 meters 0.022416231187267065 Centerline is valid? [True, True] Translation: X:91.81, Y:-5.77, Z:0.44 [[ 9.94747370e-01 1.00259161e-01 2.06341903e-02 9.18052999e+01] [-1.00241956e-01 9.94961334e-01 -1.86906718e-03 -5.77442899e+00] [-2.07176126e-02 -2.09161930e-04 9.99785345e-01 4.37669334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.802320588 meters 0.022229764616695413 Centerline is valid? [True, True] Translation: X:91.84, Y:-5.77, Z:0.44 [[ 9.95096581e-01 9.71434785e-02 1.85994269e-02 9.18377611e+01] [-9.71289151e-02 9.95270379e-01 -1.68690096e-03 -5.77422015e+00] [-1.86753301e-02 -1.27912779e-04 9.99825593e-01 4.36649665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.832320588 meters 0.022048296822938896 Centerline is valid? [True, True] Translation: X:91.87, Y:-5.78, Z:0.43 [[ 9.95679468e-01 9.11688869e-02 1.76247533e-02 9.18696912e+01] [-9.11548313e-02 9.95835445e-01 -1.60088731e-03 -5.77533103e+00] [-1.76973052e-02 -1.26107871e-05 9.99843390e-01 4.33498489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862320588 meters 0.02224224620194298 Centerline is valid? [True, True] Translation: X:91.90, Y:-5.78, Z:0.43 [[ 9.95808604e-01 8.95819722e-02 1.84470893e-02 9.19015270e+01] [-8.95662580e-02 9.95979453e-01 -1.67795503e-03 -5.77766834e+00] [-1.85232364e-02 1.86852934e-05 9.99828430e-01 4.32787559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.892320588 meters 0.022159225225372243 Centerline is valid? [True, True] Translation: X:91.93, Y:-5.78, Z:0.43 [[ 9.95984764e-01 8.75985459e-02 1.84619871e-02 9.19342931e+01] [-8.75823925e-02 9.96155857e-01 -1.68324837e-03 -5.78002566e+00] [-1.85384667e-02 5.95447256e-05 9.99828146e-01 4.34011174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.922320588 meters 0.02226345683908191 Centerline is valid? [True, True] Translation: X:91.97, Y:-5.78, Z:0.43 [[ 9.96157283e-01 8.58195515e-02 1.74834681e-02 9.19664245e+01] [-8.58047564e-02 9.96310693e-01 -1.59601532e-03 -5.78258934e+00] [-1.75559356e-02 8.97175617e-05 9.99845879e-01 4.34003873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.952320588 meters 0.022360953765762036 Centerline is valid? [True, True] Translation: X:92.00, Y:-5.78, Z:0.44 [[ 9.96434272e-01 8.29324744e-02 1.55224738e-02 9.19985278e+01] [-8.29204292e-02 9.96555161e-01 -1.41909683e-03 -5.78428213e+00] [-1.55866906e-02 1.26906526e-04 9.99878512e-01 4.35043709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.982320588 meters 0.02246044199175977 Centerline is valid? [True, True] Translation: X:92.03, Y:-5.78, Z:0.44 [[ 9.96732532e-01 7.90326454e-02 1.66763545e-02 9.20311812e+01] [-7.90181617e-02 9.96872008e-01 -1.52668210e-03 -5.78456074e+00] [-1.67448487e-02 2.03958842e-04 9.99859774e-01 4.35098583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.012320588 meters 0.02269935935443892 Centerline is valid? [True, True] Translation: X:92.06, Y:-5.79, Z:0.44 [[ 9.96718246e-01 7.85361839e-02 1.96164953e-02 9.20635376e+01] [-7.85159989e-02 9.96911232e-01 -1.79823964e-03 -5.78682993e+00] [-1.96971314e-02 2.52129531e-04 9.99805961e-01 4.35429353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.042320588 meters 0.02279815802976339 Centerline is valid? [True, True] Translation: X:92.10, Y:-5.79, Z:0.43 [[ 9.96669251e-01 7.89173516e-02 2.05537286e-02 9.20956228e+01] [-7.88952183e-02 9.96881129e-01 -1.88678085e-03 -5.79045757e+00] [-2.06385239e-02 2.58905556e-04 9.99786969e-01 4.34904643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.072320588 meters 0.0224802157623062 Centerline is valid? [True, True] Translation: X:92.13, Y:-5.80, Z:0.43 [[ 9.96563867e-01 8.12343686e-02 1.61689747e-02 9.21274748e+01] [-8.12209411e-02 9.96695013e-01 -1.48647805e-03 -5.79760180e+00] [-1.62362896e-02 1.68110972e-04 9.99868169e-01 4.33133754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.102320588 meters 0.02219767125833575 Centerline is valid? [True, True] Translation: X:92.16, Y:-5.80, Z:0.43 [[ 9.96368119e-01 8.37782639e-02 1.52241284e-02 9.21591182e+01] [-8.37666260e-02 9.96484414e-01 -1.40162861e-03 -5.80143545e+00] [-1.52880326e-02 1.21264192e-04 9.99883124e-01 4.32781469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.132320588 meters 0.022097175155939786 Centerline is valid? [True, True] Translation: X:92.19, Y:-5.80, Z:0.43 [[ 9.96078706e-01 8.70997898e-02 1.55189279e-02 9.21909467e+01] [-8.70880688e-02 9.96199589e-01 -1.43075909e-03 -5.80376159e+00] [-1.55845685e-02 7.36352004e-05 9.99878551e-01 4.34030554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.162320588 meters 0.022146855934339738 Centerline is valid? [True, True] Translation: X:92.22, Y:-5.81, Z:0.44 [[ 9.95793417e-01 9.00166011e-02 1.71021097e-02 9.22232421e+01] [-9.00027589e-02 9.95940265e-01 -1.57890468e-03 -5.80566110e+00] [-1.71748073e-02 3.30258348e-05 9.99852502e-01 4.35639076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.192320588 meters 0.022024559759918752 Centerline is valid? [True, True] Translation: X:92.26, Y:-5.81, Z:0.44 [[ 9.95594181e-01 9.21284931e-02 1.74518911e-02 9.22550777e+01] [-9.21143635e-02 9.95747127e-01 -1.61346600e-03 -5.80779865e+00] [-1.75263167e-02 -1.21248632e-06 9.99846402e-01 4.36904660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.222320588 meters 0.021980170493955797 Centerline is valid? [True, True] Translation: X:92.29, Y:-5.81, Z:0.44 [[ 9.95299237e-01 9.54774786e-02 1.62320638e-02 9.22874724e+01] [-9.54656652e-02 9.95431589e-01 -1.50285571e-03 -5.81161410e+00] [-1.63013980e-02 -5.38136271e-05 9.99867122e-01 4.38084478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.252320588 meters 0.02228241649124317 Centerline is valid? [True, True] Translation: X:92.32, Y:-5.81, Z:0.44 [[ 9.94986053e-01 9.81770086e-02 1.90795735e-02 9.23190523e+01] [-9.81611085e-02 9.95168962e-01 -1.77036330e-03 -5.81483469e+00] [-1.91612083e-02 -1.11385291e-04 9.99816401e-01 4.36543882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.282320588 meters 0.02229220072043834 Centerline is valid? [True, True] Translation: X:92.35, Y:-5.82, Z:0.44 [[ 9.94834278e-01 9.95609815e-02 1.98083434e-02 9.23513494e+01] [-9.95440730e-02 9.95031452e-01 -1.84023499e-03 -5.81715005e+00] [-1.98931403e-02 -1.41074332e-04 9.99802102e-01 4.36172605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.312320588 meters 0.02249917908071819 Centerline is valid? [True, True] Translation: X:92.38, Y:-5.82, Z:0.44 [[ 9.94645601e-01 1.01672314e-01 1.85166963e-02 9.23839934e+01] [-1.01657859e-01 9.94817929e-01 -1.72269090e-03 -5.81873068e+00] [-1.85958914e-02 -1.68900781e-04 9.99827067e-01 4.36215436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.342320588 meters 0.022550043488537095 Centerline is valid? [True, True] Translation: X:92.42, Y:-5.82, Z:0.44 [[ 9.94330451e-01 1.05099426e-01 1.61574757e-02 9.24168911e+01] [-1.05088836e-01 9.94461699e-01 -1.50539540e-03 -5.81573090e+00] [-1.62262069e-02 -2.01109829e-04 9.99868326e-01 4.36955520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.372320588 meters 0.02257775131340029 Centerline is valid? [True, True] Translation: X:92.45, Y:-5.82, Z:0.44 [[ 9.94196833e-01 1.06362676e-01 1.61132803e-02 9.24494550e+01] [-1.06352276e-01 9.94327377e-01 -1.50340819e-03 -5.81612579e+00] [-1.61817822e-02 -2.19000359e-04 9.99869042e-01 4.38636942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.402320588 meters 0.022841576101522154 Centerline is valid? [True, True] Translation: X:92.48, Y:-5.82, Z:0.44 [[ 9.93935501e-01 1.08524598e-01 1.77378606e-02 9.24820038e+01] [-1.08512298e-01 9.94093725e-01 -1.65724810e-03 -5.81837484e+00] [-1.78129481e-02 -2.77578294e-04 9.99841298e-01 4.39032596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.432320588 meters 0.022916932193403725 Centerline is valid? [True, True] Translation: X:92.51, Y:-5.82, Z:0.44 [[ 9.93752620e-01 1.09888146e-01 1.95019481e-02 9.25134214e+01] [-1.09873508e-01 9.93943905e-01 -1.82375041e-03 -5.82255785e+00] [-1.95842510e-02 -3.30390691e-04 9.99808156e-01 4.39409210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.462320588 meters 0.02300024357248453 Centerline is valid? [True, True] Translation: X:92.54, Y:-5.83, Z:0.44 [[ 9.93621699e-01 1.11340034e-01 1.78694437e-02 9.25448097e+01] [-1.11327933e-01 9.93782315e-01 -1.67363318e-03 -5.82757518e+00] [-1.79446795e-02 -3.26409990e-04 9.99838928e-01 4.37785627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.492320588 meters 0.022996187274496906 Centerline is valid? [True, True] Translation: X:92.58, Y:-5.83, Z:0.44 [[ 9.93690848e-01 1.10872623e-01 1.69044088e-02 9.25770769e+01] [-1.10861688e-01 9.93834580e-01 -1.58549842e-03 -5.82861322e+00] [-1.69759744e-02 -2.98556031e-04 9.99855853e-01 4.36792827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.522320588 meters 0.02284786929969653 Centerline is valid? [True, True] Translation: X:92.61, Y:-5.83, Z:0.44 [[ 9.93848364e-01 1.09754218e-01 1.48135318e-02 9.26089776e+01] [-1.09745686e-01 9.93958728e-01 -1.39011961e-03 -5.82868953e+00] [-1.48766107e-02 -2.44153102e-04 9.99889307e-01 4.36354917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.552320588 meters 0.02277790105699109 Centerline is valid? [True, True] Translation: X:92.64, Y:-5.83, Z:0.44 [[ 9.94113996e-01 1.07153508e-01 1.59840296e-02 9.26407472e+01] [-1.07143221e-01 9.94242464e-01 -1.50098521e-03 -5.82776969e+00] [-1.60528368e-02 -2.20430018e-04 9.99871121e-01 4.35387089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.582320588 meters 0.022832804541235874 Centerline is valid? [True, True] Translation: X:92.67, Y:-5.83, Z:0.44 [[ 9.94190320e-01 1.06343039e-01 1.66362655e-02 9.26725172e+01] [-1.06331764e-01 9.94329479e-01 -1.56330805e-03 -5.82972327e+00] [-1.67081762e-02 -2.14737734e-04 9.99860386e-01 4.36051423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.612320588 meters 0.022862006724478894 Centerline is valid? [True, True] Translation: X:92.70, Y:-5.83, Z:0.44 [[ 9.94233016e-01 1.05753838e-01 1.77998672e-02 9.27048317e+01] [-1.05740790e-01 9.94392316e-01 -1.67527593e-03 -5.83011317e+00] [-1.78772180e-02 -2.16557368e-04 9.99840166e-01 4.36338430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.642320588 meters 0.022688020339863373 Centerline is valid? [True, True] Translation: X:92.74, Y:-5.83, Z:0.44 [[ 9.94248848e-01 1.05733138e-01 1.70214941e-02 9.27368761e+01] [-1.05721165e-01 9.94394520e-01 -1.60428830e-03 -5.83068851e+00] [-1.70957069e-02 -2.04470383e-04 9.99853837e-01 4.37901025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.672320588 meters 0.02272266733801942 Centerline is valid? [True, True] Translation: X:92.77, Y:-5.83, Z:0.44 [[ 9.94267238e-01 1.05494278e-01 1.74245833e-02 9.27689343e+01] [-1.05481653e-01 9.94419889e-01 -1.64455654e-03 -5.83215960e+00] [-1.75008435e-02 -2.02845172e-04 9.99846828e-01 4.37222564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.702320588 meters 0.022604123126505105 Centerline is valid? [True, True] Translation: X:92.80, Y:-5.84, Z:0.44 [[ 9.94411264e-01 1.04248832e-01 1.66859021e-02 9.28009576e+01] [-1.04237043e-01 9.94551231e-01 -1.57704038e-03 -5.83558306e+00] [-1.67593891e-02 -1.71062376e-04 9.99859537e-01 4.36918730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.732320588 meters 0.02250446301128917 Centerline is valid? [True, True] Translation: X:92.83, Y:-5.84, Z:0.43 [[ 9.94745356e-01 1.00867928e-01 1.75310723e-02 9.28331551e+01] [-1.00854349e-01 9.94899818e-01 -1.65920763e-03 -5.84213747e+00] [-1.76090215e-02 -1.17595800e-04 9.99844942e-01 4.34908711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.762320588 meters 0.022656198196707212 Centerline is valid? [True, True] Translation: X:92.86, Y:-5.84, Z:0.43 [[ 9.94979326e-01 9.81485099e-02 1.95706600e-02 9.28648276e+01] [-9.81309725e-02 9.95171776e-01 -1.85676389e-03 -5.84386582e+00] [-1.96584071e-02 -7.30462153e-05 9.99806752e-01 4.34524711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.792320588 meters 0.022571536228293627 Centerline is valid? [True, True] Translation: X:92.90, Y:-5.84, Z:0.44 [[ 9.95240564e-01 9.57292751e-02 1.82243056e-02 9.28971273e+01] [-9.57136245e-02 9.95407407e-01 -1.73108412e-03 -5.84396247e+00] [-1.83063242e-02 -2.14692064e-05 9.99832425e-01 4.35507618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.822320588 meters 0.02271935237665179 Centerline is valid? [True, True] Translation: X:92.93, Y:-5.84, Z:0.44 [[ 9.95624713e-01 9.17858604e-02 1.75153159e-02 9.29297620e+01] [-9.17707531e-02 9.95778767e-01 -1.66603491e-03 -5.84398974e+00] [-1.75942981e-02 5.13518023e-05 9.99845207e-01 4.35807492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.852320588 meters 0.022903276662399042 Centerline is valid? [True, True] Translation: X:92.96, Y:-5.85, Z:0.43 [[ 9.96161860e-01 8.59997033e-02 1.62972371e-02 9.29616440e+01] [-8.59858147e-02 9.96295152e-01 -1.55231294e-03 -5.84730938e+00] [-1.63703568e-02 1.45023735e-04 9.99865986e-01 4.34587606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.882320588 meters 0.0229350180479784 Centerline is valid? [True, True] Translation: X:92.99, Y:-5.85, Z:0.43 [[ 9.96356845e-01 8.37323562e-02 1.61842734e-02 9.29929494e+01] [-8.37183266e-02 9.96488263e-01 -1.54362378e-03 -5.85376926e+00] [-1.62566897e-02 1.83079837e-04 9.99867835e-01 4.34359859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.912320588 meters 0.023158971367063266 Centerline is valid? [True, True] Translation: X:93.02, Y:-5.86, Z:0.44 [[ 9.96542413e-01 8.12118589e-02 1.75457544e-02 9.30246033e+01] [-8.11949406e-02 9.96696831e-01 -1.67564045e-03 -5.86134012e+00] [-1.76238797e-02 2.45220293e-04 9.99844657e-01 4.35214250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.942320588 meters 0.023494132817667282 Centerline is valid? [True, True] Translation: X:93.06, Y:-5.87, Z:0.44 [[ 9.96687893e-01 7.89637027e-02 1.94416436e-02 9.30560718e+01] [-7.89424555e-02 9.96877441e-01 -1.85911078e-03 -5.86744386e+00] [-1.95277382e-02 3.18182123e-04 9.99809265e-01 4.35949015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.972320588 meters 0.023930060753812456 Centerline is valid? [True, True] Translation: X:93.09, Y:-5.87, Z:0.44 [[ 9.96808596e-01 7.70620294e-02 2.08342606e-02 9.30882870e+01] [-7.70371596e-02 9.97026227e-01 -1.99486079e-03 -5.87290656e+00] [-2.09260323e-02 3.83482125e-04 9.99780953e-01 4.36538341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002320588 meters 0.0241855637709227 Centerline is valid? [True, True] Translation: X:93.12, Y:-5.88, Z:0.44 [[ 9.97054911e-01 7.41435351e-02 1.96020797e-02 9.31198237e+01] [-7.41209081e-02 9.97247491e-01 -1.87934085e-03 -5.88147611e+00] [-1.96874658e-02 4.20882076e-04 9.99806094e-01 4.36237263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.032320588 meters 0.02434451561952915 Centerline is valid? [True, True] Translation: X:93.15, Y:-5.89, Z:0.44 [[ 9.97137362e-01 7.34654619e-02 1.78859465e-02 9.31519950e+01] [-7.34464344e-02 9.97297681e-01 -1.71928104e-03 -5.88839565e+00] [-1.79639208e-02 4.00700364e-04 9.99838555e-01 4.35606110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.062320588 meters 0.02431751520416258 Centerline is valid? [True, True] Translation: X:93.18, Y:-5.90, Z:0.43 [[ 9.97154610e-01 7.31871072e-02 1.80646620e-02 9.31840969e+01] [-7.31676201e-02 9.97318143e-01 -1.73821300e-03 -5.89506050e+00] [-1.81434299e-02 4.11518776e-04 9.99835310e-01 4.34737736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.092320588 meters 0.02418461396240655 Centerline is valid? [True, True] Translation: X:93.22, Y:-5.90, Z:0.43 [[ 9.97149886e-01 7.33345497e-02 1.77242315e-02 9.32161235e+01] [-7.33157743e-02 9.97307315e-01 -1.70765483e-03 -5.90073420e+00] [-1.78017358e-02 4.03322063e-04 9.99841455e-01 4.34930160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.122320588 meters 0.024433224675554574 Centerline is valid? [True, True] Translation: X:93.25, Y:-5.91, Z:0.43 [[ 9.97092714e-01 7.34068939e-02 2.04340041e-02 9.32474593e+01] [-7.33819026e-02 9.97301966e-01 -1.97118499e-03 -5.90844090e+00] [-2.05235711e-02 4.65968092e-04 9.99789261e-01 4.33515552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.152320588 meters 0.02429770252607469 Centerline is valid? [True, True] Translation: X:93.28, Y:-5.92, Z:0.43 [[ 9.97079204e-01 7.36055284e-02 2.03785715e-02 9.32799988e+01] [-7.35806288e-02 9.97287326e-01 -1.96999834e-03 -5.91738038e+00] [-2.04682938e-02 4.64776272e-04 9.99790394e-01 4.32533972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.182320588 meters 0.024668746469245863 Centerline is valid? [True, True] Translation: X:93.31, Y:-5.93, Z:0.43 [[ 9.97219291e-01 7.23050057e-02 1.80464070e-02 9.33117131e+01] [-7.22852299e-02 9.97382472e-01 -1.74659094e-03 -5.92774471e+00] [-1.81254573e-02 4.37245505e-04 9.99835625e-01 4.32975094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.212320588 meters 0.024554525583089716 Centerline is valid? [True, True] Translation: X:93.34, Y:-5.94, Z:0.43 [[ 9.97266991e-01 7.17825397e-02 1.74875850e-02 9.33438556e+01] [-7.17638262e-02 9.97420211e-01 -1.69610783e-03 -5.93824166e+00] [-1.75642217e-02 4.36496340e-04 9.99845642e-01 4.32883169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.242320588 meters 0.024972760267202306 Centerline is valid? [True, True] Translation: X:93.38, Y:-5.95, Z:0.43 [[ 9.97327778e-01 7.08614574e-02 1.77751635e-02 9.33756303e+01] [-7.08419433e-02 9.97486060e-01 -1.72589256e-03 -5.94704000e+00] [-1.78527771e-02 4.62053463e-04 9.99840520e-01 4.32776003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.272320588 meters 0.024718731459983954 Centerline is valid? [True, True] Translation: X:93.41, Y:-5.95, Z:0.43 [[ 9.97243161e-01 7.15537724e-02 1.96503153e-02 9.34070752e+01] [-7.15300110e-02 9.97436619e-01 -1.91032523e-03 -5.95278220e+00] [-1.97366350e-02 4.99471502e-04 9.99805089e-01 4.31743256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.302320588 meters 0.02458058270075079 Centerline is valid? [True, True] Translation: X:93.44, Y:-5.96, Z:0.43 [[ 9.97071241e-01 7.34118954e-02 2.14390728e-02 9.34390320e+01] [-7.33839474e-02 9.97301576e-01 -2.08849907e-03 -5.96077871e+00] [-2.15345417e-02 5.09098576e-04 9.99767975e-01 4.31277371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.332320588 meters 0.02458058270075079 Centerline is valid? [True, True] Translation: X:93.47, Y:-5.96, Z:0.43 [[ 9.97057585e-01 7.35972429e-02 2.14386842e-02 9.34714225e+01] [-7.35692521e-02 9.97287916e-01 -2.09248484e-03 -5.96387780e+00] [-2.15345418e-02 5.09099917e-04 9.99767975e-01 4.31441298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.362320588 meters 0.024067995052564208 Centerline is valid? [True, True] Translation: X:93.50, Y:-5.97, Z:0.43 [[ 9.96777285e-01 7.71064259e-02 2.21278722e-02 9.35025698e+01] [-7.70774166e-02 9.97022766e-01 -2.16216272e-03 -5.97325590e+00] [-2.22287090e-02 4.49635461e-04 9.99752811e-01 4.30597150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.392320588 meters 0.023229164774198417 Centerline is valid? [True, True] Translation: X:93.53, Y:-5.99, Z:0.43 [[ 9.96194271e-01 8.48688674e-02 1.98557343e-02 9.35326079e+01] [-8.48470302e-02 9.96392098e-01 -1.94117568e-03 -5.98515876e+00] [-1.99488422e-02 2.49087996e-04 9.99800971e-01 4.29741139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.422320588 meters 0.022870577388310987 Centerline is valid? [True, True] Translation: X:93.56, Y:-5.99, Z:0.43 [[ 9.95923628e-01 8.84134552e-02 1.78658286e-02 9.35642821e+01] [-8.83962983e-02 9.96083849e-01 -1.74929678e-03 -5.99124984e+00] [-1.79505247e-02 1.62892882e-04 9.99838863e-01 4.29831778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.452320588 meters 0.02294676982496627 Centerline is valid? [True, True] Translation: X:93.60, Y:-6.00, Z:0.43 [[ 9.95703192e-01 9.04537323e-02 1.98311566e-02 9.35958973e+01] [-9.04329473e-02 9.95900649e-01 -1.94422984e-03 -5.99733922e+00] [-1.99257245e-02 1.42485926e-04 9.99801453e-01 4.29809079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.482320588 meters 0.022810742080268728 Centerline is valid? [True, True] Translation: X:93.63, Y:-6.00, Z:0.43 [[ 9.95465643e-01 9.27236834e-02 2.12243088e-02 9.36272715e+01] [-9.27003325e-02 9.95691874e-01 -2.08355183e-03 -6.00382765e+00] [-2.13260664e-02 1.06603784e-04 9.99772568e-01 4.31491661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.512320588 meters 0.022722422940974735 Centerline is valid? [True, True] Translation: X:93.66, Y:-6.01, Z:0.43 [[ 9.95183102e-01 9.56498690e-02 2.14871342e-02 9.36595704e+01] [-9.56265189e-02 9.95415039e-01 -2.11393439e-03 -6.01173699e+00] [-2.15908141e-02 4.90119379e-05 9.99766890e-01 4.31526078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.542320588 meters 0.02273107470513 Centerline is valid? [True, True] Translation: X:93.69, Y:-6.02, Z:0.43 [[ 9.95055807e-01 9.69348928e-02 2.16233045e-02 9.36919023e+01] [-9.69114560e-02 9.95290724e-01 -2.13161438e-03 -6.01599349e+00] [-2.17281022e-02 2.55293418e-05 9.99763917e-01 4.29917421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.572320588 meters 0.02263981800408313 Centerline is valid? [True, True] Translation: X:93.73, Y:-6.02, Z:0.43 [[ 9.94934845e-01 9.82118621e-02 2.14262337e-02 9.37250149e+01] [-9.81890533e-02 9.95165529e-01 -2.11652517e-03 -6.02129031e+00] [-2.15305171e-02 1.98304050e-06 9.99768192e-01 4.28269412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.602320588 meters 0.02289054264270924 Centerline is valid? [True, True] Translation: X:93.76, Y:-6.03, Z:0.43 [[ 9.94855108e-01 9.84995964e-02 2.36884642e-02 9.37567543e+01] [-9.84715073e-02 9.95137091e-01 -2.35218971e-03 -6.02701474e+00] [-2.38049590e-02 7.44917814e-06 9.99716622e-01 4.27252194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.632320588 meters 0.022976415678385424 Centerline is valid? [True, True] Translation: X:93.79, Y:-6.03, Z:0.43 [[ 9.94716638e-01 9.94640309e-02 2.54109737e-02 9.37885306e+01] [-9.94317269e-02 9.95041158e-01 -2.53478925e-03 -6.03343819e+00] [-2.55370851e-02 -5.25996056e-06 9.99673875e-01 4.27752332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.662320588 meters 0.022825273613720456 Centerline is valid? [True, True] Translation: X:93.82, Y:-6.04, Z:0.43 [[ 9.94595672e-01 1.00656261e-01 2.54512659e-02 9.38216880e+01] [-1.00623896e-01 9.94921261e-01 -2.55246752e-03 -6.03827011e+00] [-2.55789274e-02 -2.23323703e-05 9.99672805e-01 4.29253564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.692320588 meters 0.02297675376281999 Centerline is valid? [True, True] Translation: X:93.85, Y:-6.04, Z:0.43 [[ 9.94443193e-01 1.02503519e-01 2.39951056e-02 9.38535806e+01] [-1.02475025e-01 9.94732640e-01 -2.41738344e-03 -6.04164636e+00] [-2.41165051e-02 -5.49485412e-05 9.99709153e-01 4.28398813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.722320588 meters 0.02285696752856969 Centerline is valid? [True, True] Translation: X:93.89, Y:-6.05, Z:0.43 [[ 9.94344738e-01 1.03830711e-01 2.23097709e-02 9.38852617e+01] [-1.03806180e-01 9.94594982e-01 -2.25797326e-03 -6.04645545e+00] [-2.24236332e-02 -7.06882795e-05 9.99748556e-01 4.27000720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.752320588 meters 0.022868386301929066 Centerline is valid? [True, True] Translation: X:93.92, Y:-6.06, Z:0.43 [[ 9.94085900e-01 1.05711155e-01 2.48671583e-02 9.39160222e+01] [-1.05681010e-01 9.94396872e-01 -2.52699778e-03 -6.05744204e+00] [-2.49949563e-02 -1.15933556e-04 9.99687571e-01 4.26540339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.782320588 meters 0.02309560884443234 Centerline is valid? [True, True] Translation: X:93.95, Y:-6.06, Z:0.43 [[ 9.94126504e-01 1.05101278e-01 2.58111559e-02 9.39479283e+01] [-1.05068284e-01 9.94461519e-01 -2.63491567e-03 -6.06269847e+00] [-2.59451343e-02 -9.24943655e-05 9.99663364e-01 4.27512985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.812320588 meters 0.023066803453696456 Centerline is valid? [True, True] Translation: X:93.98, Y:-6.07, Z:0.43 [[ 9.94044749e-01 1.05559439e-01 2.70599781e-02 9.39797598e+01] [-1.05523007e-01 9.94412990e-01 -2.77480833e-03 -6.06709621e+00] [-2.72017009e-02 -9.71666079e-05 9.99629961e-01 4.27821303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.842320588 meters 0.02312422128703035 Centerline is valid? [True, True] Translation: X:94.01, Y:-6.07, Z:0.43 [[ 9.94057661e-01 1.05504086e-01 2.68002614e-02 9.40124744e+01] [-1.05467938e-01 9.94418866e-01 -2.76274304e-03 -6.07091435e+00] [-2.69421662e-02 -8.02424196e-05 9.99636991e-01 4.25914261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.872320588 meters 0.022877838607050532 Centerline is valid? [True, True] Translation: X:94.04, Y:-6.08, Z:0.42 [[ 9.94049676e-01 1.06741608e-01 2.17133843e-02 9.40438421e+01] [-1.06718127e-01 9.94286790e-01 -2.24060119e-03 -6.07905277e+00] [-2.18284966e-02 -8.99428321e-05 9.99761726e-01 4.22724793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.902320588 meters 0.022948693889433235 Centerline is valid? [True, True] Translation: X:94.08, Y:-6.09, Z:0.42 [[ 9.93938970e-01 1.07788076e-01 2.16114278e-02 9.40763210e+01] [-1.07764772e-01 9.94173889e-01 -2.24347330e-03 -6.08532745e+00] [-2.17273369e-02 -9.90750423e-05 9.99763929e-01 4.22980273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.932320588 meters 0.02293292945842483 Centerline is valid? [True, True] Translation: X:94.11, Y:-6.09, Z:0.42 [[ 9.93770843e-01 1.09134691e-01 2.25639149e-02 9.41077111e+01] [-1.09109406e-01 9.94026963e-01 -2.35243002e-03 -6.09068407e+00] [-2.26858716e-02 -1.24158981e-04 9.99742635e-01 4.24395415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.962320588 meters 0.022858128229575135 Centerline is valid? [True, True] Translation: X:94.14, Y:-6.10, Z:0.43 [[ 9.93613724e-01 1.10515031e-01 2.27638906e-02 9.41399347e+01] [-1.10489389e-01 9.93874442e-01 -2.38496329e-03 -6.09509282e+00] [-2.28880234e-02 -1.45436108e-04 9.99738024e-01 4.26324551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.992320588 meters 0.02264501326950113 Centerline is valid? [True, True] Translation: X:94.17, Y:-6.10, Z:0.43 [[ 9.93487186e-01 1.11796331e-01 2.20180025e-02 9.41731375e+01] [-1.11772390e-01 9.93731128e-01 -2.31889101e-03 -6.09944699e+00] [-2.21392179e-02 -1.57216247e-04 9.99754885e-01 4.27209100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.022320588 meters 0.022625888846697927 Centerline is valid? [True, True] Translation: X:94.21, Y:-6.11, Z:0.43 [[ 9.93226332e-01 1.14192568e-01 2.14827893e-02 9.42057137e+01] [-1.14170085e-01 9.93458615e-01 -2.27419113e-03 -6.10503409e+00] [-2.16019578e-02 -1.93905368e-04 9.99766632e-01 4.27165146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.052320588 meters 0.022983727666198675 Centerline is valid? [True, True] Translation: X:94.24, Y:-6.11, Z:0.43 [[ 9.92907860e-01 1.16893943e-01 2.16745707e-02 9.42375592e+01] [-1.16871488e-01 9.93144373e-01 -2.30422836e-03 -6.11155756e+00] [-2.17953283e-02 -2.45252873e-04 9.99762424e-01 4.26095917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.082320588 meters 0.023060037129192763 Centerline is valid? [True, True] Translation: X:94.27, Y:-6.11, Z:0.43 [[ 9.92779031e-01 1.17819436e-01 2.25472213e-02 9.42693187e+01] [-1.17795137e-01 9.93034999e-01 -2.40743723e-03 -6.11462665e+00] [-2.26738228e-02 -2.65899826e-04 9.99742880e-01 4.25331942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.112320588 meters 0.023093325569136562 Centerline is valid? [True, True] Translation: X:94.30, Y:-6.12, Z:0.43 [[ 9.92651195e-01 1.19019427e-01 2.18627696e-02 9.43017822e+01] [-1.18996608e-01 9.92891888e-01 -2.34639560e-03 -6.11837488e+00] [-2.19866333e-02 -2.72443033e-04 9.99758228e-01 4.25578606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.142320588 meters 0.023210103830376493 Centerline is valid? [True, True] Translation: X:94.33, Y:-6.12, Z:0.42 [[ 9.92508512e-01 1.20451099e-01 2.04545164e-02 9.43336188e+01] [-1.20431237e-01 9.92719224e-01 -2.20459259e-03 -6.12321744e+00] [-2.05711373e-02 -2.75285816e-04 9.99788354e-01 4.24142282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.172320588 meters 0.023206747542444478 Centerline is valid? [True, True] Translation: X:94.37, Y:-6.13, Z:0.42 [[ 9.92231975e-01 1.22629539e-01 2.09213823e-02 9.43653093e+01] [-1.22609040e-01 9.92452465e-01 -2.26459538e-03 -6.12761040e+00] [-2.10411837e-02 -3.18146641e-04 9.99778559e-01 4.23501878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.202320588 meters 0.023343400889889728 Centerline is valid? [True, True] Translation: X:94.40, Y:-6.13, Z:0.42 [[ 9.92050852e-01 1.23907334e-01 2.19563072e-02 9.43969832e+01] [-1.23884848e-01 9.92293731e-01 -2.38662643e-03 -6.13049148e+00] [-2.20828265e-02 -3.52399006e-04 9.99756083e-01 4.24052904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.232320588 meters 0.02356030216458238 Centerline is valid? [True, True] Translation: X:94.43, Y:-6.13, Z:0.43 [[ 9.91602408e-01 1.27577625e-01 2.11804992e-02 9.44293800e+01] [-1.27557328e-01 9.91828504e-01 -2.31210177e-03 -6.13061485e+00] [-2.13023953e-02 -4.09042200e-04 9.99772995e-01 4.25716537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.262320588 meters 0.023620838727602875 Centerline is valid? [True, True] Translation: X:94.46, Y:-6.13, Z:0.43 [[ 9.91420825e-01 1.29174119e-01 1.99698504e-02 9.44627835e+01] [-1.29156181e-01 9.91621844e-01 -2.19086315e-03 -6.13234203e+00] [-2.00855427e-02 -4.07162253e-04 9.99798182e-01 4.25239055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.292320588 meters 0.023594362455290917 Centerline is valid? [True, True] Translation: X:94.50, Y:-6.13, Z:0.42 [[ 9.91301867e-01 1.30225970e-01 1.90211841e-02 9.44957908e+01] [-1.30209694e-01 9.91484260e-01 -2.09697911e-03 -6.13480649e+00] [-1.91322858e-02 -3.98003255e-04 9.99816882e-01 4.24062406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.322320588 meters 0.0236414954516592 Centerline is valid? [True, True] Translation: X:94.53, Y:-6.14, Z:0.42 [[ 9.91267186e-01 1.30490988e-01 1.90123005e-02 9.45283113e+01] [-1.30474735e-01 9.91449414e-01 -2.09810309e-03 -6.13802913e+00] [-1.91235178e-02 -4.00844135e-04 9.99817048e-01 4.23654399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.352320588 meters 0.023761296962432732 Centerline is valid? [True, True] Translation: X:94.56, Y:-6.14, Z:0.42 [[ 9.91184659e-01 1.30834121e-01 2.08663435e-02 9.45598584e+01] [-1.30814412e-01 9.91404177e-01 -2.31261684e-03 -6.14113792e+00] [-2.09895493e-02 -4.37388120e-04 9.99779599e-01 4.23333053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.382320588 meters 0.02393514069554714 Centerline is valid? [True, True] Translation: X:94.59, Y:-6.14, Z:0.42 [[ 9.91204695e-01 1.30215839e-01 2.36027049e-02 9.45921948e+01] [-1.30190193e-01 9.91485560e-01 -2.62651683e-03 -6.14371397e+00] [-2.37437552e-02 -4.69424892e-04 9.99717967e-01 4.23332320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.412320588 meters 0.023277476216363398 Centerline is valid? [True, True] Translation: X:94.62, Y:-6.14, Z:0.43 [[ 9.91534110e-01 1.28649428e-01 1.75907064e-02 9.46233456e+01] [-1.28634928e-01 9.91690083e-01 -1.95802952e-03 -6.14493537e+00] [-1.76964284e-02 -3.21326182e-04 9.99843354e-01 4.25315999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.442320588 meters 0.023032117370759126 Centerline is valid? [True, True] Translation: X:94.66, Y:-6.15, Z:0.42 [[ 9.91666132e-01 1.27816042e-01 1.61660663e-02 9.46551370e+01] [-1.27803646e-01 9.91797853e-01 -1.80182517e-03 -6.14659754e+00] [-1.62637720e-02 -2.79273213e-04 9.99867697e-01 4.23689448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.472320588 meters 0.02300528916673189 Centerline is valid? [True, True] Translation: X:94.69, Y:-6.15, Z:0.42 [[ 9.91729702e-01 1.27605036e-01 1.37533177e-02 9.46871512e+01] [-1.27596018e-01 9.91825035e-01 -1.53485582e-03 -6.14741849e+00] [-1.38367402e-02 -2.32706468e-04 9.99904241e-01 4.22721520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.502320588 meters 0.023038315877175287 Centerline is valid? [True, True] Translation: X:94.72, Y:-6.15, Z:0.42 [[ 9.91767286e-01 1.27087896e-01 1.56944932e-02 9.47193806e+01] [-1.27076055e-01 9.91891426e-01 -1.75349124e-03 -6.14704518e+00] [-1.57900808e-02 -2.55339032e-04 9.99875296e-01 4.22267627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.532320588 meters 0.023066796306348156 Centerline is valid? [True, True] Translation: X:94.75, Y:-6.14, Z:0.42 [[ 9.91693093e-01 1.27434233e-01 1.74735936e-02 9.47522129e+01] [-1.27419568e-01 9.91846981e-01 -1.95456384e-03 -6.14483898e+00] [-1.75802094e-02 -2.88150286e-04 9.99845415e-01 4.23769004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.562320588 meters 0.02307252275297947 Centerline is valid? [True, True] Translation: X:94.79, Y:-6.15, Z:0.42 [[ 9.91722371e-01 1.27106287e-01 1.81860261e-02 9.47853167e+01] [-1.27090274e-01 9.91889060e-01 -2.03826020e-03 -6.14771226e+00] [-1.82975960e-02 -2.89878789e-04 9.99832543e-01 4.23766686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.592320588 meters 0.022957753987087014 Centerline is valid? [True, True] Translation: X:94.82, Y:-6.15, Z:0.42 [[ 9.91887563e-01 1.25844388e-01 1.79513860e-02 9.48175268e+01] [-1.25828541e-01 9.92049959e-01 -2.01404273e-03 -6.15197434e+00] [-1.80621277e-02 -2.61092770e-04 9.99836832e-01 4.23460219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.622320588 meters 0.022744563775778538 Centerline is valid? [True, True] Translation: X:94.85, Y:-6.15, Z:0.42 [[ 9.92367170e-01 1.21954602e-01 1.82886579e-02 9.48499643e+01] [-1.21937448e-01 9.92535661e-01 -2.05434567e-03 -6.15402819e+00] [-1.84026821e-02 -1.91407072e-04 9.99830638e-01 4.22658224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.652320588 meters 0.022779947602309284 Centerline is valid? [True, True] Translation: X:94.88, Y:-6.15, Z:0.42 [[ 9.92540515e-01 1.20764623e-01 1.67102504e-02 9.48819241e+01] [-1.20750096e-01 9.92681159e-01 -1.87932533e-03 -6.15418987e+00] [-1.68149068e-02 -1.52457808e-04 9.99858608e-01 4.23321135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.682320588 meters 0.02257770866497218 Centerline is valid? [True, True] Translation: X:94.91, Y:-6.15, Z:0.42 [[ 9.92559374e-01 1.20736162e-01 1.57692377e-02 9.49139907e+01] [-1.20723187e-01 9.92684622e-01 -1.77564779e-03 -6.15454880e+00] [-1.58682647e-02 -1.41276761e-04 9.99874081e-01 4.23952702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.712320588 meters 0.022637022228900842 Centerline is valid? [True, True] Translation: X:94.95, Y:-6.16, Z:0.42 [[ 9.92398538e-01 1.22183246e-01 1.47104270e-02 9.49458587e+01] [-1.22172084e-01 9.92507547e-01 -1.65845842e-03 -6.15626779e+00] [-1.48028457e-02 -1.51351806e-04 9.99890420e-01 4.23416194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.742320588 meters 0.022693824004717984 Centerline is valid? [True, True] Translation: X:94.98, Y:-6.16, Z:0.42 [[ 9.92181879e-01 1.23919683e-01 1.47997288e-02 9.49782677e+01] [-1.23908549e-01 9.92292236e-01 -1.67051272e-03 -6.15912010e+00] [-1.48926654e-02 -1.76360469e-04 9.99889083e-01 4.22705294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.772320588 meters 0.022978047550034745 Centerline is valid? [True, True] Translation: X:95.01, Y:-6.16, Z:0.42 [[ 9.91891654e-01 1.26079036e-01 1.59694353e-02 9.50107268e+01] [-1.26066318e-01 9.92020175e-01 -1.80462438e-03 -6.16090023e+00] [-1.60695273e-02 -2.23216037e-04 9.99870852e-01 4.22136634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.802320588 meters 0.023080300508692912 Centerline is valid? [True, True] Translation: X:95.04, Y:-6.16, Z:0.42 [[ 9.91777251e-01 1.27286217e-01 1.32703971e-02 9.50427810e+01] [-1.27277517e-01 9.91866009e-01 -1.50152076e-03 -6.16250166e+00] [-1.33535787e-02 -1.99849058e-04 9.99910817e-01 4.23539674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.832320588 meters 0.022962220426417327 Centerline is valid? [True, True] Translation: X:95.08, Y:-6.16, Z:0.42 [[ 9.91649594e-01 1.28242564e-01 1.35988177e-02 9.50752190e+01] [-1.28233494e-01 9.91742808e-01 -1.54048247e-03 -6.16278206e+00] [-1.36840851e-02 -2.16205098e-04 9.99906345e-01 4.24121039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.862320588 meters 0.023251342999949475 Centerline is valid? [True, True] Translation: X:95.11, Y:-6.16, Z:0.43 [[ 9.91408178e-01 1.30384589e-01 1.04730360e-02 9.51074415e+01] [-1.30379312e-01 9.91463476e-01 -1.18795964e-03 -6.16398789e+00] [-1.05385243e-02 -1.87714328e-04 9.99944451e-01 4.25009339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.892320588 meters 0.0231762418151088 Centerline is valid? [True, True] Translation: X:95.14, Y:-6.17, Z:0.42 [[ 9.91374059e-01 1.30641401e-01 1.05023908e-02 9.51394064e+01] [-1.30636094e-01 9.91429669e-01 -1.19270836e-03 -6.16509835e+00] [-1.05681989e-02 -1.89571180e-04 9.99944137e-01 4.24686573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.922320588 meters 0.023274918570908083 Centerline is valid? [True, True] Translation: X:95.17, Y:-6.17, Z:0.42 [[ 9.91327077e-01 1.30892771e-01 1.17349773e-02 9.51713310e+01] [-1.30886145e-01 9.91396508e-01 -1.33418762e-03 -6.16632364e+00] [-1.18086511e-02 -2.13329637e-04 9.99930253e-01 4.24740136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.952320588 meters 0.023367682210805298 Centerline is valid? [True, True] Translation: X:95.20, Y:-6.16, Z:0.42 [[ 9.91453172e-01 1.29196022e-01 1.81382120e-02 9.52041967e+01] [-1.29179870e-01 9.91619030e-01 -2.06426794e-03 -6.16433303e+00] [-1.82528914e-02 -2.96466873e-04 9.99833358e-01 4.24814754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.982320588 meters 0.023146759846938997 Centerline is valid? [True, True] Translation: X:95.24, Y:-6.17, Z:0.43 [[ 9.91547123e-01 1.28602116e-01 1.71988287e-02 9.52365495e+01] [-1.28587463e-01 9.91696236e-01 -1.95970903e-03 -6.16676274e+00] [-1.73080365e-02 -2.68409910e-04 9.99850169e-01 4.25888232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.012320588 meters 0.02300754665811918 Centerline is valid? [True, True] Translation: X:95.27, Y:-6.17, Z:0.43 [[ 9.91476548e-01 1.29328233e-01 1.57626875e-02 9.52685935e+01] [-1.29315982e-01 9.91601807e-01 -1.79824542e-03 -6.17027388e+00] [-1.58628733e-02 -2.55449263e-04 9.99874144e-01 4.26787923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.042320588 meters 0.02317580700369345 Centerline is valid? [True, True] Translation: X:95.30, Y:-6.17, Z:0.43 [[ 9.91372961e-01 1.30142765e-01 1.55728139e-02 9.53012986e+01] [-1.30130853e-01 9.91495231e-01 -1.78010407e-03 -6.17090052e+00] [-1.56720384e-02 -2.61756518e-04 9.99877152e-01 4.25984417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.072320588 meters 0.023169375137350724 Centerline is valid? [True, True] Translation: X:95.33, Y:-6.17, Z:0.43 [[ 9.91367506e-01 1.30111375e-01 1.61708793e-02 9.53348108e+01] [-1.30098474e-01 9.91499349e-01 -1.85170027e-03 -6.16918079e+00] [-1.62743436e-02 -2.68091235e-04 9.99867528e-01 4.25004925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.102320588 meters 0.023178401408857442 Centerline is valid? [True, True] Translation: X:95.37, Y:-6.17, Z:0.42 [[ 9.91470159e-01 1.29344088e-01 1.60322002e-02 9.53676710e+01] [-1.29331277e-01 9.91599740e-01 -1.83764033e-03 -6.16761150e+00] [-1.61352134e-02 -2.51499381e-04 9.99869787e-01 4.24946189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.132320588 meters 0.023176650953594936 Centerline is valid? [True, True] Translation: X:95.40, Y:-6.17, Z:0.42 [[ 9.91528417e-01 1.28875813e-01 1.61994903e-02 9.54009216e+01] [-1.28862613e-01 9.91660711e-01 -1.86041329e-03 -6.16915714e+00] [-1.63041603e-02 -2.42856001e-04 9.99867049e-01 4.24322443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.162320588 meters 0.02302705866944393 Centerline is valid? [True, True] Translation: X:95.43, Y:-6.18, Z:0.43 [[ 9.91817763e-01 1.26716537e-01 1.55062523e-02 9.54324147e+01] [-1.26704151e-01 9.91938950e-01 -1.78255361e-03 -6.17546014e+00] [-1.56071346e-02 -1.96738202e-04 9.99878182e-01 4.25684841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.192320588 meters 0.02297189940700184 Centerline is valid? [True, True] Translation: X:95.46, Y:-6.18, Z:0.43 [[ 9.91958636e-01 1.25800931e-01 1.38633042e-02 9.54642949e+01] [-1.25790915e-01 9.92055492e-01 -1.59561097e-03 -6.17913624e+00] [-1.39538964e-02 -1.61097633e-04 9.99902627e-01 4.26260890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.222320588 meters 0.022841483323665947 Centerline is valid? [True, True] Translation: X:95.50, Y:-6.18, Z:0.43 [[ 9.92217723e-01 1.23811669e-01 1.32159648e-02 9.54967103e+01] [-1.23802366e-01 9.92305727e-01 -1.52288489e-03 -6.17965008e+00] [-1.33028284e-02 -1.25134330e-04 9.99911506e-01 4.25562501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.252320588 meters 0.022800932027011545 Centerline is valid? [True, True] Translation: X:95.53, Y:-6.18, Z:0.42 [[ 9.92525134e-01 1.21460491e-01 1.18831188e-02 9.55294726e+01] [-1.21452781e-01 9.92596264e-01 -1.37095437e-03 -6.17906269e+00] [-1.19616561e-02 -8.25311635e-05 9.99928453e-01 4.24437220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.282320588 meters 0.022800932027011545 Centerline is valid? [True, True] Translation: X:95.56, Y:-6.18, Z:0.42 [[ 9.92509212e-01 1.21590545e-01 1.18829395e-02 9.55609518e+01] [-1.21582827e-01 9.92580341e-01 -1.37250870e-03 -6.18265699e+00] [-1.19616562e-02 -8.25338356e-05 9.99928453e-01 4.24596859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.312320588 meters 0.022542053909992577 Centerline is valid? [True, True] Translation: X:95.59, Y:-6.19, Z:0.42 [[ 9.92858455e-01 1.18890653e-01 9.85394753e-03 9.55929628e+01] [-1.18885198e-01 9.92907353e-01 -1.13958500e-03 -6.18524082e+00] [-9.91954296e-03 -4.00419044e-05 9.99950799e-01 4.23885630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.342320588 meters 0.022538349640007622 Centerline is valid? [True, True] Translation: X:95.62, Y:-6.20, Z:0.43 [[ 9.93573341e-01 1.12645094e-01 1.10949536e-02 9.56241085e+01] [-1.12637773e-01 9.93635286e-01 -1.28450692e-03 -6.19555146e+00] [-1.11690308e-02 2.65409679e-05 9.99937624e-01 4.25211328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.372320588 meters 0.022692193071649665 Centerline is valid? [True, True] Translation: X:95.66, Y:-6.20, Z:0.43 [[ 9.93785608e-01 1.10653658e-01 1.20802556e-02 9.56553293e+01] [-1.10644813e-01 9.93859027e-01 -1.40010360e-03 -6.20187815e+00] [-1.21609976e-02 5.47851793e-05 9.99926051e-01 4.26838461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.402320588 meters 0.022787593423462777 Centerline is valid? [True, True] Translation: X:95.69, Y:-6.21, Z:0.43 [[ 9.94001569e-01 1.08779829e-01 1.13061568e-02 9.56871618e+01] [-1.08771943e-01 9.94065865e-01 -1.31191203e-03 -6.20543896e+00] [-1.13817741e-02 7.42499766e-05 9.99935223e-01 4.29031930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.432320588 meters 0.022820954210439778 Centerline is valid? [True, True] Translation: X:95.72, Y:-6.21, Z:0.43 [[ 9.94109053e-01 1.07865121e-01 1.05975167e-02 9.57194393e+01] [-1.07858125e-01 9.94165534e-01 -1.23111124e-03 -6.20791622e+00] [-1.06684798e-02 8.08305572e-05 9.99943087e-01 4.28392739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.462320588 meters 0.022849528945227664 Centerline is valid? [True, True] Translation: X:95.75, Y:-6.21, Z:0.43 [[ 9.94243095e-01 1.06811357e-01 8.48542971e-03 9.57513853e+01] [-1.06806824e-01 9.94279301e-01 -9.86986400e-04 -6.21179079e+00] [-8.54230848e-03 7.50026190e-05 9.99963511e-01 4.25172882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.492320588 meters 0.02280765406409611 Centerline is valid? [True, True] Translation: X:95.78, Y:-6.22, Z:0.43 [[ 9.94164877e-01 1.07485258e-01 9.11682440e-03 9.57832636e+01] [-1.07480042e-01 9.94206675e-01 -1.06156683e-03 -6.21763824e+00] [-9.17811046e-03 7.54957832e-05 9.99957877e-01 4.25581246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.522320588 meters 0.022864589993419587 Centerline is valid? [True, True] Translation: X:95.82, Y:-6.22, Z:0.43 [[ 9.94071295e-01 1.08122362e-01 1.14811201e-02 9.58150697e+01] [-1.08114117e-01 9.94137590e-01 -1.33821431e-03 -6.22432284e+00] [-1.15585039e-02 8.90092768e-05 9.99933194e-01 4.25984654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.552320588 meters 0.022822991323208065 Centerline is valid? [True, True] Translation: X:95.85, Y:-6.23, Z:0.43 [[ 9.94033514e-01 1.08698753e-01 9.05282258e-03 9.58470278e+01] [-1.08693634e-01 9.94074734e-01 -1.05695481e-03 -6.23213352e+00] [-9.11407187e-03 6.66643164e-05 9.99958464e-01 4.28701847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.582320588 meters 0.02277962631336435 Centerline is valid? [True, True] Translation: X:95.88, Y:-6.24, Z:0.43 [[ 9.93991982e-01 1.09173149e-01 7.82063131e-03 9.58785558e+01] [-1.09169336e-01 9.94022746e-01 -9.14069744e-04 -6.23653147e+00] [-7.87367729e-03 5.48048681e-05 9.99969001e-01 4.27708618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.612320588 meters 0.022758789023983608 Centerline is valid? [True, True] Translation: X:95.91, Y:-6.24, Z:0.43 [[ 9.93939268e-01 1.09679657e-01 7.42324330e-03 9.59106288e+01] [-1.09676228e-01 9.93966987e-01 -8.68637586e-04 -6.24096086e+00] [-7.47373065e-03 4.92196816e-05 9.99972070e-01 4.27411139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.642320588 meters 0.022941687380815843 Centerline is valid? [True, True] Translation: X:95.94, Y:-6.25, Z:0.43 [[ 9.94103681e-01 1.08150885e-01 7.82673284e-03 9.59423413e+01] [-1.08147018e-01 9.94134489e-01 -9.16850786e-04 -6.24793817e+00] [-7.87998327e-03 6.50069215e-05 9.99968950e-01 4.27174441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.672320588 meters 0.022930394954128575 Centerline is valid? [True, True] Translation: X:95.97, Y:-6.25, Z:0.43 [[ 9.94073696e-01 1.08419149e-01 7.92306922e-03 9.59742735e+01] [-1.08415186e-01 9.94105268e-01 -9.29160382e-04 -6.25499852e+00] [-7.97710363e-03 6.46728707e-05 9.99968180e-01 4.28567462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.702320588 meters 0.0231339794190538 Centerline is valid? [True, True] Translation: X:96.01, Y:-6.26, Z:0.43 [[ 9.94142507e-01 1.07611045e-01 1.00268647e-02 9.60055568e+01] [-1.07604646e-01 9.94193067e-01 -1.17702252e-03 -6.26088766e+00] [-1.00953000e-02 9.11908876e-05 9.99949037e-01 4.29234963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.732320588 meters 0.023210238288795638 Centerline is valid? [True, True] Translation: X:96.04, Y:-6.27, Z:0.43 [[ 9.94154097e-01 1.07381790e-01 1.12597698e-02 9.60375339e+01] [-1.07373690e-01 9.94217853e-01 -1.32315205e-03 -6.26612142e+00] [-1.13367466e-02 1.06413994e-04 9.99935731e-01 4.29508762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.762320588 meters 0.02323375902989327 Centerline is valid? [True, True] Translation: X:96.07, Y:-6.27, Z:0.43 [[ 9.94206372e-01 1.06877059e-01 1.14447884e-02 9.60698945e+01] [-1.06868628e-01 9.94272237e-01 -1.34747932e-03 -6.27150738e+00] [-1.15232500e-02 1.16583686e-04 9.99933598e-01 4.28347585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.792320588 meters 0.023252837100132873 Centerline is valid? [True, True] Translation: X:96.10, Y:-6.28, Z:0.43 [[ 9.94171508e-01 1.07224181e-01 1.12243810e-02 9.61029328e+01] [-1.07216069e-01 9.94234863e-01 -1.32375188e-03 -6.27730426e+00] [-1.13016091e-02 1.12602398e-04 9.99936128e-01 4.28196924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.822320588 meters 0.022872199485523288 Centerline is valid? [True, True] Translation: X:96.13, Y:-6.28, Z:0.43 [[ 9.93966661e-01 1.09387783e-01 8.03681954e-03 9.61344504e+01] [-1.09383683e-01 9.93999149e-01 -9.49257530e-04 -6.28387758e+00] [-8.09242896e-03 6.44334136e-05 9.99967254e-01 4.28421630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.852320588 meters 0.022788075135135786 Centerline is valid? [True, True] Translation: X:96.17, Y:-6.29, Z:0.43 [[ 9.93698232e-01 1.11933311e-01 5.89553929e-03 9.61663833e+01] [-1.11931144e-01 9.93715720e-01 -6.97199569e-04 -6.28965685e+00] [-5.93652993e-03 3.29115194e-05 9.99982378e-01 4.29045901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.882320588 meters 0.0229505609211098 Centerline is valid? [True, True] Translation: X:96.20, Y:-6.29, Z:0.43 [[ 9.93408363e-01 1.14466926e-01 6.09486790e-03 9.61984256e+01] [-1.14464653e-01 9.93427059e-01 -7.21555670e-04 -6.29418503e+00] [-6.13740096e-03 1.91524959e-05 9.99981166e-01 4.29330047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.912320588 meters 0.022824756966590254 Centerline is valid? [True, True] Translation: X:96.23, Y:-6.30, Z:0.43 [[ 9.93157705e-01 1.16616798e-01 6.18835712e-03 9.62306791e+01] [-1.16614492e-01 9.93176984e-01 -7.33444046e-04 -6.29773312e+00] [-6.23166576e-03 6.77348293e-06 9.99980583e-01 4.30299878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.942320588 meters 0.02308708376517226 Centerline is valid? [True, True] Translation: X:96.26, Y:-6.30, Z:0.43 [[ 9.92724613e-01 1.19810069e-01 1.19745678e-02 9.62626894e+01] [-1.19801654e-01 9.92796831e-01 -1.42021355e-03 -6.30436736e+00] [-1.20584688e-02 -2.46920757e-05 9.99927294e-01 4.29868332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.972320588 meters 0.023122086023209563 Centerline is valid? [True, True] Translation: X:96.29, Y:-6.31, Z:0.43 [[ 9.92570467e-01 1.20898419e-01 1.36908734e-02 9.62947411e+01] [-1.20887498e-01 9.92664883e-01 -1.62552000e-03 -6.31067241e+00] [-1.37869720e-02 -4.16122775e-05 9.99904954e-01 4.29558469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.002320588 meters 0.02309663939342792 Centerline is valid? [True, True] Translation: X:96.33, Y:-6.32, Z:0.43 [[ 9.92504312e-01 1.21572470e-01 1.24629508e-02 9.63268117e+01] [-1.21563451e-01 9.92582557e-01 -1.48146312e-03 -6.31520554e+00] [-1.25506127e-02 -4.46807824e-05 9.99921237e-01 4.30577655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.032320588 meters 0.023152645968741236 Centerline is valid? [True, True] Translation: X:96.36, Y:-6.32, Z:0.43 [[ 9.92435634e-01 1.22126134e-01 1.25187924e-02 9.63593983e+01] [-1.22117042e-01 9.92514587e-01 -1.49099020e-03 -6.31822782e+00] [-1.26071729e-02 -4.90461034e-05 9.99920525e-01 4.30135949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.062320588 meters 0.022998834568919567 Centerline is valid? [True, True] Translation: X:96.39, Y:-6.32, Z:0.43 [[ 9.92520822e-01 1.21760511e-01 8.76330234e-03 9.63916325e+01] [-1.21756032e-01 9.92559508e-01 -1.04485218e-03 -6.32052335e+00] [-8.82532080e-03 -2.99473780e-05 9.99961056e-01 4.30102865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.092320588 meters 0.02293183013640605 Centerline is valid? [True, True] Translation: X:96.42, Y:-6.32, Z:0.43 [[ 9.92466270e-01 1.22338626e-01 6.63055139e-03 9.64233641e+01] [-1.22336068e-01 9.92488418e-01 -7.91633989e-04 -6.32394073e+00] [-6.67759287e-03 -2.54855509e-05 9.99977704e-01 4.29928690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.122320588 meters 0.023143167850817457 Centerline is valid? [True, True] Translation: X:96.46, Y:-6.33, Z:0.43 [[ 9.92104293e-01 1.25155217e-01 8.07730510e-03 9.64554434e+01] [-1.25151505e-01 9.92137172e-01 -9.65322350e-04 -6.32533109e+00] [-8.13460977e-03 -5.31864449e-05 9.99966912e-01 4.30870652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.152320588 meters 0.02329282430038231 Centerline is valid? [True, True] Translation: X:96.49, Y:-6.33, Z:0.43 [[ 9.91808374e-01 1.27291822e-01 1.06273618e-02 9.64879095e+01] [-1.27285507e-01 9.91865305e-01 -1.27128399e-03 -6.32798737e+00] [-1.07027355e-02 -9.18390219e-05 9.99942720e-01 4.31362476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.182320588 meters 0.0233172405583297 Centerline is valid? [True, True] Translation: X:96.52, Y:-6.33, Z:0.43 [[ 9.91564082e-01 1.29012813e-01 1.25046474e-02 9.65201414e+01] [-1.29004186e-01 9.91642918e-01 -1.49741455e-03 -6.33096681e+00] [-1.25933308e-02 -1.28369385e-04 9.99920693e-01 4.31264622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.212320588 meters 0.02340181286571001 Centerline is valid? [True, True] Translation: X:96.55, Y:-6.34, Z:0.43 [[ 9.91162360e-01 1.32063183e-01 1.25096537e-02 9.65522596e+01] [-1.32054771e-01 9.91241287e-01 -1.49968969e-03 -6.33512859e+00] [-1.25981390e-02 -1.65523479e-04 9.99920627e-01 4.30867904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.242320588 meters 0.023659278812583028 Centerline is valid? [True, True] Translation: X:96.58, Y:-6.34, Z:0.43 [[ 9.90869151e-01 1.34290900e-01 1.20116335e-02 9.65841339e+01] [-1.34283288e-01 9.90941936e-01 -1.44165266e-03 -6.33925102e+00] [-1.20964321e-02 -1.84472489e-04 9.99926818e-01 4.29900523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.272320588 meters 0.023809113909071807 Centerline is valid? [True, True] Translation: X:96.62, Y:-6.34, Z:0.43 [[ 9.90335261e-01 1.38459532e-01 8.06409049e-03 9.66171781e+01] [-1.38456222e-01 9.90368080e-01 -9.70052616e-04 -6.34029639e+00] [-8.12073084e-03 -1.55846191e-04 9.99967014e-01 4.29747282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.302320588 meters 0.023846435520162215 Centerline is valid? [True, True] Translation: X:96.65, Y:-6.34, Z:0.43 [[ 9.90250852e-01 1.39131391e-01 6.76066978e-03 9.66497790e+01] [-1.39129075e-01 9.90273921e-01 -8.14002664e-04 -6.34124434e+00] [-6.80816829e-03 -1.34538898e-04 9.99976815e-01 4.31149565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.332320588 meters 0.03227822776955685 Centerline is valid? [True, True] Translation: X:96.68, Y:-6.34, Z:0.45 [[ 9.90164709e-01 1.39710428e-01 7.40579326e-03 9.66822832e+01] [-1.39707657e-01 9.90192392e-01 -8.92612017e-04 -6.34310661e+00] [-7.45786735e-03 -1.50813110e-04 9.99972178e-01 4.45377566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.362320588 meters 0.02392285941751275 Centerline is valid? [True, True] Translation: X:96.71, Y:-6.34, Z:0.43 [[ 9.90404740e-01 1.38109962e-01 4.90799824e-03 9.67148421e+01] [-1.38108722e-01 9.90416897e-01 -5.92443160e-04 -6.34162367e+00] [-4.94278669e-03 -9.10788498e-05 9.99987780e-01 4.33608586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.392320588 meters 0.023893991461686827 Centerline is valid? [True, True] Translation: X:96.75, Y:-6.34, Z:0.43 [[ 9.90535653e-01 1.37150151e-01 5.38110390e-03 9.67455350e+01] [-1.37148650e-01 9.90550265e-01 -6.48812462e-04 -6.34145850e+00] [-5.41923862e-03 -9.53392600e-05 9.99985311e-01 4.34570599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.422320588 meters 0.023655579560948357 Centerline is valid? [True, True] Translation: X:96.78, Y:-6.34, Z:0.43 [[ 9.91282101e-01 1.31387198e-01 9.85901950e-03 9.67768267e+01] [-1.31381872e-01 9.91331121e-01 -1.18872537e-03 -6.33924287e+00] [-9.92973615e-03 -1.16934260e-04 9.99950692e-01 4.34699598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.452320588 meters 0.0236089007937091 Centerline is valid? [True, True] Translation: X:96.81, Y:-6.34, Z:0.43 [[ 9.91749837e-01 1.27727485e-01 1.08604522e-02 9.68091603e+01] [-1.27720780e-01 9.91809297e-01 -1.31161895e-03 -6.34296999e+00] [-1.09390272e-02 -8.63075387e-05 9.99940163e-01 4.34794064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.482320588 meters 0.023532680170049648 Centerline is valid? [True, True] Translation: X:96.84, Y:-6.35, Z:0.43 [[ 9.92316038e-01 1.23267964e-01 1.06719345e-02 9.68409295e+01] [-1.23261216e-01 9.92373422e-01 -1.29029762e-03 -6.34733498e+00] [-1.07495966e-02 -3.50526078e-05 9.99942221e-01 4.34401857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.512320588 meters 0.023525665466313968 Centerline is valid? [True, True] Translation: X:96.87, Y:-6.35, Z:0.43 [[ 9.92758163e-01 1.19752451e-01 9.51734209e-03 9.68727124e+01] [-1.19746909e-01 9.92803783e-01 -1.15205452e-03 -6.35112750e+00] [-9.58681458e-03 4.03922831e-06 9.99954045e-01 4.33330361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.542320588 meters 0.02395674401466522 Centerline is valid? [True, True] Translation: X:96.91, Y:-6.35, Z:0.43 [[ 9.93598715e-01 1.12667601e-01 8.22227896e-03 9.69050249e+01] [-1.12663212e-01 9.93632733e-01 -9.96473281e-04 -6.35073465e+00] [-8.28219577e-03 6.37462110e-05 9.99965700e-01 4.31290156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.572320588 meters 0.02423059614115225 Centerline is valid? [True, True] Translation: X:96.94, Y:-6.35, Z:0.43 [[ 9.93959224e-01 1.09466342e-01 7.88554119e-03 9.69372283e+01] [-1.09462197e-01 9.93990499e-01 -9.56727922e-04 -6.35247723e+00] [-7.94288253e-03 8.77798824e-05 9.99968451e-01 4.30475227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.602320588 meters 0.02436035825338675 Centerline is valid? [True, True] Translation: X:96.97, Y:-6.36, Z:0.43 [[ 9.94298817e-01 1.06373226e-01 7.38919712e-03 9.69681657e+01] [-1.06369499e-01 9.94326267e-01 -8.96684271e-04 -6.35587430e+00] [-7.44265599e-03 1.05586911e-04 9.99972297e-01 4.31947819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.632320588 meters 0.024411338252704536 Centerline is valid? [True, True] Translation: X:97.00, Y:-6.36, Z:0.44 [[ 9.94411734e-01 1.05442356e-01 5.21664494e-03 9.69986125e+01] [-1.05440483e-01 9.94425414e-01 -6.33470643e-04 -6.36376169e+00] [-5.25435894e-03 7.98850751e-05 9.99986193e-01 4.36491686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.662320588 meters 0.02420654298697189 Centerline is valid? [True, True] Translation: X:97.03, Y:-6.37, Z:0.44 [[ 9.94250798e-01 1.06770646e-01 8.08583087e-03 9.70295198e+01] [-1.06766188e-01 9.94283670e-01 -9.82235552e-04 -6.36943654e+00] [-8.14448352e-03 1.13295138e-04 9.99966827e-01 4.36958096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.692320588 meters 0.024053135862074644 Centerline is valid? [True, True] Translation: X:97.06, Y:-6.37, Z:0.44 [[ 9.93977539e-01 1.09019448e-01 1.11090506e-02 9.70615911e+01] [-1.09011155e-01 9.94039608e-01 -1.35115109e-03 -6.37469339e+00] [-1.11901380e-02 1.32003404e-04 9.99937380e-01 4.36152690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.722320588 meters 0.02426913138134881 Centerline is valid? [True, True] Translation: X:97.09, Y:-6.38, Z:0.43 [[ 9.93721441e-01 1.11242092e-01 1.19538826e-02 9.70934503e+01] [-1.11232631e-01 9.93793330e-01 -1.45542032e-03 -6.37930595e+00] [-1.20415928e-02 1.16620561e-04 9.99927491e-01 4.33965717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.752320588 meters 0.024063821790960973 Centerline is valid? [True, True] Translation: X:97.12, Y:-6.39, Z:0.43 [[ 9.93469507e-01 1.13415463e-01 1.24608042e-02 9.71248858e+01] [-1.13405334e-01 9.93547645e-01 -1.51874583e-03 -6.38525070e+00] [-1.25526519e-02 9.57060147e-05 9.99921208e-01 4.31288272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.782320588 meters 0.023951980131359366 Centerline is valid? [True, True] Translation: X:97.16, Y:-6.40, Z:0.43 [[ 9.93216573e-01 1.15917550e-01 9.16297244e-03 9.71564371e+01] [-1.15912167e-01 9.93258838e-01 -1.11818091e-03 -6.39545167e+00] [-9.23082015e-03 4.84958246e-05 9.99957394e-01 4.30642714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.812320588 meters 0.023720338695674255 Centerline is valid? [True, True] Translation: X:97.19, Y:-6.40, Z:0.43 [[ 9.93189838e-01 1.16283032e-01 7.22512465e-03 9.71884103e+01] [-1.16279686e-01 9.93216117e-01 -8.82802276e-04 -6.40146011e+00] [-7.27876517e-03 3.66550221e-05 9.99973509e-01 4.33236093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.842320588 meters 0.023737031207267584 Centerline is valid? [True, True] Translation: X:97.22, Y:-6.41, Z:0.44 [[ 9.93104855e-01 1.16980886e-01 7.63020094e-03 9.72202821e+01] [-1.16977168e-01 9.93134166e-01 -9.33276218e-04 -6.40624224e+00] [-7.68698872e-03 3.42818429e-05 9.99970454e-01 4.35676581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.872320588 meters 0.02377121091404231 Centerline is valid? [True, True] Translation: X:97.25, Y:-6.41, Z:0.44 [[ 9.92934427e-01 1.18224065e-01 1.02124191e-02 9.72521240e+01] [-1.18217459e-01 9.92986943e-01 -1.25027168e-03 -6.41068069e+00] [-1.02886110e-02 3.41515613e-05 9.99947070e-01 4.37257976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.902320588 meters 0.023643968341327856 Centerline is valid? [True, True] Translation: X:97.28, Y:-6.42, Z:0.44 [[ 9.92719177e-01 1.19810786e-01 1.24101612e-02 9.72841073e+01] [-1.19801135e-01 9.92796744e-01 -1.52084727e-03 -6.41658991e+00] [-1.25029816e-02 2.30228518e-05 9.99921834e-01 4.38237550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.932320588 meters 0.02378763804450728 Centerline is valid? [True, True] Translation: X:97.31, Y:-6.43, Z:0.44 [[ 9.92462898e-01 1.21605422e-01 1.51498292e-02 9.73149860e+01] [-1.21591220e-01 9.92578521e-01 -1.85847724e-03 -6.42959091e+00] [-1.52633959e-02 2.38350067e-06 9.99883508e-01 4.35329585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.962320588 meters 0.023933534534704346 Centerline is valid? [True, True] Translation: X:97.35, Y:-6.44, Z:0.43 [[ 9.92315741e-01 1.23068290e-01 1.27932201e-02 9.73464786e+01] [-1.23058260e-01 9.92398204e-01 -1.57121432e-03 -6.43721769e+00] [-1.28893353e-02 -1.51707125e-05 9.99916929e-01 4.34511396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.992320588 meters 0.023787572017259024 Centerline is valid? [True, True] Translation: X:97.38, Y:-6.44, Z:0.43 [[ 9.92226017e-01 1.23989747e-01 1.06805725e-02 9.73779700e+01] [-1.23982793e-01 9.92283499e-01 -1.31329520e-03 -6.44271157e+00] [-1.07609910e-02 -2.11215380e-05 9.99942099e-01 4.33361587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.022320588 meters 0.023736286363952613 Centerline is valid? [True, True] Translation: X:97.41, Y:-6.45, Z:0.43 [[ 9.91754154e-01 1.27825612e-01 9.18211061e-03 9.74091501e+01] [-1.27820625e-01 9.91796658e-01 -1.13036622e-03 -6.44946260e+00] [-9.25127636e-03 -5.26177188e-05 9.99957205e-01 4.34113744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.052320588 meters 0.02370210523859682 Centerline is valid? [True, True] Translation: X:97.44, Y:-6.46, Z:0.44 [[ 9.91435800e-01 1.30277995e-01 9.09383524e-03 9.74408943e+01] [-1.30273195e-01 9.91477503e-01 -1.12073813e-03 -6.45567208e+00] [-9.16234057e-03 -7.35430672e-05 9.99958022e-01 4.35341347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.082320588 meters 0.023877555311585447 Centerline is valid? [True, True] Translation: X:97.47, Y:-6.46, Z:0.44 [[ 9.91048306e-01 1.33224175e-01 8.63564593e-03 9.74729868e+01] [-1.33219948e-01 9.91085925e-01 -1.06547041e-03 -6.46142481e+00] [-8.70061355e-03 -9.45076561e-05 9.99962144e-01 4.37424244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.112320588 meters 0.023870554073396704 Centerline is valid? [True, True] Translation: X:97.50, Y:-6.47, Z:0.44 [[ 9.90710906e-01 1.35692374e-01 8.91514239e-03 9.75043137e+01] [-1.35687962e-01 9.90751011e-01 -1.10067808e-03 -6.46627088e+00] [-8.98203995e-03 -1.19223728e-04 9.99959654e-01 4.36671475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.142320588 meters 0.024408676981546022 Centerline is valid? [True, True] Translation: X:97.54, Y:-6.47, Z:0.43 [[ 9.90030726e-01 1.40540085e-01 9.36198499e-03 9.75356267e+01] [-1.40535423e-01 9.90074975e-01 -1.15725805e-03 -6.47256458e+00] [-9.43170820e-03 -1.69969491e-04 9.99955506e-01 4.34558558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.172320588 meters 0.024408676981546022 Centerline is valid? [True, True] Translation: X:97.57, Y:-6.48, Z:0.43 [[ 9.90002592e-01 1.40738144e-01 9.36171228e-03 9.75679031e+01] [-1.40733471e-01 9.90046840e-01 -1.15946323e-03 -6.47650333e+00] [-9.43171436e-03 -1.69634658e-04 9.99955506e-01 4.34722427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.202320588 meters 0.02463197332293779 Centerline is valid? [True, True] Translation: X:97.60, Y:-6.48, Z:0.44 [[ 9.89728677e-01 1.42536278e-01 1.09797398e-02 9.75999251e+01] [-1.42529949e-01 9.89789554e-01 -1.36081469e-03 -6.48322037e+00] [-1.10615972e-02 -2.18104424e-04 9.99938795e-01 4.35033867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.232320588 meters 0.0246785078463493 Centerline is valid? [True, True] Translation: X:97.63, Y:-6.49, Z:0.44 [[ 9.89731797e-01 1.42552681e-01 1.04738979e-02 9.76318208e+01] [-1.42546907e-01 9.89787194e-01 -1.29955093e-03 -6.48840158e+00] [-1.05521845e-02 -2.06814878e-04 9.99944303e-01 4.36892301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.262320588 meters 0.02470524864620917 Centerline is valid? [True, True] Translation: X:97.66, Y:-6.49, Z:0.44 [[ 9.89806667e-01 1.42035681e-01 1.04224936e-02 9.76640930e+01] [-1.42029920e-01 9.89861519e-01 -1.29456933e-03 -6.49068505e+00] [-1.05007004e-02 -1.98932586e-04 9.99944846e-01 4.38144495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.292320588 meters 0.024419822793509856 Centerline is valid? [True, True] Translation: X:97.70, Y:-6.49, Z:0.44 [[ 9.90025697e-01 1.40665426e-01 7.89661722e-03 9.76966383e+01] [-1.40662066e-01 9.90057180e-01 -9.82060356e-04 -6.48927779e+00] [-7.95624451e-03 -1.38489504e-04 9.99968339e-01 4.37613890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.322320588 meters 0.024489522305148986 Centerline is valid? [True, True] Translation: X:97.73, Y:-6.49, Z:0.44 [[ 9.90096752e-01 1.40193530e-01 7.36171962e-03 9.77286918e+01] [-1.40190589e-01 9.90124113e-01 -9.16571148e-04 -6.49311019e+00] [-7.41751345e-03 -1.24549696e-04 9.99972482e-01 4.36239926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.352320588 meters 0.024611583199581805 Centerline is valid? [True, True] Translation: X:97.76, Y:-6.50, Z:0.44 [[ 9.89998969e-01 1.40827560e-01 8.34510902e-03 9.77608814e+01] [-1.40823794e-01 9.90034129e-01 -1.04004325e-03 -6.49832583e+00] [-8.40840949e-03 -1.45548167e-04 9.99964638e-01 4.36080375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.382320588 meters 0.024620219147119565 Centerline is valid? [True, True] Translation: X:97.79, Y:-6.50, Z:0.44 [[ 9.89969576e-01 1.40859928e-01 1.08958176e-02 9.77925482e+01] [-1.40853498e-01 9.90029517e-01 -1.35919713e-03 -6.50233080e+00] [-1.09786374e-02 -1.89150204e-04 9.99939715e-01 4.36043690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.412320588 meters 0.02460942816169081 Centerline is valid? [True, True] Translation: X:97.82, Y:-6.50, Z:0.44 [[ 9.89845313e-01 1.41627661e-01 1.21598899e-02 9.78249141e+01] [-1.41619690e-01 9.89919975e-01 -1.51844103e-03 -6.50470440e+00] [-1.22523711e-02 -2.19058095e-04 9.99924913e-01 4.40431630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.442320588 meters 0.02450383325920004 Centerline is valid? [True, True] Translation: X:97.86, Y:-6.51, Z:0.44 [[ 9.89912169e-01 1.41088935e-01 1.29541387e-02 9.78575623e+01] [-1.41079804e-01 9.89996900e-01 -1.62056162e-03 -6.50658298e+00] [-1.30532005e-02 -2.23353690e-04 9.99914778e-01 4.42451663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.472320588 meters 0.024524452229938102 Centerline is valid? [True, True] Translation: X:97.89, Y:-6.51, Z:0.44 [[ 9.89917252e-01 1.40905138e-01 1.44767474e-02 9.78898356e+01] [-1.40893694e-01 9.90023071e-01 -1.81253098e-03 -6.50775054e+00] [-1.45877088e-02 -2.45426722e-04 9.99893564e-01 4.41840766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.502320588 meters 0.024500901951039582 Centerline is valid? [True, True] Translation: X:97.92, Y:-6.51, Z:0.44 [[ 9.90043271e-01 1.40166504e-01 1.29488303e-02 9.79223507e+01] [-1.40157261e-01 9.90127925e-01 -1.62304272e-03 -6.50991078e+00] [-1.30484947e-02 -2.07990063e-04 9.99914843e-01 4.40271568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.532320588 meters 0.024581507443519342 Centerline is valid? [True, True] Translation: X:97.95, Y:-6.51, Z:0.44 [[ 9.89967782e-01 1.40648702e-01 1.34808105e-02 9.79543026e+01] [-1.40638705e-01 9.90059540e-01 -1.69151916e-03 -6.51478833e+00] [-1.35847150e-02 -2.21374249e-04 9.99907699e-01 4.37639499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.562320588 meters 0.02461826973483871 Centerline is valid? [True, True] Translation: X:97.99, Y:-6.52, Z:0.43 [[ 9.89953460e-01 1.40853567e-01 1.23458557e-02 9.79851733e+01] [-1.40845177e-01 9.90030419e-01 -1.55083453e-03 -6.52460685e+00] [-1.24412132e-02 -2.03600212e-04 9.99922584e-01 4.34852883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.592320588 meters 0.024547066272568693 Centerline is valid? [True, True] Translation: X:98.02, Y:-6.53, Z:0.44 [[ 9.89923599e-01 1.41197491e-01 1.07021660e-02 9.80170846e+01] [-1.41191190e-01 9.89981432e-01 -1.34589393e-03 -6.52908560e+00] [-1.07849825e-02 -1.78719390e-04 9.99941824e-01 4.37147791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.622320588 meters 0.024606408023997182 Centerline is valid? [True, True] Translation: X:98.05, Y:-6.53, Z:0.44 [[ 9.89875327e-01 1.41567608e-01 1.02688643e-02 9.80501069e+01] [-1.41561800e-01 9.89928574e-01 -1.29389793e-03 -6.53167570e+00] [-1.03486162e-02 -1.72881276e-04 9.99946437e-01 4.38591968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.652320588 meters 0.024561111928000593 Centerline is valid? [True, True] Translation: X:98.08, Y:-6.53, Z:0.44 [[ 9.89744847e-01 1.42208509e-01 1.34862040e-02 9.80825541e+01] [-1.42198536e-01 9.89836696e-01 -1.70043331e-03 -6.53049127e+00] [-1.35909557e-02 -2.34723350e-04 9.99907611e-01 4.42800491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.682320588 meters 0.024797925617022154 Centerline is valid? [True, True] Translation: X:98.11, Y:-6.53, Z:0.44 [[ 9.89475401e-01 1.43831097e-01 1.58444272e-02 9.81149686e+01] [-1.43817507e-01 9.89602206e-01 -1.99978882e-03 -6.53392934e+00] [-1.59673120e-02 -2.99964179e-04 9.99872469e-01 4.42985744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.712320588 meters 0.025213708442963268 Centerline is valid? [True, True] Translation: X:98.15, Y:-6.54, Z:0.44 [[ 9.89181809e-01 1.45728251e-01 1.68114475e-02 9.81468405e+01] [-1.45713188e-01 9.89324596e-01 -2.12403199e-03 -6.53872219e+00] [-1.69415100e-02 -3.48595805e-04 9.99856422e-01 4.41791497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.742320588 meters 0.02525430218061749 Centerline is valid? [True, True] Translation: X:98.18, Y:-6.54, Z:0.44 [[ 9.88829839e-01 1.48168719e-01 1.61734704e-02 9.81784210e+01] [-1.48155057e-01 9.88962027e-01 -2.04628040e-03 -6.54364902e+00] [-1.62981429e-02 -3.72758322e-04 9.99867107e-01 4.39964383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.772320588 meters 0.02553955613607412 Centerline is valid? [True, True] Translation: X:98.21, Y:-6.55, Z:0.44 [[ 9.88437238e-01 1.50894247e-01 1.49248801e-02 9.82098500e+01] [-1.50882905e-01 9.88549836e-01 -1.88955408e-03 -6.54768437e+00] [-1.50391106e-02 -3.84203651e-04 9.99886832e-01 4.35584000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.802320588 meters 0.0256923626630512 Centerline is valid? [True, True] Translation: X:98.24, Y:-6.55, Z:0.44 [[ 9.88421677e-01 1.51117427e-01 1.36422881e-02 9.82415579e+01] [-1.51107944e-01 9.88515756e-01 -1.72919795e-03 -6.55062269e+00] [-1.37469286e-02 -3.52281354e-04 9.99905444e-01 4.37443128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.832320588 meters 0.025487787128770454 Centerline is valid? [True, True] Translation: X:98.27, Y:-6.55, Z:0.44 [[ 9.88489970e-01 1.50739191e-01 1.28559752e-02 9.82740721e+01] [-1.50730716e-01 9.88573513e-01 -1.63124652e-03 -6.55181352e+00] [-1.29549694e-02 -3.25319524e-04 9.99916028e-01 4.39845074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.862320588 meters 0.02544586594742585 Centerline is valid? [True, True] Translation: X:98.31, Y:-6.55, Z:0.44 [[ 9.88407959e-01 1.51400605e-01 1.12943842e-02 9.83062975e+01] [-1.51394089e-01 9.88472443e-01 -1.43468932e-03 -6.55353264e+00] [-1.13814004e-02 -2.91844663e-04 9.99935187e-01 4.42298145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.892320588 meters 0.025479404922906863 Centerline is valid? [True, True] Translation: X:98.34, Y:-6.56, Z:0.44 [[ 9.88423880e-01 1.51402415e-01 9.77459612e-03 9.83385971e+01] [-1.51397521e-01 9.88472177e-01 -1.24301180e-03 -6.55634447e+00] [-9.85011130e-03 -2.51227076e-04 9.99951455e-01 4.43356045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.922320588 meters 0.025379174923213 Centerline is valid? [True, True] Translation: X:98.37, Y:-6.56, Z:0.44 [[ 9.88445060e-01 1.51349315e-01 8.35148770e-03 9.83703337e+01] [-1.51345731e-01 9.88480318e-01 -1.06324592e-03 -6.56050339e+00] [-8.41620276e-03 -2.13001826e-04 9.99964560e-01 4.41649930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.952320588 meters 0.025456033991760968 Centerline is valid? [True, True] Translation: X:98.40, Y:-6.56, Z:0.44 [[ 9.88557738e-01 1.50514852e-01 9.94369560e-03 9.84021636e+01] [-1.50509716e-01 9.88607718e-01 -1.26715818e-03 -6.56271938e+00] [-1.00211403e-02 -2.43963775e-04 9.99949757e-01 4.40188915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.982320588 meters 0.025307070888178358 Centerline is valid? [True, True] Translation: X:98.43, Y:-6.56, Z:0.44 [[ 9.88689050e-01 1.49625981e-01 1.02969610e-02 9.84347395e+01] [-1.49620410e-01 9.88742640e-01 -1.31353910e-03 -6.56469250e+00] [-1.03775840e-02 -2.41953814e-04 9.99946122e-01 4.39739807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.012320588 meters 0.025265029835901526 Centerline is valid? [True, True] Translation: X:98.47, Y:-6.57, Z:0.44 [[ 9.88823488e-01 1.48813611e-01 9.08944495e-03 9.84666039e+01] [-1.48809225e-01 9.88865242e-01 -1.16079283e-03 -6.56653513e+00] [-9.16097795e-03 -2.04774046e-04 9.99958016e-01 4.40813799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.042320588 meters 0.0248244335782668 Centerline is valid? [True, True] Translation: X:98.50, Y:-6.57, Z:0.44 [[ 9.89214819e-01 1.46347933e-01 6.02690638e-03 9.84988566e+01] [-1.46345952e-01 9.89233172e-01 -7.70721198e-04 -6.56683720e+00] [-6.07480916e-03 -1.19604521e-04 9.99981541e-01 4.42123573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.072320588 meters 0.024803036722901333 Centerline is valid? [True, True] Translation: X:98.53, Y:-6.57, Z:0.44 [[ 9.89394976e-01 1.45094002e-01 6.73142829e-03 9.85306444e+01] [-1.45091496e-01 9.89417867e-01 -8.61661725e-04 -6.56944930e+00] [-6.78521737e-03 -1.24149221e-04 9.99976972e-01 4.42278111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.102320588 meters 0.02477164543745752 Centerline is valid? [True, True] Translation: X:98.56, Y:-6.57, Z:0.44 [[ 9.89668982e-01 1.43108084e-01 8.68225226e-03 9.85630620e+01] [-1.43103831e-01 9.89707056e-01 -1.11236299e-03 -6.57217678e+00] [-8.75207446e-03 -1.41592412e-04 9.99961690e-01 4.42204966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.132320588 meters 0.024578157702956974 Centerline is valid? [True, True] Translation: X:98.59, Y:-6.58, Z:0.44 [[ 9.90119568e-01 1.39710221e-01 1.20122572e-02 9.85949526e+01] [-1.39701813e-01 9.90192421e-01 -1.54037500e-03 -6.57554734e+00] [-1.21096522e-02 -1.52978686e-04 9.99926664e-01 4.44433568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.162320588 meters 0.02450496395193365 Centerline is valid? [True, True] Translation: X:98.63, Y:-6.58, Z:0.45 [[ 9.90416145e-01 1.37404495e-01 1.39951495e-02 9.86278121e+01] [-1.37392808e-01 9.90515010e-01 -1.79773449e-03 -6.58167921e+00] [-1.41094224e-02 -1.42327625e-04 9.99900447e-01 4.45547545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.192320588 meters 0.024487616442089695 Centerline is valid? [True, True] Translation: X:98.66, Y:-6.59, Z:0.45 [[ 9.90756284e-01 1.35071312e-01 1.25589528e-02 9.86598241e+01] [-1.35061695e-01 9.90835875e-01 -1.61469882e-03 -6.58792512e+00] [-1.26619605e-02 -9.64604498e-05 9.99919830e-01 4.46410658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.222320588 meters 0.024263493443499633 Centerline is valid? [True, True] Translation: X:98.69, Y:-6.59, Z:0.45 [[ 9.91122887e-01 1.32534618e-01 1.04880087e-02 9.86921128e+01] [-1.32527747e-01 9.91178376e-01 -1.35049102e-03 -6.59325958e+00] [-1.05744743e-02 -5.14496033e-05 9.99944087e-01 4.45955071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.252320588 meters 0.02442081097347284 Centerline is valid? [True, True] Translation: X:98.72, Y:-6.60, Z:0.44 [[ 9.91520225e-01 1.29331530e-01 1.26885040e-02 9.87237797e+01] [-1.29321193e-01 9.91601409e-01 -1.63521323e-03 -6.59727464e+00] [-1.27934231e-02 -1.95454940e-05 9.99918161e-01 4.44260736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.282320588 meters 0.024298819747588966 Centerline is valid? [True, True] Translation: X:98.76, Y:-6.60, Z:0.45 [[ 9.91637374e-01 1.28296416e-01 1.39767212e-02 9.87555637e+01] [-1.28283746e-01 9.91735867e-01 -1.80303763e-03 -6.60155934e+00] [-1.40925390e-02 -5.02665728e-06 9.99900695e-01 4.45681642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.312320588 meters 0.024324957864496403 Centerline is valid? [True, True] Translation: X:98.79, Y:-6.61, Z:0.45 [[ 9.91502365e-01 1.29277772e-01 1.45023253e-02 9.87873371e+01] [-1.29264208e-01 9.91608419e-01 -1.87277478e-03 -6.60722626e+00] [-1.46227360e-02 -1.77709640e-05 9.99893082e-01 4.47335958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.342320588 meters 0.02423612943539209 Centerline is valid? [True, True] Translation: X:98.82, Y:-6.61, Z:0.45 [[ 9.91345606e-01 1.30466469e-01 1.45736116e-02 9.88199906e+01] [-1.30452851e-01 9.91452722e-01 -1.88526121e-03 -6.61289991e+00] [-1.46950102e-02 -3.22237651e-05 9.99892022e-01 4.47983422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.372320588 meters 0.024078579800316108 Centerline is valid? [True, True] Translation: X:98.85, Y:-6.62, Z:0.45 [[ 9.91057024e-01 1.33179906e-01 8.31189819e-03 9.88519662e+01] [-1.33175561e-01 9.91091878e-01 -1.07644793e-03 -6.61777554e+00] [-8.38121603e-03 -4.01204280e-05 9.99964876e-01 4.47464204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.402320588 meters 0.023993428386527037 Centerline is valid? [True, True] Translation: X:98.88, Y:-6.62, Z:0.45 [[ 9.91004507e-01 1.33558819e-01 8.49170499e-03 9.88840119e+01] [-1.33554288e-01 9.91040887e-01 -1.10088078e-03 -6.62332880e+00] [-8.56265919e-03 -4.31258001e-05 9.99963339e-01 4.45203000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.432320588 meters 0.02405868901524949 Centerline is valid? [True, True] Translation: X:98.92, Y:-6.63, Z:0.45 [[ 9.91082476e-01 1.32956346e-01 8.83943250e-03 9.89154520e+01] [-1.32951403e-01 9.91121894e-01 -1.14713838e-03 -6.63066780e+00] [-8.91347441e-03 -3.83062076e-05 9.99960273e-01 4.45057861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.462320588 meters 0.02415988533464737 Centerline is valid? [True, True] Translation: X:98.95, Y:-6.64, Z:0.45 [[ 9.91185767e-01 1.32012006e-01 1.11178091e-02 9.89470296e+01] [-1.32004111e-01 9.91248117e-01 -1.44415906e-03 -6.63960111e+00] [-1.12111537e-02 -3.61666092e-05 9.99937152e-01 4.45361312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.492320588 meters 0.024128993240616216 Centerline is valid? [True, True] Translation: X:98.98, Y:-6.65, Z:0.45 [[ 9.91480041e-01 1.29778790e-01 1.11711553e-02 9.89791112e+01] [-1.29770648e-01 9.91542972e-01 -1.45370718e-03 -6.64651929e+00] [-1.12653409e-02 -8.36640929e-06 9.99936544e-01 4.47610705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.522320588 meters 0.02417795619480714 Centerline is valid? [True, True] Translation: X:99.01, Y:-6.65, Z:0.45 [[ 9.92123567e-01 1.25043125e-01 7.41917037e-03 9.90110341e+01] [-1.25039394e-01 9.92151307e-01 -9.66462502e-04 -6.64941953e+00] [-7.48178907e-03 3.11616563e-05 9.99972011e-01 4.51657462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.552320588 meters 0.02420386202126792 Centerline is valid? [True, True] Translation: X:99.04, Y:-6.65, Z:0.45 [[ 9.92406568e-01 1.22807380e-01 6.89571713e-03 9.90428273e+01] [-1.22804096e-01 9.92430524e-01 -8.99251799e-04 -6.65342008e+00] [-6.95395492e-03 4.56010812e-05 9.99975820e-01 4.50915502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.582320588 meters 0.02445289678012176 Centerline is valid? [True, True] Translation: X:99.07, Y:-6.66, Z:0.45 [[ 9.92679288e-01 1.20543020e-01 7.56380544e-03 9.90743766e+01] [-1.20538996e-01 9.92708102e-01 -9.87313151e-04 -6.66031176e+00] [-7.62766465e-03 6.83518052e-05 9.99970907e-01 4.49035966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.612320588 meters 0.024669229519168306 Centerline is valid? [True, True] Translation: X:99.11, Y:-6.67, Z:0.45 [[ 9.92981274e-01 1.17966622e-01 8.48919702e-03 9.91061193e+01] [-1.17961450e-01 9.93017556e-01 -1.10915185e-03 -6.66925799e+00] [-8.56076457e-03 9.99690291e-05 9.99963351e-01 4.48435212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.642320588 meters 0.024958364461879063 Centerline is valid? [True, True] Translation: X:99.14, Y:-6.68, Z:0.45 [[ 9.93306020e-01 1.15202695e-01 8.45520109e-03 9.91366558e+01] [-1.15197454e-01 9.93341997e-01 -1.10583128e-03 -6.68160225e+00] [-8.52630108e-03 1.24411230e-04 9.99963643e-01 4.47366150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.672320588 meters 0.02500461649308522 Centerline is valid? [True, True] Translation: X:99.17, Y:-6.69, Z:0.45 [[ 9.93306922e-01 1.15292541e-01 6.99919415e-03 9.91680042e+01] [-1.15288945e-01 9.93331576e-01 -9.16433270e-04 -6.68847634e+00] [-7.05817847e-03 1.03369799e-04 9.99975085e-01 4.48522138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.702320588 meters 0.024826585577229783 Centerline is valid? [True, True] Translation: X:99.20, Y:-6.70, Z:0.45 [[ 9.93192008e-01 1.16377340e-01 5.09403591e-03 9.91991820e+01] [-1.16375445e-01 9.93205069e-01 -6.67827802e-04 -6.69512691e+00] [-5.13714231e-03 7.04605389e-05 9.99986802e-01 4.49852664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.732320588 meters 0.024558490363743513 Centerline is valid? [True, True] Translation: X:99.23, Y:-6.70, Z:0.45 [[ 9.92922969e-01 1.18700837e-01 3.75363983e-03 9.92302584e+01] [-1.18699823e-01 9.92930063e-01 -4.92777887e-04 -6.70488414e+00] [-3.78559497e-03 4.37341009e-05 9.99992834e-01 4.52718379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.762320588 meters 0.02433732370702179 Centerline is valid? [True, True] Translation: X:99.26, Y:-6.71, Z:0.45 [[ 9.92756656e-01 1.20014559e-01 5.54318071e-03 9.92612390e+01] [-1.20012364e-01 9.92772130e-01 -7.28138971e-04 -6.71303412e+00] [-5.59050260e-03 5.76145878e-05 9.99984371e-01 4.52605032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.792320588 meters 0.024337360455140452 Centerline is valid? [True, True] Translation: X:99.29, Y:-6.72, Z:0.45 [[ 9.92534182e-01 1.21753583e-01 7.20850408e-03 9.92937544e+01] [-1.21749905e-01 9.92560356e-01 -9.48483007e-04 -6.72173245e+00] [-7.27035659e-03 6.37671168e-05 9.99973569e-01 4.52754796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.822320588 meters 0.024374967844912734 Centerline is valid? [True, True] Translation: X:99.33, Y:-6.73, Z:0.45 [[ 9.92245302e-01 1.24018894e-01 8.28098420e-03 9.93257035e+01] [-1.24014106e-01 9.92279855e-01 -1.09112346e-03 -6.73036876e+00] [-8.35237372e-03 5.57032715e-05 9.99965117e-01 4.51768083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.852320588 meters 0.02431027481916153 Centerline is valid? [True, True] Translation: X:99.36, Y:-6.74, Z:0.45 [[ 9.91446302e-01 1.30240328e-01 8.46683012e-03 9.93567507e+01] [-1.30235540e-01 9.91482454e-01 -1.11684910e-03 -6.73967226e+00] [-8.54017230e-03 4.61371808e-06 9.99963532e-01 4.49905671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.882320588 meters 0.024207103993764703 Centerline is valid? [True, True] Translation: X:99.39, Y:-6.74, Z:0.45 [[ 9.90813547e-01 1.35010090e-01 7.79688031e-03 9.93895619e+01] [-1.35006162e-01 9.90844223e-01 -1.03034325e-03 -6.74329535e+00] [-7.86460055e-03 -3.17488367e-05 9.99969073e-01 4.49928205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.912320588 meters 0.024166983347506398 Centerline is valid? [True, True] Translation: X:99.42, Y:-6.75, Z:0.45 [[ 9.90372922e-01 1.38232485e-01 7.29770308e-03 9.94230291e+01] [-1.38229119e-01 9.90399807e-01 -9.65962076e-04 -6.74528451e+00] [-7.36117106e-03 -5.20923875e-05 9.99972905e-01 4.50388004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.942320588 meters 0.02410506270748589 Centerline is valid? [True, True] Translation: X:99.46, Y:-6.75, Z:0.45 [[ 9.89841171e-01 1.42043727e-01 6.16729246e-03 9.94553176e+01] [-1.42041393e-01 9.89860382e-01 -8.16980320e-04 -6.74741921e+00] [-6.22080540e-03 -6.73300559e-05 9.99980648e-01 4.52046123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.972320588 meters 0.024489337483063117 Centerline is valid? [True, True] Translation: X:99.49, Y:-6.75, Z:0.45 [[ 9.88929089e-01 1.48187734e-01 7.72350987e-03 9.94871631e+01] [-1.48184255e-01 9.88959240e-01 -1.02400745e-03 -6.75262090e+00] [-7.78998180e-03 -1.31831804e-04 9.99969649e-01 4.52937478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.002320588 meters 0.024870364693958903 Centerline is valid? [True, True] Translation: X:99.52, Y:-6.76, Z:0.45 [[ 9.88418468e-01 1.51421592e-01 1.00216227e-02 9.95188211e+01] [-1.51415889e-01 9.88469251e-01 -1.32982876e-03 -6.75791576e+00] [-1.01074306e-02 -2.03005600e-04 9.99948898e-01 4.52778160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.032320588 meters 0.02521400447853359 Centerline is valid? [True, True] Translation: X:99.55, Y:-6.76, Z:0.45 [[ 9.88097497e-01 1.53427573e-01 1.11047896e-02 9.95503783e+01] [-1.53420687e-01 9.88159865e-01 -1.47442805e-03 -6.76060307e+00] [-1.11995253e-02 -2.46825776e-04 9.99937253e-01 4.52924883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.062320588 meters 0.025547083292373356 Centerline is valid? [True, True] Translation: X:99.58, Y:-6.76, Z:0.45 [[ 9.87829139e-01 1.55123787e-01 1.14106774e-02 9.95824644e+01] [-1.55116611e-01 9.87895003e-01 -1.51668107e-03 -6.76102427e+00] [-1.15078244e-02 -2.71763837e-04 9.99933746e-01 4.52101524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.092320588 meters 0.025547083292373356 Centerline is valid? [True, True] Translation: X:99.61, Y:-6.77, Z:0.45 [[ 9.87799100e-01 1.55314978e-01 1.14103407e-02 9.96147036e+01] [-1.55307785e-01 9.87864962e-01 -1.51921237e-03 -6.76525737e+00] [-1.15078323e-02 -2.71438142e-04 9.99933746e-01 4.52265412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.122320588 meters 0.02526475867867113 Centerline is valid? [True, True] Translation: X:99.65, Y:-6.76, Z:0.45 [[ 9.87684717e-01 1.56056340e-01 1.11945572e-02 9.96469158e+01] [-1.56049451e-01 9.87748118e-01 -1.49163026e-03 -6.76480597e+00] [-1.12901811e-02 -2.73644081e-04 9.99936226e-01 4.52367976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.152320588 meters 0.02522162590765658 Centerline is valid? [True, True] Translation: X:99.68, Y:-6.76, Z:0.45 [[ 9.87724872e-01 1.55775143e-01 1.15620856e-02 9.96804659e+01] [-1.55767744e-01 9.87792503e-01 -1.54322159e-03 -6.76214416e+00] [-1.16613371e-02 -2.76721655e-04 9.99931966e-01 4.51566068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.182320588 meters 0.025248071945107232 Centerline is valid? [True, True] Translation: X:99.71, Y:-6.76, Z:0.45 [[ 9.87716308e-01 1.55719989e-01 1.29529929e-02 9.97128123e+01] [-1.55710682e-01 9.87801190e-01 -1.73013410e-03 -6.76223765e+00] [-1.30643983e-02 -3.08037705e-04 9.99914610e-01 4.52075259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.212320588 meters 0.025162069673501763 Centerline is valid? [True, True] Translation: X:99.75, Y:-6.76, Z:0.45 [[ 9.87651436e-01 1.56083048e-01 1.35175078e-02 9.97455452e+01] [-1.56072922e-01 9.87743882e-01 -1.80728433e-03 -6.76095169e+00] [-1.36339220e-02 -3.24749969e-04 9.99907001e-01 4.54044929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.242320588 meters 0.025228194533667505 Centerline is valid? [True, True] Translation: X:99.78, Y:-6.76, Z:0.45 [[ 9.87584215e-01 1.56669965e-01 1.14865261e-02 9.97779633e+01] [-1.56662675e-01 9.87650972e-01 -1.53736032e-03 -6.75972607e+00] [-1.15855369e-02 -2.81237121e-04 9.99932846e-01 4.54605755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.272320588 meters 0.024916915116734422 Centerline is valid? [True, True] Translation: X:99.81, Y:-6.76, Z:0.45 [[ 9.87602278e-01 1.56947616e-01 3.03073031e-03 9.98107544e+01] [-1.56947107e-01 9.87606926e-01 -4.06518106e-04 -6.75850237e+00] [-3.05697230e-03 -7.41861476e-05 9.99995325e-01 4.54087232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.302320588 meters 0.024874519892085844 Centerline is valid? [True, True] Translation: X:99.84, Y:-6.76, Z:0.45 [[ 9.87671245e-01 1.56502730e-01 3.52248084e-03 9.98419345e+01] [-1.56502041e-01 9.87677522e-01 -4.72276711e-04 -6.75960049e+00] [-3.55298775e-03 -8.48213128e-05 9.99993685e-01 4.53352873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.332320588 meters 0.024795735138151056 Centerline is valid? [True, True] Translation: X:99.87, Y:-6.76, Z:0.45 [[ 9.87836262e-01 1.55370404e-01 6.28943669e-03 9.98747956e+01] [-1.55368177e-01 9.87856273e-01 -8.44184052e-04 -6.75956511e+00] [-6.34422070e-03 -1.43262693e-04 9.99979865e-01 4.54429496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.362320588 meters 0.024697874454559805 Centerline is valid? [True, True] Translation: X:99.91, Y:-6.76, Z:0.46 [[ 9.87966361e-01 1.54449062e-01 8.24362554e-03 9.99069261e+01] [-1.54445196e-01 9.88000736e-01 -1.10737818e-03 -6.76025741e+00] [-8.31574163e-03 -1.79135972e-04 9.99965408e-01 4.55754184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.392320588 meters 0.024344178201674872 Centerline is valid? [True, True] Translation: X:99.94, Y:-6.76, Z:0.45 [[ 9.88821933e-01 1.48767970e-01 9.96369844e-03 9.99389707e+01] [-1.48762021e-01 9.88872118e-01 -1.33964887e-03 -6.76444592e+00] [-1.00521204e-02 -1.57545737e-04 9.99949464e-01 4.54323270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.422320588 meters 0.024192128862480955 Centerline is valid? [True, True] Translation: X:99.97, Y:-6.77, Z:0.45 [[ 9.89358263e-01 1.45328046e-01 7.07014791e-03 9.99709101e+01] [-1.45324955e-01 9.89383521e-01 -9.51772674e-04 -6.77017722e+00] [-7.13340710e-03 -8.58247682e-05 9.99974553e-01 4.54546993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.452320588 meters 0.024043896791094865 Centerline is valid? [True, True] Translation: X:100.00, Y:-6.77, Z:0.45 [[ 9.89888079e-01 1.41713240e-01 6.24088434e-03 1.00002706e+02] [-1.41710753e-01 9.89907751e-01 -8.41079376e-04 -6.77320509e+00] [-6.29709186e-03 -5.18259722e-05 9.99980172e-01 4.54116077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.482320588 meters 0.024013759638336758 Centerline is valid? [True, True] Translation: X:100.04, Y:-6.77, Z:0.45 [[ 9.90745204e-01 1.35562254e-01 6.84226233e-03 1.00035709e+02] [-1.35559113e-01 9.90768830e-01 -9.23005187e-04 -6.77079667e+00] [-6.90422491e-03 -1.30680489e-05 9.99976165e-01 4.53615351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.512320588 meters 0.023872826918621554 Centerline is valid? [True, True] Translation: X:100.07, Y:-6.77, Z:0.45 [[ 9.90876904e-01 1.34553241e-01 7.64104281e-03 1.00067494e+02] [-1.34549286e-01 9.90906366e-01 -1.03169868e-03 -6.77403438e+00] [-7.71037636e-03 -5.81045680e-06 9.99970275e-01 4.54231473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.542320588 meters 0.023862740166904293 Centerline is valid? [True, True] Translation: X:100.10, Y:-6.78, Z:0.46 [[ 9.90891461e-01 1.34468202e-01 7.23989463e-03 1.00098883e+02] [-1.34464641e-01 9.90917909e-01 -9.78551028e-04 -6.77962039e+00] [-7.30572525e-03 -3.87197738e-06 9.99973313e-01 4.56866619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.572320588 meters 0.023794334240918053 Centerline is valid? [True, True] Translation: X:100.13, Y:-6.79, Z:0.46 [[ 9.90785494e-01 1.35268731e-01 6.81723440e-03 1.00131022e+02] [-1.35265584e-01 9.90808947e-01 -9.22799109e-04 -6.78570341e+00] [-6.87940270e-03 -7.84121875e-06 9.99976337e-01 4.58061856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.602320588 meters 0.023826769088192003 Centerline is valid? [True, True] Translation: X:100.16, Y:-6.79, Z:0.46 [[ 9.90638515e-01 1.36350376e-01 6.62629345e-03 1.00163250e+02] [-1.36347421e-01 9.90660676e-01 -8.97709458e-04 -6.78992763e+00] [-6.68681137e-03 -1.41724596e-05 9.99977643e-01 4.57727586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.632320588 meters 0.0237848329242043 Centerline is valid? [True, True] Translation: X:100.20, Y:-6.79, Z:0.46 [[ 9.90266282e-01 1.39045624e-01 6.24536149e-03 1.00195741e+02] [-1.39043047e-01 9.90285976e-01 -8.46980471e-04 -6.79331892e+00] [-6.30246282e-03 -2.96378887e-05 9.99980139e-01 4.56976612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.662320588 meters 0.023804059610374663 Centerline is valid? [True, True] Translation: X:100.23, Y:-6.80, Z:0.46 [[ 9.90389293e-01 1.38126337e-01 7.08266192e-03 1.00227396e+02] [-1.38122993e-01 9.90414617e-01 -9.61425572e-04 -6.80034725e+00] [-7.14757008e-03 -2.60928715e-05 9.99974455e-01 4.55799602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.692320588 meters 0.023814924002141993 Centerline is valid? [True, True] Translation: X:100.26, Y:-6.81, Z:0.46 [[ 9.90591217e-01 1.36658700e-01 7.31028704e-03 1.00258373e+02] [-1.36655091e-01 9.90618191e-01 -9.93293468e-04 -6.80860754e+00] [-7.37744552e-03 -1.50401541e-05 9.99972786e-01 4.56060484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.722320588 meters 0.024000301157636336 Centerline is valid? [True, True] Translation: X:100.29, Y:-6.81, Z:0.46 [[ 9.91047495e-01 1.33308590e-01 7.32689613e-03 1.00290474e+02] [-1.33304865e-01 9.91074578e-01 -9.96551348e-04 -6.81490397e+00] [-7.39434935e-03 1.09188168e-05 9.99972661e-01 4.57237734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.752320588 meters 0.024022698042064642 Centerline is valid? [True, True] Translation: X:100.32, Y:-6.82, Z:0.46 [[ 9.91595408e-01 1.29134209e-01 7.93113853e-03 1.00322630e+02] [-1.29129703e-01 9.91627124e-01 -1.07973265e-03 -6.81857462e+00] [-8.00416251e-03 4.65123793e-05 9.99967965e-01 4.59446658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.782320588 meters 0.024085213002320194 Centerline is valid? [True, True] Translation: X:100.35, Y:-6.82, Z:0.46 [[ 9.91677586e-01 1.28566531e-01 6.79804540e-03 1.00354369e+02] [-1.28563200e-01 9.91700885e-01 -9.26480523e-04 -6.82305227e+00] [-6.86074203e-03 4.47914954e-05 9.99976464e-01 4.59485402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.812320588 meters 0.023995706755989374 Centerline is valid? [True, True] Translation: X:100.39, Y:-6.83, Z:0.46 [[ 9.91582847e-01 1.29318164e-01 6.34593205e-03 1.00385739e+02] [-1.29315272e-01 9.91603152e-01 -8.65747469e-04 -6.82787530e+00] [-6.40460310e-03 3.78344106e-05 9.99979490e-01 4.59627276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.842320588 meters 0.023818245038242664 Centerline is valid? [True, True] Translation: X:100.42, Y:-6.83, Z:0.46 [[ 9.91252545e-01 1.31804498e-01 6.77990208e-03 1.00417182e+02] [-1.31801249e-01 9.91275730e-01 -9.25836077e-04 -6.83290884e+00] [-6.84278175e-03 2.41378071e-05 9.99976588e-01 4.59866977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.872320588 meters 0.023902158658734438 Centerline is valid? [True, True] Translation: X:100.45, Y:-6.84, Z:0.46 [[ 9.90611282e-01 1.36416731e-01 8.93108212e-03 1.00448818e+02] [-1.36411271e-01 9.90651541e-01 -1.22058894e-03 -6.83741169e+00] [-9.01409902e-03 -9.17109021e-06 9.99959372e-01 4.61038994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.902320588 meters 0.0238928723107917 Centerline is valid? [True, True] Translation: X:100.48, Y:-6.84, Z:0.46 [[ 9.90300670e-01 1.38588291e-01 9.89289733e-03 1.00480710e+02] [-1.38581687e-01 9.90350082e-01 -1.35332422e-03 -6.84212384e+00] [-9.98498657e-03 -3.07765158e-05 9.99950148e-01 4.61886233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.932320588 meters 0.02383286303448528 Centerline is valid? [True, True] Translation: X:100.51, Y:-6.85, Z:0.46 [[ 9.90239277e-01 1.38979322e-01 1.05320138e-02 1.00512057e+02] [-1.38971844e-01 9.90295283e-01 -1.44214680e-03 -6.84780958e+00] [-1.06302322e-02 -3.55829692e-05 9.99943497e-01 4.62309453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.962320588 meters 0.023962958166053087 Centerline is valid? [True, True] Translation: X:100.54, Y:-6.85, Z:0.46 [[ 9.90286146e-01 1.38731283e-01 9.32628840e-03 1.00543458e+02] [-1.38725396e-01 9.90330061e-01 -1.27839674e-03 -6.85381329e+00] [-9.41345739e-03 -2.78144690e-05 9.99955692e-01 4.62443836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.992320588 meters 0.023850226653623737 Centerline is valid? [True, True] Translation: X:100.58, Y:-6.86, Z:0.46 [[ 9.90431572e-01 1.37817396e-01 7.18798529e-03 1.00575011e+02] [-1.37813866e-01 9.90457654e-01 -9.86410164e-04 -6.86056053e+00] [-7.25533953e-03 -1.36322746e-05 9.99973680e-01 4.62875372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.022320588 meters 0.023769823760154404 Centerline is valid? [True, True] Translation: X:100.61, Y:-6.86, Z:0.46 [[ 9.90408556e-01 1.37971441e-01 7.40093799e-03 1.00607133e+02] [-1.37967696e-01 9.90436208e-01 -1.01662594e-03 -6.86446838e+00] [-7.47042230e-03 -1.42153293e-05 9.99972096e-01 4.63538494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.052320588 meters 0.023968287715867426 Centerline is valid? [True, True] Translation: X:100.64, Y:-6.87, Z:0.46 [[ 9.90317870e-01 1.38639662e-01 7.03987925e-03 1.00638823e+02] [-1.38636283e-01 9.90342892e-01 -9.68024699e-04 -6.86721793e+00] [-7.10610099e-03 -1.73305374e-05 9.99974751e-01 4.64259684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.082320588 meters 0.02384194003873183 Centerline is valid? [True, True] Translation: X:100.67, Y:-6.87, Z:0.47 [[ 9.90208700e-01 1.39338223e-01 8.46107499e-03 1.00671113e+02] [-1.39333360e-01 9.90244848e-01 -1.16446335e-03 -6.86971142e+00] [-8.54079017e-03 -2.58482664e-05 9.99963526e-01 4.65224042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.112320588 meters 0.023941512656932566 Centerline is valid? [True, True] Translation: X:100.70, Y:-6.88, Z:0.47 [[ 9.89747269e-01 1.42594073e-01 8.20211626e-03 1.00702454e+02] [-1.42589605e-01 9.89781252e-01 -1.12997356e-03 -6.87599312e+00] [-8.27942843e-03 -5.11482765e-05 9.99965724e-01 4.66806578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.142320588 meters 0.023873290598695827 Centerline is valid? [True, True] Translation: X:100.73, Y:-6.88, Z:0.47 [[ 9.89621735e-01 1.43525811e-01 7.01170258e-03 1.00734120e+02] [-1.43522561e-01 9.89646573e-01 -9.67029193e-04 -6.88249811e+00] [-7.07790107e-03 -4.93444063e-05 9.99974950e-01 4.67158646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.172320588 meters 0.023832070368676433 Centerline is valid? [True, True] Translation: X:100.77, Y:-6.89, Z:0.47 [[ 9.89529913e-01 1.44203372e-01 5.99482284e-03 1.00765385e+02] [-1.44201003e-01 9.89548071e-01 -8.27711739e-04 -6.88850635e+00] [-6.05152420e-03 -4.54139424e-05 9.99981688e-01 4.66662635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.202320588 meters 0.023928279381397213 Centerline is valid? [True, True] Translation: X:100.80, Y:-6.89, Z:0.47 [[ 9.89585151e-01 1.43836660e-01 5.67835270e-03 1.00797434e+02] [-1.43834525e-01 9.89601442e-01 -7.84831553e-04 -6.89353828e+00] [-5.73219356e-03 -4.00855105e-05 9.99983570e-01 4.66254171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.232320588 meters 0.023987690724196545 Centerline is valid? [True, True] Translation: X:100.83, Y:-6.90, Z:0.47 [[ 9.89518647e-01 1.44268533e-01 6.27994143e-03 1.00829169e+02] [-1.44265924e-01 9.89538573e-01 -8.68764084e-04 -6.89622294e+00] [-6.33957961e-03 -4.63232948e-05 9.99979904e-01 4.66045948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.262320588 meters 0.02398282626146993 Centerline is valid? [True, True] Translation: X:100.86, Y:-6.90, Z:0.47 [[ 9.89469663e-01 1.44592029e-01 6.55224729e-03 1.00861537e+02] [-1.44589191e-01 9.89491355e-01 -9.07297934e-04 -6.89973044e+00] [-6.61458010e-03 -4.96403557e-05 9.99978122e-01 4.66393050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.292320588 meters 0.02389479092287381 Centerline is valid? [True, True] Translation: X:100.89, Y:-6.90, Z:0.47 [[ 9.89513729e-01 1.44308267e-01 6.14043550e-03 1.00893722e+02] [-1.44305763e-01 9.89532780e-01 -8.51165106e-04 -6.90368302e+00] [-6.19899237e-03 -4.38606727e-05 9.99980785e-01 4.67087151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.322320588 meters 0.02397529976767072 Centerline is valid? [True, True] Translation: X:100.93, Y:-6.91, Z:0.47 [[ 9.89403918e-01 1.45046195e-01 6.44114163e-03 1.00925871e+02] [-1.45043451e-01 9.89424883e-01 -8.93705172e-04 -6.90905419e+00] [-6.50265434e-03 -5.00100094e-05 9.99978856e-01 4.67629178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.352320588 meters 0.023965511193533563 Centerline is valid? [True, True] Translation: X:100.96, Y:-6.91, Z:0.47 [[ 9.89079325e-01 1.47253464e-01 6.20529321e-03 1.00957340e+02] [-1.47250954e-01 9.89098789e-01 -8.61841541e-04 -6.91421270e+00] [-6.26455715e-03 -6.13056981e-05 9.99980376e-01 4.66821930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.382320588 meters 0.024145146118990674 Centerline is valid? [True, True] Translation: X:100.99, Y:-6.92, Z:0.47 [[ 9.88803783e-01 1.49084090e-01 6.40411627e-03 1.00988880e+02] [-1.49081450e-01 9.88824519e-01 -8.90317297e-04 -6.91806246e+00] [-6.46527933e-03 -7.43858291e-05 9.99979097e-01 4.66595527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.412320588 meters 0.024365644100689414 Centerline is valid? [True, True] Translation: X:101.02, Y:-6.92, Z:0.47 [[ 9.88692715e-01 1.49723433e-01 8.34318079e-03 1.01021053e+02] [-1.49718967e-01 9.88727912e-01 -1.16083272e-03 -6.92163276e+00] [-8.42293958e-03 -1.01425563e-04 9.99964521e-01 4.65650336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.442320588 meters 0.02416755135972277 Centerline is valid? [True, True] Translation: X:101.05, Y:-6.93, Z:0.47 [[ 9.88784704e-01 1.49113245e-01 8.36949499e-03 1.01053465e+02] [-1.49108720e-01 9.88820121e-01 -1.16562796e-03 -6.92520177e+00] [-8.44973562e-03 -9.54095806e-05 9.99964296e-01 4.66646219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.472320588 meters 0.02408083182221885 Centerline is valid? [True, True] Translation: X:101.09, Y:-6.93, Z:0.47 [[ 9.89334114e-01 1.45476571e-01 7.38769804e-03 1.01085364e+02] [-1.45472935e-01 9.89361695e-01 -1.03000463e-03 -6.93056306e+00] [-7.45894700e-03 -5.56914032e-05 9.99972180e-01 4.68374423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.502320588 meters 0.02401728386512226 Centerline is valid? [True, True] Translation: X:101.12, Y:-6.94, Z:0.47 [[ 9.89850245e-01 1.41966481e-01 6.48150852e-03 1.01117201e+02] [-1.41963601e-01 9.89871465e-01 -9.04635988e-04 -6.93534093e+00] [-6.54428833e-03 -2.46841366e-05 9.99978586e-01 4.67438045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.532320588 meters 0.023983727046234492 Centerline is valid? [True, True] Translation: X:101.15, Y:-6.94, Z:0.47 [[ 9.90347025e-01 1.38493331e-01 5.68920103e-03 1.01148906e+02] [-1.38491050e-01 9.90363366e-01 -7.94913606e-04 -6.93929212e+00] [-5.74446652e-03 -6.63099458e-07 9.99983500e-01 4.66165173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.562320588 meters 0.024126558597758457 Centerline is valid? [True, True] Translation: X:101.18, Y:-6.94, Z:0.46 [[ 9.91017458e-01 1.33472600e-01 8.33448012e-03 1.01180780e+02] [-1.33467519e-01 9.91052503e-01 -1.16532179e-03 -6.94148099e+00] [-8.41544591e-03 4.24718484e-05 9.99964589e-01 4.64611651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.592320588 meters 0.024203132893808207 Centerline is valid? [True, True] Translation: X:101.21, Y:-6.95, Z:0.47 [[ 9.91156438e-01 1.32402155e-01 8.86478346e-03 1.01212931e+02] [-1.32396354e-01 9.91196079e-01 -1.24061330e-03 -6.94627293e+00] [-8.95099848e-03 5.59768450e-05 9.99959937e-01 4.65249070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.622320588 meters 0.02412087539369831 Centerline is valid? [True, True] Translation: X:101.24, Y:-6.95, Z:0.47 [[ 9.91371301e-01 1.30909829e-01 6.74988883e-03 1.01244909e+02] [-1.30906424e-01 9.91394278e-01 -9.45707714e-04 -6.95150488e+00] [-6.81560360e-03 5.39436795e-05 9.99976772e-01 4.67293777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.652320588 meters 0.024235742142737507 Centerline is valid? [True, True] Translation: X:101.28, Y:-6.96, Z:0.47 [[ 9.91555294e-01 1.29549994e-01 5.90752448e-03 1.01276552e+02] [-1.29547356e-01 9.91572890e-01 -8.28551372e-04 -6.95791282e+00] [-5.96507995e-03 5.62503215e-05 9.99982207e-01 4.66919184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.682320588 meters 0.02440339671812273 Centerline is valid? [True, True] Translation: X:101.31, Y:-6.97, Z:0.47 [[ 9.91814791e-01 1.27537913e-01 6.12381063e-03 1.01307775e+02] [-1.27535035e-01 9.91833694e-01 -8.59673831e-04 -6.96524792e+00] [-6.18344272e-03 7.16368151e-05 9.99980880e-01 4.65487995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.712320588 meters 0.02508467384359961 Centerline is valid? [True, True] Translation: X:101.34, Y:-6.98, Z:0.46 [[ 9.92519956e-01 1.21802623e-01 8.26180623e-03 1.01338868e+02] [-1.21797180e-01 9.92554331e-01 -1.16066960e-03 -6.97718376e+00] [-8.34166416e-03 1.45723034e-04 9.99965197e-01 4.64230725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.742320588 meters 0.025305256784057914 Centerline is valid? [True, True] Translation: X:101.37, Y:-6.99, Z:0.47 [[ 9.92724173e-01 1.19961509e-01 1.03899947e-02 1.01370367e+02] [-1.19952787e-01 9.92778523e-01 -1.46083145e-03 -6.98619418e+00] [-1.04902071e-02 2.03893877e-04 9.99944955e-01 4.65104728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.772320588 meters 0.02564263022774258 Centerline is valid? [True, True] Translation: X:101.40, Y:-6.99, Z:0.47 [[ 9.92843752e-01 1.18819128e-01 1.19707757e-02 1.01401701e+02] [-1.18807450e-01 9.92915884e-01 -1.68454089e-03 -6.99361664e+00] [-1.20861290e-02 2.50268557e-04 9.99926929e-01 4.66553063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.802320588 meters 0.025306448988574915 Centerline is valid? [True, True] Translation: X:101.43, Y:-7.00, Z:0.47 [[ 9.92787770e-01 1.19480888e-01 9.83676373e-03 1.01433620e+02] [-1.19473022e-01 9.92836481e-01 -1.38562810e-03 -6.99929583e+00] [-9.93185396e-03 2.00406743e-04 9.99950658e-01 4.68564237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.832320588 meters 0.025338076134705574 Centerline is valid? [True, True] Translation: X:101.47, Y:-7.00, Z:0.47 [[ 9.92643688e-01 1.20709534e-01 9.36569618e-03 1.01466049e+02] [-1.20702441e-01 9.92687854e-01 -1.32097713e-03 -7.00313321e+00] [-9.45666737e-03 1.80797223e-04 9.99955268e-01 4.66555287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.862320588 meters 0.02487430343748869 Centerline is valid? [True, True] Translation: X:101.50, Y:-7.01, Z:0.46 [[ 9.92192365e-01 1.24471492e-01 7.82041725e-03 1.01497180e+02] [-1.24466656e-01 9.92223177e-01 -1.10401589e-03 -7.01277491e+00] [-7.89701775e-03 1.22014952e-04 9.99968811e-01 4.63234298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.892320588 meters 0.02479677136166027 Centerline is valid? [True, True] Translation: X:101.53, Y:-7.02, Z:0.46 [[ 9.92007139e-01 1.25790147e-01 9.93351761e-03 1.01528365e+02] [-1.25782398e-01 9.92056863e-01 -1.40347176e-03 -7.02348058e+00] [-1.00311572e-02 1.42792337e-04 9.99949676e-01 4.63004119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.922320588 meters 0.024712698327698557 Centerline is valid? [True, True] Translation: X:101.56, Y:-7.03, Z:0.46 [[ 9.91858265e-01 1.26933555e-01 1.02496229e-02 1.01558919e+02] [-1.26925352e-01 9.91911213e-01 -1.44946303e-03 -7.03451307e+00] [-1.03507014e-02 1.36724886e-04 9.99946421e-01 4.64605984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.952320588 meters 0.02456152791561143 Centerline is valid? [True, True] Translation: X:101.59, Y:-7.04, Z:0.47 [[ 9.91532337e-01 1.29608720e-01 8.07490532e-03 1.01590177e+02] [-1.29603708e-01 9.91565213e-01 -1.14314854e-03 -7.04428819e+00] [-8.15495723e-03 8.69310740e-05 9.99966744e-01 4.66721594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.982320588 meters 0.02456152791561143 Centerline is valid? [True, True] Translation: X:101.62, Y:-7.05, Z:0.47 [[ 9.91506607e-01 1.29805424e-01 8.07463077e-03 1.01622369e+02] [-1.29800403e-01 9.91539482e-01 -1.14508714e-03 -7.04878995e+00] [-8.15495373e-03 8.72711455e-05 9.99966744e-01 4.66885430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.012320588 meters 0.024314326952668764 Centerline is valid? [True, True] Translation: X:101.65, Y:-7.05, Z:0.47 [[ 9.91196455e-01 1.32169075e-01 7.80539429e-03 1.01653958e+02] [-1.32164450e-01 9.91227184e-01 -1.10765034e-03 -7.05221652e+00] [-7.88331613e-03 6.63034469e-05 9.99968924e-01 4.66914238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.042320588 meters 0.024115475890463367 Centerline is valid? [True, True] Translation: X:101.69, Y:-7.06, Z:0.47 [[ 9.90887444e-01 1.34477375e-01 7.60976178e-03 1.01685773e+02] [-1.34473039e-01 9.90916663e-01 -1.08094410e-03 -7.05540320e+00] [-7.68600228e-03 4.77861440e-05 9.99970461e-01 4.66438570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.072320588 meters 0.024201199664479603 Centerline is valid? [True, True] Translation: X:101.72, Y:-7.06, Z:0.47 [[ 9.90552109e-01 1.36916381e-01 7.77323817e-03 1.01717976e+02] [-1.36911923e-01 9.90582608e-01 -1.10520884e-03 -7.06020062e+00] [-7.85135574e-03 3.05179590e-05 9.99969177e-01 4.66352489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.102320588 meters 0.023846163525026005 Centerline is valid? [True, True] Translation: X:101.75, Y:-7.07, Z:0.47 [[ 9.89939838e-01 1.41167730e-01 9.52835692e-03 1.01748681e+02] [-1.41161218e-01 9.89985693e-01 -1.35591795e-03 -7.06993372e+00] [-9.62434889e-03 -2.75727171e-06 9.99953685e-01 4.68748267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.132320588 meters 0.023995264392167957 Centerline is valid? [True, True] Translation: X:101.78, Y:-7.08, Z:0.47 [[ 9.89659707e-01 1.42978041e-01 1.14430393e-02 1.01780276e+02] [-1.42968754e-01 9.89725861e-01 -1.62982257e-03 -7.07747240e+00] [-1.15585007e-02 -2.30273394e-05 9.99933198e-01 4.68652885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.162320588 meters 0.023947430739988652 Centerline is valid? [True, True] Translation: X:101.81, Y:-7.08, Z:0.47 [[ 9.89467634e-01 1.44392754e-01 1.02241954e-02 1.01812284e+02] [-1.44385400e-01 9.89520455e-01 -1.45769054e-03 -7.08315802e+00] [-1.03275304e-02 -3.38869272e-05 9.99946669e-01 4.68169462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.192320588 meters 0.024030787939070496 Centerline is valid? [True, True] Translation: X:101.84, Y:-7.09, Z:0.47 [[ 9.89455337e-01 1.44626792e-01 7.82479371e-03 1.01844262e+02] [-1.44622482e-01 9.89486276e-01 -1.11685279e-03 -7.08900730e+00] [-7.90405283e-03 -2.65651356e-05 9.99968762e-01 4.65994098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.222320588 meters 0.024215932973167424 Centerline is valid? [True, True] Translation: X:101.88, Y:-7.10, Z:0.46 [[ 9.89309864e-01 1.45581347e-01 8.48903288e-03 1.01875102e+02] [-1.45576300e-01 9.89346284e-01 -1.21276516e-03 -7.09953362e+00] [-8.57514912e-03 -3.60014631e-05 9.99963232e-01 4.63419725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.252320588 meters 0.0241480014624867 Centerline is valid? [True, True] Translation: X:101.91, Y:-7.11, Z:0.47 [[ 9.89208309e-01 1.46185368e-01 9.83663653e-03 1.01906281e+02] [-1.46178609e-01 9.89257214e-01 -1.40653445e-03 -7.10664140e+00] [-9.93657841e-03 -4.65502799e-05 9.99950630e-01 4.66301136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.282320588 meters 0.024085658922448277 Centerline is valid? [True, True] Translation: X:101.94, Y:-7.11, Z:0.47 [[ 9.88832845e-01 1.48718367e-01 9.61514047e-03 1.01937640e+02] [-1.48712016e-01 9.88879589e-01 -1.37620068e-03 -7.11245277e+00] [-9.71288248e-03 -6.90544881e-05 9.99952826e-01 4.70032166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.312320588 meters 0.02409798921601312 Centerline is valid? [True, True] Translation: X:101.97, Y:-7.12, Z:0.47 [[ 9.88366564e-01 1.51899707e-01 7.61666445e-03 1.01970589e+02] [-1.51895800e-01 9.88395909e-01 -1.09221649e-03 -7.11644741e+00] [-7.69418735e-03 -7.74290862e-05 9.99970396e-01 4.73537842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.342320588 meters 0.024526005980748382 Centerline is valid? [True, True] Translation: X:102.00, Y:-7.12, Z:0.47 [[ 9.87321226e-01 1.58531796e-01 8.02909161e-03 1.02002888e+02] [-1.58527668e-01 9.87353863e-01 -1.15202054e-03 -7.11902260e+00] [-8.11018651e-03 -1.35418835e-04 9.99967103e-01 4.72775552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.372320588 meters 0.02488964623009485 Centerline is valid? [True, True] Translation: X:102.03, Y:-7.12, Z:0.47 [[ 9.86718314e-01 1.62188392e-01 9.04957654e-03 1.02034883e+02] [-1.62183291e-01 9.86759794e-01 -1.29955251e-03 -7.12481041e+00] [-9.14053061e-03 -1.85397843e-04 9.99958207e-01 4.71732668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.402320588 meters 0.02535140591348163 Centerline is valid? [True, True] Translation: X:102.07, Y:-7.13, Z:0.47 [[ 9.86056192e-01 1.66075987e-01 1.05807561e-02 1.02067019e+02] [-1.66069224e-01 9.86112925e-01 -1.52071635e-03 -7.12983446e+00] [-1.06863748e-02 -2.57626178e-04 9.99942866e-01 4.70614206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.432320588 meters 0.025933400565840984 Centerline is valid? [True, True] Translation: X:102.10, Y:-7.13, Z:0.47 [[ 9.85370699e-01 1.70101102e-01 1.04976036e-02 1.02098837e+02] [-1.70094659e-01 9.85426571e-01 -1.51013849e-03 -7.13366021e+00] [-1.06014938e-02 -2.97540088e-04 9.99943758e-01 4.69212649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.462320588 meters 0.025981076229601555 Centerline is valid? [True, True] Translation: X:102.13, Y:-7.14, Z:0.47 [[ 9.85382854e-01 1.70088377e-01 9.51704028e-03 1.02130931e+02] [-1.70083068e-01 9.85428776e-01 -1.37038145e-03 -7.13819316e+00] [-9.61145130e-03 -2.68337032e-04 9.99953773e-01 4.69737262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.492320588 meters 0.02571881562412209 Centerline is valid? [True, True] Translation: X:102.16, Y:-7.14, Z:0.47 [[ 9.85532539e-01 1.69090152e-01 1.15816575e-02 1.02164329e+02] [-1.69082192e-01 9.85600539e-01 -1.67014486e-03 -7.14103432e+00] [-1.16972929e-02 -3.12269917e-04 9.99931536e-01 4.69500333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.522320588 meters 0.025157158806685422 Centerline is valid? [True, True] Translation: X:102.20, Y:-7.14, Z:0.47 [[ 9.86317457e-01 1.64334302e-01 1.31191131e-02 1.02197658e+02] [-1.64323643e-01 9.86404660e-01 -1.89371850e-03 -7.13891494e+00] [-1.32519572e-02 -2.87972834e-04 9.99912147e-01 4.70449699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.552320588 meters 0.024088541126232293 Centerline is valid? [True, True] Translation: X:102.23, Y:-7.12, Z:0.47 [[ 9.87869301e-01 1.54789716e-01 1.24252614e-02 1.02232423e+02] [-1.54779386e-01 9.87947428e-01 -1.79452849e-03 -7.11989749e+00] [-1.25532797e-02 -1.50414731e-04 9.99921193e-01 4.65875664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.582320588 meters 0.02380885794467307 Centerline is valid? [True, True] Translation: X:102.26, Y:-7.13, Z:0.47 [[ 9.87825430e-01 1.55143792e-01 1.14596851e-02 1.02263456e+02] [-1.55135009e-01 9.87891889e-01 -1.65683615e-03 -7.12682592e+00] [-1.15779778e-02 -1.41133473e-04 9.99932963e-01 4.67669275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.612320588 meters 0.02381883165980387 Centerline is valid? [True, True] Translation: X:102.30, Y:-7.13, Z:0.47 [[ 9.87570082e-01 1.56860538e-01 1.00052717e-02 1.02295889e+02] [-1.56853906e-01 9.87620753e-01 -1.44902974e-03 -7.13232012e+00] [-1.01087095e-02 -1.38347521e-04 9.99948896e-01 4.70097594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.642320588 meters 0.023787202071738563 Centerline is valid? [True, True] Translation: X:102.33, Y:-7.14, Z:0.47 [[ 9.87301559e-01 1.58465969e-01 1.11431203e-02 1.02328121e+02] [-1.58457833e-01 9.87364425e-01 -1.61489987e-03 -7.13568429e+00] [-1.12582272e-02 -1.71321531e-04 9.99936609e-01 4.71973356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.672320588 meters 0.023787202071738563 Centerline is valid? [True, True] Translation: X:102.36, Y:-7.14, Z:0.47 [[ 9.87270073e-01 1.58662034e-01 1.11427531e-02 1.02360303e+02] [-1.58653882e-01 9.87332938e-01 -1.61743276e-03 -7.14029510e+00] [-1.12582323e-02 -1.70998072e-04 9.99936609e-01 4.72137217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.702320588 meters 0.023894506005186732 Centerline is valid? [True, True] Translation: X:102.39, Y:-7.14, Z:0.47 [[ 9.86936995e-01 1.60831822e-01 9.40707449e-03 1.02393480e+02] [-1.60826091e-01 9.86981813e-01 -1.36754695e-03 -7.14332783e+00] [-9.50455650e-03 -1.63220340e-04 9.99954817e-01 4.73738782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.732320588 meters 0.023894506005186732 Centerline is valid? [True, True] Translation: X:102.43, Y:-7.15, Z:0.47 [[ 9.86904687e-01 1.61029968e-01 9.40679790e-03 1.02425661e+02] [-1.61024228e-01 9.86949504e-01 -1.36944891e-03 -7.14795409e+00] [-9.50455683e-03 -1.63206815e-04 9.99954817e-01 4.73902649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.762320588 meters 0.024184969235331293 Centerline is valid? [True, True] Translation: X:102.46, Y:-7.15, Z:0.47 [[ 9.86495356e-01 1.63496869e-01 9.78200109e-03 1.02457407e+02] [-1.63490773e-01 9.86543834e-01 -1.42501083e-03 -7.15307143e+00] [-9.88335767e-03 -1.93500354e-04 9.99951140e-01 4.73030644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.792320588 meters 0.02427690811679335 Centerline is valid? [True, True] Translation: X:102.49, Y:-7.16, Z:0.47 [[ 9.86219887e-01 1.65197861e-01 8.94433938e-03 1.02489619e+02] [-1.65192824e-01 9.86260427e-01 -1.30422262e-03 -7.15808953e+00] [-9.03690276e-03 -1.91290393e-04 9.99959148e-01 4.73698009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.822320588 meters 0.02427690811679335 Centerline is valid? [True, True] Translation: X:102.52, Y:-7.16, Z:0.47 [[ 9.86187089e-01 1.65393558e-01 8.94403114e-03 1.02521800e+02] [-1.65388509e-01 9.86227628e-01 -1.30633563e-03 -7.16273116e+00] [-9.03691012e-03 -1.90948641e-04 9.99959148e-01 4.73861883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.852320588 meters 0.024501403442787565 Centerline is valid? [True, True] Translation: X:102.55, Y:-7.17, Z:0.47 [[ 9.85959734e-01 1.66665788e-01 1.02916377e-02 1.02553281e+02] [-1.66659144e-01 9.86013419e-01 -1.50591284e-03 -7.16649891e+00] [-1.03986770e-02 -2.30426111e-04 9.99945906e-01 4.72517474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.882320588 meters 0.024425681525639016 Centerline is valid? [True, True] Translation: X:102.59, Y:-7.17, Z:0.47 [[ 9.85848849e-01 1.67313537e-01 1.04031877e-02 1.02585848e+02] [-1.67306776e-01 9.85903709e-01 -1.52298697e-03 -7.16904328e+00] [-1.05113577e-02 -2.39088850e-04 9.99944726e-01 4.72737879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.912320588 meters 0.02453705125339529 Centerline is valid? [True, True] Translation: X:102.62, Y:-7.17, Z:0.47 [[ 9.85770748e-01 1.67756993e-01 1.06594757e-02 1.02617411e+02] [-1.67749911e-01 9.85828347e-01 -1.56138580e-03 -7.17206448e+00] [-1.07703467e-02 -2.48957642e-04 9.99941967e-01 4.72939197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.942320588 meters 0.02453705125339529 Centerline is valid? [True, True] Translation: X:102.65, Y:-7.18, Z:0.47 [[ 9.85737941e-01 1.67949682e-01 1.06590987e-02 1.02649591e+02] [-1.67942584e-01 9.85795538e-01 -1.56395801e-03 -7.17672743e+00] [-1.07703582e-02 -2.48463833e-04 9.99941967e-01 4.73103081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.972320588 meters 0.024510753643664826 Centerline is valid? [True, True] Translation: X:102.68, Y:-7.18, Z:0.47 [[ 9.85714057e-01 1.68122800e-01 1.01253013e-02 1.02681268e+02] [-1.68116393e-01 9.85766031e-01 -1.48669336e-03 -7.18071556e+00] [-1.02311252e-02 -2.36774587e-04 9.99947633e-01 4.74017006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.002320588 meters 0.024357389050490546 Centerline is valid? [True, True] Translation: X:102.71, Y:-7.19, Z:0.47 [[ 9.85750894e-01 1.67924754e-01 9.82100237e-03 1.02713238e+02] [-1.67918704e-01 9.85799790e-01 -1.44334295e-03 -7.18547172e+00] [-9.92391509e-03 -2.26353383e-04 9.99950731e-01 4.74779103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.032320588 meters 0.024422949925792435 Centerline is valid? [True, True] Translation: X:102.75, Y:-7.19, Z:0.48 [[ 9.85730692e-01 1.68011722e-01 1.03471937e-02 1.02746039e+02] [-1.68004986e-01 9.85784969e-01 -1.52307828e-03 -7.18877140e+00] [-1.04560030e-02 -2.37035116e-04 9.99945306e-01 4.75001691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.062320588 meters 0.024422949925792435 Centerline is valid? [True, True] Translation: X:102.78, Y:-7.19, Z:0.48 [[ 9.85697587e-01 1.68205855e-01 1.03468945e-02 1.02778216e+02] [-1.68199108e-01 9.85751862e-01 -1.52511030e-03 -7.19345616e+00] [-1.04560030e-02 -2.37040879e-04 9.99945306e-01 4.75165580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.092320588 meters 0.02429948115713076 Centerline is valid? [True, True] Translation: X:102.81, Y:-7.19, Z:0.48 [[ 9.85676439e-01 1.68327336e-01 1.03858636e-02 1.02811290e+02] [-1.68320523e-01 9.85731125e-01 -1.53294192e-03 -7.19463945e+00] [-1.04957050e-02 -2.37169261e-04 9.99944890e-01 4.76137360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.122320588 meters 0.024133471699087986 Centerline is valid? [True, True] Translation: X:102.84, Y:-7.19, Z:0.48 [[ 9.85698885e-01 1.68211945e-01 1.01217410e-02 1.02843657e+02] [-1.68205457e-01 9.85750825e-01 -1.49500519e-03 -7.19469788e+00] [-1.02289922e-02 -2.28907118e-04 9.99947656e-01 4.77482433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.152320588 meters 0.024133471699087986 Centerline is valid? [True, True] Translation: X:102.88, Y:-7.20, Z:0.48 [[ 9.85665149e-01 1.68409537e-01 1.01213902e-02 1.02875833e+02] [-1.68403035e-01 9.85717087e-01 -1.49737921e-03 -7.19940178e+00] [-1.02290002e-02 -2.28558330e-04 9.99947656e-01 4.77646318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.182320588 meters 0.024232770117805086 Centerline is valid? [True, True] Translation: X:102.91, Y:-7.20, Z:0.48 [[ 9.85677883e-01 1.68332945e-01 1.01553168e-02 1.02909174e+02] [-1.68326374e-01 9.85730170e-01 -1.50447760e-03 -7.20099529e+00] [-1.02636553e-02 -2.26477349e-04 9.99947302e-01 4.79022017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.212320588 meters 0.02413029148697644 Centerline is valid? [True, True] Translation: X:102.94, Y:-7.20, Z:0.48 [[ 9.85727350e-01 1.68044887e-01 1.01246361e-02 1.02941206e+02] [-1.68038330e-01 9.85779320e-01 -1.50095513e-03 -7.20414847e+00] [-1.02328847e-02 -2.21794409e-04 9.99947618e-01 4.79342263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.242320588 meters 0.02413029148697644 Centerline is valid? [True, True] Translation: X:102.97, Y:-7.21, Z:0.48 [[ 9.85693681e-01 1.68242285e-01 1.01242851e-02 1.02973380e+02] [-1.68235715e-01 9.85745649e-01 -1.50332169e-03 -7.20886841e+00] [-1.02328922e-02 -2.21451641e-04 9.99947618e-01 4.79506146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.272320588 meters 0.024012856295572444 Centerline is valid? [True, True] Translation: X:103.01, Y:-7.21, Z:0.48 [[ 9.85954158e-01 1.66781679e-01 8.84707341e-03 1.03005350e+02] [-1.66776594e-01 9.85993833e-01 -1.31465847e-03 -7.21325819e+00] [-8.94242078e-03 -1.79291785e-04 9.99960000e-01 4.78374446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.302320588 meters 0.024010436983018635 Centerline is valid? [True, True] Translation: X:103.04, Y:-7.22, Z:0.48 [[ 9.86083341e-01 1.65990906e-01 9.30936984e-03 1.03037972e+02] [-1.65985229e-01 9.86127267e-01 -1.38457808e-03 -7.21586800e+00] [-9.41005081e-03 -1.79908513e-04 9.99955708e-01 4.76303304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.332320588 meters 0.02394275834271141 Centerline is valid? [True, True] Translation: X:103.07, Y:-7.22, Z:0.47 [[ 9.86329954e-01 1.64482670e-01 9.93346232e-03 1.03070389e+02] [-1.64476117e-01 9.86379957e-01 -1.47873137e-03 -7.21726118e+00] [-1.00413938e-02 -1.75300264e-04 9.99949569e-01 4.74452903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.362320588 meters 0.023757777071886154 Centerline is valid? [True, True] Translation: X:103.10, Y:-7.22, Z:0.47 [[ 9.86477143e-01 1.63489531e-01 1.15766740e-02 1.03103901e+02] [-1.63480531e-01 9.86545051e-01 -1.72595044e-03 -7.21801209e+00] [-1.17030852e-02 -1.89950151e-04 9.99931499e-01 4.74250261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.392320588 meters 0.023652005694819775 Centerline is valid? [True, True] Translation: X:103.14, Y:-7.21, Z:0.48 [[ 9.86529012e-01 1.63244220e-01 1.05751351e-02 1.03137305e+02] [-1.63236684e-01 9.86585676e-01 -1.57780164e-03 -7.21468897e+00] [-1.06908438e-02 -1.69702892e-04 9.99942837e-01 4.79272794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.422320588 meters 0.02355664944849671 Centerline is valid? [True, True] Translation: X:103.17, Y:-7.22, Z:0.48 [[ 9.86712686e-01 1.62136575e-01 1.04788370e-02 1.03169239e+02] [-1.62129097e-01 9.86768315e-01 -1.56488142e-03 -7.21660930e+00] [-1.05939089e-02 -1.54836038e-04 9.99943871e-01 4.78818795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.452320588 meters 0.023394049546292112 Centerline is valid? [True, True] Translation: X:103.20, Y:-7.22, Z:0.48 [[ 9.86893068e-01 1.61150158e-01 8.52632065e-03 1.03201429e+02] [-1.61145159e-01 9.86929893e-01 -1.27459731e-03 -7.21990146e+00] [-8.62028228e-03 -1.16084046e-04 9.99962838e-01 4.77644238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.482320588 meters 0.023456962106659294 Centerline is valid? [True, True] Translation: X:103.23, Y:-7.22, Z:0.48 [[ 9.87128850e-01 1.59689422e-01 8.71333600e-03 1.03233403e+02] [-1.59684134e-01 9.87167300e-01 -1.30373406e-03 -7.22293159e+00] [-8.80971290e-03 -1.04428002e-04 9.99961188e-01 4.75634773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.512320588 meters 0.023537680879218145 Centerline is valid? [True, True] Translation: X:103.27, Y:-7.23, Z:0.47 [[ 9.87235534e-01 1.58920535e-01 1.05006535e-02 1.03265879e+02] [-1.58912798e-01 9.87291370e-01 -1.57248395e-03 -7.22596764e+00] [-1.06171046e-02 -1.16276203e-04 9.99943630e-01 4.74827863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.542320588 meters 0.023593794945976642 Centerline is valid? [True, True] Translation: X:103.30, Y:-7.23, Z:0.48 [[ 9.87500022e-01 1.57148788e-01 1.21640522e-02 1.03298250e+02] [-1.57138252e-01 9.87574932e-01 -1.82312955e-03 -7.22620355e+00] [-1.22994156e-02 -1.11097415e-04 9.99924353e-01 4.75507709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.572320588 meters 0.02355882458046528 Centerline is valid? [True, True] Translation: X:103.33, Y:-7.23, Z:0.48 [[ 9.87600367e-01 1.56648297e-01 1.03357181e-02 1.03330309e+02] [-1.56640647e-01 9.87654445e-01 -1.55059801e-03 -7.23040359e+00] [-1.04510165e-02 -8.76224077e-05 9.99945383e-01 4.76977558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.602320588 meters 0.023372171452638195 Centerline is valid? [True, True] Translation: X:103.36, Y:-7.23, Z:0.48 [[ 9.87867300e-01 1.55081728e-01 8.23738931e-03 1.03362399e+02] [-1.55076804e-01 9.87901642e-01 -1.23705836e-03 -7.23353768e+00] [-8.32957557e-03 -5.53784962e-05 9.99965307e-01 4.78183077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.632320588 meters 0.02319010482578823 Centerline is valid? [True, True] Translation: X:103.39, Y:-7.23, Z:0.48 [[ 9.88393695e-01 1.51735280e-01 7.36941885e-03 1.03394539e+02] [-1.51731244e-01 9.88421167e-01 -1.10694538e-03 -7.22908496e+00] [-7.45205225e-03 -2.40732553e-05 9.99972233e-01 4.78813918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.662320588 meters 0.023172654297854922 Centerline is valid? [True, True] Translation: X:103.43, Y:-7.23, Z:0.48 [[ 9.88567401e-01 1.50464452e-01 9.74379325e-03 1.03426261e+02] [-1.50457329e-01 9.88615420e-01 -1.46414782e-03 -7.23071119e+00] [-9.85316645e-03 -1.86163062e-05 9.99951456e-01 4.77285394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.692320588 meters 0.023247023761808937 Centerline is valid? [True, True] Translation: X:103.46, Y:-7.24, Z:0.48 [[ 9.88670154e-01 1.49744033e-01 1.03947912e-02 1.03457736e+02] [-1.49735869e-01 9.88724797e-01 -1.56369490e-03 -7.23682677e+00] [-1.05117418e-02 -1.04946149e-05 9.99944750e-01 4.76471614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.722320588 meters 0.02331935998518922 Centerline is valid? [True, True] Translation: X:103.49, Y:-7.25, Z:0.48 [[ 9.88727897e-01 1.49399283e-01 9.84883959e-03 1.03488951e+02] [-1.49391923e-01 9.88776949e-01 -1.48294208e-03 -7.24653245e+00] [-9.95985605e-03 -5.11088523e-06 9.99950399e-01 4.76260291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.752320588 meters 0.023397068020647938 Centerline is valid? [True, True] Translation: X:103.52, Y:-7.25, Z:0.48 [[ 9.88934213e-01 1.48056875e-01 9.39594037e-03 1.03519949e+02] [-1.48050104e-01 9.88978848e-01 -1.41606549e-03 -7.25427013e+00] [-9.50204451e-03 9.32566445e-06 9.99954855e-01 4.78117993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.782320588 meters 0.02333253074898464 Centerline is valid? [True, True] Translation: X:103.55, Y:-7.25, Z:0.48 [[ 9.88986741e-01 1.47716915e-01 9.21623615e-03 1.03552091e+02] [-1.47710373e-01 9.89029683e-01 -1.39022442e-03 -7.25484385e+00] [-9.32049078e-03 1.35798346e-05 9.99956563e-01 4.80163219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.812320588 meters 0.023303621845347712 Centerline is valid? [True, True] Translation: X:103.58, Y:-7.26, Z:0.48 [[ 9.88948368e-01 1.47956054e-01 9.49375735e-03 1.03584541e+02] [-1.47949112e-01 9.88993936e-01 -1.43335800e-03 -7.25673402e+00] [-9.60134244e-03 1.29240921e-05 9.99953906e-01 4.81502868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.842320588 meters 0.023172530300907695 Centerline is valid? [True, True] Translation: X:103.62, Y:-7.27, Z:0.48 [[ 9.88751289e-01 1.49363427e-01 7.83938526e-03 1.03615205e+02] [-1.49358728e-01 9.88782366e-01 -1.18477551e-03 -7.26625793e+00] [-7.92840803e-03 5.67704716e-07 9.99968570e-01 4.81514041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.872320588 meters 0.023172530300907695 Centerline is valid? [True, True] Translation: X:103.65, Y:-7.27, Z:0.48 [[ 9.88731543e-01 1.49494089e-01 7.83922966e-03 1.03646534e+02] [-1.49489386e-01 9.88762619e-01 -1.18580488e-03 -7.27095305e+00] [-7.92840807e-03 5.61057024e-07 9.99968570e-01 4.81673667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.902320588 meters 0.023237234366266887 Centerline is valid? [True, True] Translation: X:103.68, Y:-7.28, Z:0.48 [[ 9.88654102e-01 1.50097005e-01 5.82718672e-03 1.03677381e+02] [-1.50094408e-01 9.88671274e-01 -8.82966933e-04 -7.27926546e+00] [-5.89370281e-03 -1.67926233e-06 9.99982632e-01 4.81501460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.932320588 meters 0.02321819480635356 Centerline is valid? [True, True] Translation: X:103.71, Y:-7.29, Z:0.48 [[ 9.88538287e-01 1.50815691e-01 6.83245550e-03 1.03707879e+02] [-1.50812140e-01 9.88561899e-01 -1.03500712e-03 -7.28611983e+00] [-6.91040050e-03 -7.27307445e-06 9.99976123e-01 4.79473774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.962320588 meters 0.0232364142513106 Centerline is valid? [True, True] Translation: X:103.74, Y:-7.29, Z:0.48 [[ 9.88395142e-01 1.51754796e-01 6.74725010e-03 1.03739734e+02] [-1.51751346e-01 9.88418171e-01 -1.02337942e-03 -7.29184187e+00] [-6.82440734e-03 -1.24010349e-05 9.99976713e-01 4.80170795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.992320588 meters 0.02329326792901803 Centerline is valid? [True, True] Translation: X:103.77, Y:-7.30, Z:0.48 [[ 9.88389870e-01 1.51701426e-01 8.49364050e-03 1.03771187e+02] [-1.51695949e-01 9.88426364e-01 -1.28922022e-03 -7.29754159e+00] [-8.59091474e-03 -1.41986497e-05 9.99963097e-01 4.80657595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.022320588 meters 0.02337311124158876 Centerline is valid? [True, True] Translation: X:103.80, Y:-7.30, Z:0.48 [[ 9.88581029e-01 1.50442060e-01 8.64499340e-03 1.03802188e+02] [-1.50436327e-01 9.88618828e-01 -1.31336525e-03 -7.30441950e+00] [-8.74418861e-03 -2.15308462e-06 9.99961769e-01 4.82551308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.052320588 meters 0.02321743100057925 Centerline is valid? [True, True] Translation: X:103.83, Y:-7.31, Z:0.49 [[ 9.88920882e-01 1.48271158e-01 7.15214625e-03 1.03833475e+02] [-1.48267169e-01 9.88946745e-01 -1.08765667e-03 -7.31171052e+00] [-7.23435987e-03 1.51779112e-05 9.99973832e-01 4.85073761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.082320588 meters 0.023300865635443934 Centerline is valid? [True, True] Translation: X:103.87, Y:-7.32, Z:0.48 [[ 9.88962505e-01 1.47912178e-01 8.66896007e-03 1.03865322e+02] [-1.47906295e-01 9.89000499e-01 -1.31935413e-03 -7.31728665e+00] [-8.76875438e-03 2.25980001e-05 9.99961553e-01 4.83739290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.112320588 meters 0.023332749320276534 Centerline is valid? [True, True] Translation: X:103.90, Y:-7.32, Z:0.48 [[ 9.88878255e-01 1.48395934e-01 9.92189461e-03 1.03896475e+02] [-1.48388240e-01 9.88928029e-01 -1.51128012e-03 -7.32360199e+00] [-1.00363075e-02 2.21795758e-05 9.99949635e-01 4.82554198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.142320588 meters 0.023444101972554712 Centerline is valid? [True, True] Translation: X:103.93, Y:-7.34, Z:0.48 [[ 9.88740725e-01 1.49167589e-01 1.18662593e-02 1.03927562e+02] [-1.49156621e-01 9.88811929e-01 -1.80894213e-03 -7.33575137e+00] [-1.20033343e-02 1.86436079e-05 9.99927957e-01 4.80610173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.172320588 meters 0.023482493490178256 Centerline is valid? [True, True] Translation: X:103.96, Y:-7.34, Z:0.48 [[ 9.88645266e-01 1.49749121e-01 1.24795256e-02 1.03960109e+02] [-1.49737001e-01 9.88724026e-01 -1.90528828e-03 -7.34365543e+00] [-1.26241221e-02 1.50075009e-05 9.99920312e-01 4.80404155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.202320588 meters 0.023439961359317564 Centerline is valid? [True, True] Translation: X:103.99, Y:-7.35, Z:0.48 [[ 9.88470352e-01 1.51071277e-01 1.01898479e-02 1.03992124e+02] [-1.51063254e-01 9.88522872e-01 -1.55695388e-03 -7.34978137e+00] [-1.03081087e-02 -3.08823735e-07 9.99946870e-01 4.81124436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.232320588 meters 0.02328254575627051 Centerline is valid? [True, True] Translation: X:104.02, Y:-7.35, Z:0.48 [[ 9.88238210e-01 1.52772963e-01 6.75740576e-03 1.04023839e+02] [-1.52769467e-01 9.88261312e-01 -1.03365181e-03 -7.35470406e+00] [-6.83599674e-03 -1.08310557e-05 9.99976634e-01 4.81410259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.262320588 meters 0.02331669061212318 Centerline is valid? [True, True] Translation: X:104.06, Y:-7.36, Z:0.48 [[ 9.87633408e-01 1.56707970e-01 4.78151847e-03 1.04055879e+02] [-1.56706262e-01 9.87644982e-01 -7.32260559e-04 -7.35783512e+00] [-4.83719379e-03 -2.60888922e-05 9.99988300e-01 4.81042716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.292320588 meters 0.023312264108437043 Centerline is valid? [True, True] Translation: X:104.09, Y:-7.36, Z:0.48 [[ 9.87231905e-01 1.59131773e-01 7.08834832e-03 1.04087606e+02] [-1.59128076e-01 9.87257350e-01 -1.08616871e-03 -7.36148730e+00] [-7.17086794e-03 -5.56548231e-05 9.99974287e-01 4.82328115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.322320588 meters 0.023614066530494134 Centerline is valid? [True, True] Translation: X:104.12, Y:-7.37, Z:0.48 [[ 9.86684459e-01 1.62312793e-01 1.04084157e-02 1.04119316e+02] [-1.62304986e-01 9.86739350e-01 -1.59602252e-03 -7.36540136e+00] [-1.05294482e-02 -1.14567146e-04 9.99944557e-01 4.83512434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.352320588 meters 0.023979971806045476 Centerline is valid? [True, True] Translation: X:104.15, Y:-7.37, Z:0.49 [[ 9.86035255e-01 1.66046635e-01 1.27668178e-02 1.04151816e+02] [-1.66035182e-01 9.86117883e-01 -1.95922773e-03 -7.36578279e+00] [-1.29149105e-02 -1.87873297e-04 9.99916581e-01 4.85043680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.382320588 meters 0.02387320181229566 Centerline is valid? [True, True] Translation: X:104.18, Y:-7.37, Z:0.48 [[ 9.85844918e-01 1.67254923e-01 1.16442225e-02 1.04184750e+02] [-1.67245447e-01 9.85913666e-01 -1.78976464e-03 -7.36837434e+00] [-1.17795450e-02 -1.83012818e-04 9.99930602e-01 4.84635459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.412320588 meters 0.023862840349510483 Centerline is valid? [True, True] Translation: X:104.22, Y:-7.37, Z:0.48 [[ 9.85871597e-01 1.67218986e-01 9.74704494e-03 1.04217217e+02] [-1.67212333e-01 9.85919767e-01 -1.49931338e-03 -7.37136851e+00] [-9.86051794e-03 -1.51695648e-04 9.99951372e-01 4.83718580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.442320588 meters 0.023846236853609027 Centerline is valid? [True, True] Translation: X:104.25, Y:-7.37, Z:0.48 [[ 9.86123859e-01 1.65788213e-01 8.60251080e-03 1.04249347e+02] [-1.65782965e-01 9.86161373e-01 -1.32452931e-03 -7.37469909e+00] [-8.70305521e-03 -1.19999788e-04 9.99962120e-01 4.83327779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.472320588 meters 0.023685446051209084 Centerline is valid? [True, True] Translation: X:104.28, Y:-7.38, Z:0.48 [[ 9.86440057e-01 1.63898737e-01 8.55673125e-03 1.04281151e+02] [-1.63893463e-01 9.86477163e-01 -1.31865274e-03 -7.37827739e+00] [-8.65714549e-03 -1.01620436e-04 9.99962521e-01 4.82900862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.502320588 meters 0.023415529045120096 Centerline is valid? [True, True] Translation: X:104.31, Y:-7.38, Z:0.48 [[ 9.87358236e-01 1.58310770e-01 7.83673378e-03 1.04313520e+02] [-1.58306158e-01 9.87389335e-01 -1.20926963e-03 -7.38244646e+00] [-7.92934776e-03 -4.66208900e-05 9.99968561e-01 4.83996316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.532320588 meters 0.023385668570387347 Centerline is valid? [True, True] Translation: X:104.35, Y:-7.39, Z:0.49 [[ 9.87736450e-01 1.55948188e-01 7.54113657e-03 1.04345438e+02] [-1.55943842e-01 9.87765236e-01 -1.16456316e-03 -7.38772614e+00] [-7.63048406e-03 -2.57123250e-05 9.99970887e-01 4.85007638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.562320588 meters 0.0232848664914636 Centerline is valid? [True, True] Translation: X:104.38, Y:-7.39, Z:0.49 [[ 9.87940263e-01 1.54740229e-01 5.43124911e-03 1.04377558e+02] [-1.54737951e-01 9.87955192e-01 -8.39662654e-04 -7.39267146e+00] [-5.49576035e-03 -1.08838175e-05 9.99984898e-01 4.86822203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59232058799999 meters 0.023283463765418306 Centerline is valid? [True, True] Translation: X:104.41, Y:-7.40, Z:0.49 [[ 9.88092945e-01 1.53768107e-01 5.26317881e-03 1.04409020e+02] [-1.53765954e-01 9.88106963e-01 -8.13714708e-04 -7.39604059e+00] [-5.32570699e-03 -5.27194683e-06 9.99985818e-01 4.88070705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.622320588 meters 0.023233087438392416 Centerline is valid? [True, True] Translation: X:104.44, Y:-7.40, Z:0.49 [[ 9.88072387e-01 1.53736644e-01 8.83188961e-03 1.04440812e+02] [-1.53730577e-01 9.88111858e-01 -1.36582616e-03 -7.39597365e+00] [-8.93687239e-03 -8.19637402e-06 9.99960065e-01 4.87417950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.652320588 meters 0.023303251203581437 Centerline is valid? [True, True] Translation: X:104.47, Y:-7.40, Z:0.49 [[ 9.87880651e-01 1.54874714e-01 1.02782888e-02 1.04472591e+02] [-1.54866541e-01 9.87934119e-01 -1.59118401e-03 -7.39989064e+00] [-1.04007064e-02 -1.98631398e-05 9.99945911e-01 4.87835744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.682320588 meters 0.023355066084547575 Centerline is valid? [True, True] Translation: X:104.50, Y:-7.41, Z:0.49 [[ 9.87525292e-01 1.57042612e-01 1.14636808e-02 1.04504296e+02] [-1.57032574e-01 9.87591827e-01 -1.77615876e-03 -7.40606494e+00] [-1.16003701e-02 -4.61696091e-05 9.99932712e-01 4.87834665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.712320588 meters 0.023335523875693057 Centerline is valid? [True, True] Translation: X:104.54, Y:-7.41, Z:0.49 [[ 9.87236102e-01 1.58987808e-01 9.36781398e-03 1.04536081e+02] [-1.58981179e-01 9.87280545e-01 -1.45282532e-03 -7.41380979e+00] [-9.47964200e-03 -5.50245062e-05 9.99955066e-01 4.88846929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.742320588 meters 0.023319560545035128 Centerline is valid? [True, True] Translation: X:104.57, Y:-7.42, Z:0.49 [[ 9.87064961e-01 1.60181926e-01 6.67184740e-03 1.04567145e+02] [-1.60178584e-01 9.87087508e-01 -1.03582118e-03 -7.42122438e+00] [-6.75161706e-03 -4.62642779e-05 9.99977207e-01 4.87851042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.772320588 meters 0.023309503676167628 Centerline is valid? [True, True] Translation: X:104.60, Y:-7.42, Z:0.49 [[ 9.87054746e-01 1.60262285e-01 6.23931381e-03 1.04599057e+02] [-1.60259358e-01 9.87074464e-01 -9.69568920e-04 -7.42449428e+00] [-6.31405267e-03 -4.28908201e-05 9.99980065e-01 4.86002280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.802320588 meters 0.023454242920654955 Centerline is valid? [True, True] Translation: X:104.63, Y:-7.43, Z:0.48 [[ 9.86937239e-01 1.60924008e-01 7.63877031e-03 1.04630013e+02] [-1.60919640e-01 9.86966798e-01 -1.18706594e-03 -7.42793339e+00] [-7.73024008e-03 -5.76685852e-05 9.99970120e-01 4.83452649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.832320588 meters 0.023415113708717267 Centerline is valid? [True, True] Translation: X:104.66, Y:-7.43, Z:0.48 [[ 9.86892833e-01 1.61275849e-01 5.71291121e-03 1.04662158e+02] [-1.61273405e-01 9.86909367e-01 -8.88988001e-04 -7.43156103e+00] [-5.78149788e-03 -4.40047580e-05 9.99983286e-01 4.84582448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.862320588 meters 0.023206424621409198 Centerline is valid? [True, True] Translation: X:104.69, Y:-7.43, Z:0.49 [[ 9.87153721e-01 1.59658665e-01 6.05330025e-03 1.04693442e+02] [-1.59655890e-01 9.87172279e-01 -9.41991690e-04 -7.43349027e+00] [-6.12604734e-03 -3.65544402e-05 9.99981235e-01 4.89396549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.892320588 meters 0.02314970307220994 Centerline is valid? [True, True] Translation: X:104.72, Y:-7.44, Z:0.49 [[ 9.87257003e-01 1.58995693e-01 6.63167004e-03 1.04724102e+02] [-1.58992345e-01 9.87279276e-01 -1.03240838e-03 -7.43748848e+00] [-6.71145888e-03 -3.51323686e-05 9.99977477e-01 4.90481234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.922320588 meters 0.0230725875058642 Centerline is valid? [True, True] Translation: X:104.75, Y:-7.44, Z:0.49 [[ 9.87374400e-01 1.58287778e-01 6.06412317e-03 1.04754886e+02] [-1.58284962e-01 9.87393021e-01 -9.44494498e-04 -7.44332248e+00] [-6.13717484e-03 -2.72898206e-05 9.99981167e-01 4.89394697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.952320588 meters 0.02328497033914288 Centerline is valid? [True, True] Translation: X:104.79, Y:-7.45, Z:0.49 [[ 9.87482696e-01 1.57519965e-01 8.08611893e-03 1.04785132e+02] [-1.57514929e-01 9.87515802e-01 -1.25986519e-03 -7.45059342e+00] [-8.18362414e-03 -2.95893743e-05 9.99966513e-01 4.85993985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.982320588 meters 0.023210170205652796 Centerline is valid? [True, True] Translation: X:104.82, Y:-7.46, Z:0.48 [[ 9.87663049e-01 1.56319537e-01 9.26844068e-03 1.04816835e+02] [-1.56312854e-01 9.87706536e-01 -1.44563417e-03 -7.45716473e+00] [-9.38048031e-03 -2.09769597e-05 9.99956002e-01 4.83630640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.012320588 meters 0.02331838066531535 Centerline is valid? [True, True] Translation: X:104.85, Y:-7.46, Z:0.48 [[ 9.87709286e-01 1.55869294e-01 1.16245208e-02 1.04848739e+02] [-1.55858725e-01 9.87777689e-01 -1.81525866e-03 -7.46125251e+00] [-1.17653854e-02 -1.88351494e-05 9.99930785e-01 4.83966954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.042320588 meters 0.023054255931228305 Centerline is valid? [True, True] Translation: X:104.88, Y:-7.46, Z:0.49 [[ 9.87944503e-01 1.54319580e-01 1.22933530e-02 1.04881049e+02] [-1.54307621e-01 9.88020985e-01 -1.92115164e-03 -7.46142739e+00] [-1.24425620e-02 1.03316032e-06 9.99922588e-01 4.86528551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.072320588 meters 0.023027361941830284 Centerline is valid? [True, True] Translation: X:104.91, Y:-7.47, Z:0.49 [[ 9.88110095e-01 1.53380473e-01 1.06241003e-02 1.04912322e+02] [-1.53371471e-01 9.88167208e-01 -1.66179762e-03 -7.46685175e+00] [-1.07532748e-02 1.26051122e-05 9.99942182e-01 4.87555355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.102320588 meters 0.022994110794822935 Centerline is valid? [True, True] Translation: X:104.94, Y:-7.47, Z:0.49 [[ 9.88280519e-01 1.52355418e-01 9.45741044e-03 1.04943749e+02] [-1.52348224e-01 9.88325769e-01 -1.48066253e-03 -7.47407504e+00] [-9.57258941e-03 2.24902504e-05 9.99954181e-01 4.87452182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.132320588 meters 0.022946042601668538 Centerline is valid? [True, True] Translation: X:104.97, Y:-7.48, Z:0.49 [[ 9.87719228e-01 1.55892480e-01 1.04048569e-02 1.04974921e+02] [-1.55883950e-01 9.87774030e-01 -1.63084392e-03 -7.48463872e+00] [-1.05318837e-02 -1.11342869e-05 9.99944538e-01 4.86536274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.162320588 meters 0.02301009639051201 Centerline is valid? [True, True] Translation: X:105.01, Y:-7.49, Z:0.49 [[ 9.87180243e-01 1.59227660e-01 1.10326813e-02 1.05006771e+02] [-1.59218263e-01 9.87241890e-01 -1.73054397e-03 -7.49111736e+00] [-1.11674756e-02 -4.82455493e-05 9.99937641e-01 4.87727712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.192320588 meters 0.022960436239157972 Centerline is valid? [True, True] Translation: X:105.04, Y:-7.50, Z:0.49 [[ 9.86688855e-01 1.62247523e-01 1.09929155e-02 1.05037918e+02] [-1.62238365e-01 9.86750087e-01 -1.72579552e-03 -7.49715191e+00] [-1.11272664e-02 -8.06494214e-05 9.99938087e-01 4.89775433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.222320588 meters 0.022990080725462603 Centerline is valid? [True, True] Translation: X:105.07, Y:-7.50, Z:0.49 [[ 9.86101086e-01 1.65851226e-01 9.90047500e-03 1.05070007e+02] [-1.65843964e-01 9.86150779e-01 -1.55571353e-03 -7.50304063e+00] [-1.00213781e-02 -1.07843217e-04 9.99949779e-01 4.92186256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.252320588 meters 0.02307606888121587 Centerline is valid? [True, True] Translation: X:105.10, Y:-7.51, Z:0.49 [[ 9.85727850e-01 1.68034279e-01 1.02512336e-02 1.05101393e+02] [-1.68026597e-01 9.85781144e-01 -1.61221860e-03 -7.50823317e+00] [-1.03763807e-02 -1.33271114e-04 9.99946155e-01 4.92878450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.282320588 meters 0.0232178858493029 Centerline is valid? [True, True] Translation: X:105.13, Y:-7.51, Z:0.49 [[ 9.85189639e-01 1.71271107e-01 8.22094533e-03 1.05132926e+02] [-1.71266269e-01 9.85223929e-01 -1.29418453e-03 -7.51473962e+00] [-8.32112847e-03 -1.32953442e-04 9.99965370e-01 4.92611136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.312320588 meters 0.02412251960281022 Centerline is valid? [True, True] Translation: X:105.16, Y:-7.53, Z:0.49 [[ 9.84083502e-01 1.77490483e-01 8.76298276e-03 1.05163394e+02] [-1.77485226e-01 9.84122497e-01 -1.38019798e-03 -7.52576835e+00] [-8.86882049e-03 -1.97069911e-04 9.99960652e-01 4.88317014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34232058799999 meters 0.024203474833931437 Centerline is valid? [True, True] Translation: X:105.20, Y:-7.53, Z:0.49 [[ 9.83762267e-01 1.79291883e-01 8.13768696e-03 1.05195207e+02] [-1.79287400e-01 9.83795905e-01 -1.28300294e-03 -7.53330719e+00] [-8.23585512e-03 -1.96814858e-04 9.99966065e-01 4.87107532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.372320588 meters 0.024234354069188196 Centerline is valid? [True, True] Translation: X:105.23, Y:-7.54, Z:0.49 [[ 9.83444123e-01 1.81080322e-01 6.89735909e-03 1.05226051e+02] [-1.81077129e-01 9.83468294e-01 -1.08980852e-03 -7.54098044e+00] [-6.98067686e-03 -1.77188199e-04 9.99975619e-01 4.87825104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.402320588 meters 0.02435744514422552 Centerline is valid? [True, True] Translation: X:105.26, Y:-7.55, Z:0.49 [[ 9.83171906e-01 1.82571868e-01 6.36526926e-03 1.05257702e+02] [-1.82569178e-01 9.83192495e-01 -1.00611997e-03 -7.54751190e+00] [-6.44197417e-03 -1.72913087e-04 9.99979235e-01 4.89792487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.432320588 meters 0.024818459465115145 Centerline is valid? [True, True] Translation: X:105.29, Y:-7.55, Z:0.49 [[ 9.82522863e-01 1.85971342e-01 7.96761311e-03 1.05289645e+02] [-1.85967231e-01 9.82555139e-01 -1.26028156e-03 -7.55163846e+00] [-8.06299546e-03 -2.43459500e-04 9.99967464e-01 4.93989659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.462320588 meters 0.025262262305586397 Centerline is valid? [True, True] Translation: X:105.32, Y:-7.56, Z:0.49 [[ 9.82173653e-01 1.87772343e-01 8.74423615e-03 1.05321634e+02] [-1.87767453e-01 9.82212537e-01 -1.38421357e-03 -7.55540388e+00] [-8.84861540e-03 -2.82344856e-04 9.99960810e-01 4.94327320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.492320588 meters 0.025290686861972462 Centerline is valid? [True, True] Translation: X:105.35, Y:-7.56, Z:0.49 [[ 9.81971022e-01 1.88873395e-01 7.72996797e-03 1.05353844e+02] [-1.88869600e-01 9.82001413e-01 -1.22474047e-03 -7.55967686e+00] [-7.82216036e-03 -2.57296307e-04 9.99969373e-01 4.93366832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.522320588 meters 0.02592520232546156 Centerline is valid? [True, True] Translation: X:105.39, Y:-7.57, Z:0.49 [[ 9.81210809e-01 1.92830189e-01 6.47042427e-03 1.05385061e+02] [-1.92827611e-01 9.81232113e-01 -1.02576065e-03 -7.56608605e+00] [-6.54678570e-03 -2.41189014e-04 9.99978540e-01 4.88896611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.552320588 meters 0.02631506932576602 Centerline is valid? [True, True] Translation: X:105.42, Y:-7.57, Z:0.49 [[ 9.80765058e-01 1.95105002e-01 5.82579289e-03 1.05417332e+02] [-1.95102947e-01 9.80782333e-01 -9.24530888e-04 -7.57038702e+00] [-5.89421534e-03 -2.29881769e-04 9.99982603e-01 4.89318234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.582320588 meters 0.02652396573327892 Centerline is valid? [True, True] Translation: X:105.45, Y:-7.57, Z:0.49 [[ 9.80431401e-01 1.96773628e-01 5.86577497e-03 1.05449492e+02] [-1.96771570e-01 9.80448918e-01 -9.31628578e-04 -7.57223212e+00] [-5.93441266e-03 -2.40819837e-04 9.99982362e-01 4.91310624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.612320588 meters 0.026583986806477947 Centerline is valid? [True, True] Translation: X:105.48, Y:-7.57, Z:0.49 [[ 9.80240194e-01 1.97701908e-01 6.56635332e-03 1.05483241e+02] [-1.97699344e-01 9.80262149e-01 -1.04366867e-03 -7.56533872e+00] [-6.64308290e-03 -2.75117766e-04 9.99977897e-01 4.93062339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.642320588 meters 0.026762895856024024 Centerline is valid? [True, True] Translation: X:105.52, Y:-7.57, Z:0.49 [[ 9.80134635e-01 1.98210672e-01 6.97325407e-03 1.05515383e+02] [-1.98207788e-01 9.80159397e-01 -1.10920957e-03 -7.56610851e+00] [-7.05475768e-03 -2.94978548e-04 9.99975071e-01 4.91839317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.672320588 meters 0.026652613459072657 Centerline is valid? [True, True] Translation: X:105.55, Y:-7.57, Z:0.49 [[ 9.80184395e-01 1.97919074e-01 8.16032186e-03 1.05547584e+02] [-1.97915107e-01 9.80218304e-01 -1.29898121e-03 -7.56889967e+00] [-8.25599001e-03 -3.41809856e-04 9.99965860e-01 4.90955253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.702320588 meters 0.02641089563725237 Centerline is valid? [True, True] Translation: X:105.58, Y:-7.57, Z:0.49 [[ 9.80386396e-01 1.96919958e-01 8.06507590e-03 1.05580175e+02] [-1.96916034e-01 9.80419514e-01 -1.28556640e-03 -7.57208292e+00] [-8.16031148e-03 -3.27790948e-04 9.99966650e-01 4.90043779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.732320588 meters 0.0253336552778606 Centerline is valid? [True, True] Translation: X:105.61, Y:-7.57, Z:0.49 [[ 9.81520712e-01 1.91213544e-01 7.38060596e-03 1.05611856e+02] [-1.91210097e-01 9.81548427e-01 -1.17644412e-03 -7.57110418e+00] [-7.46937422e-03 -2.56542105e-04 9.99972071e-01 4.90711772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.762320588 meters 0.0253336552778606 Centerline is valid? [True, True] Translation: X:105.64, Y:-7.58, Z:0.49 [[ 9.81508481e-01 1.91276315e-01 7.38053099e-03 1.05642332e+02] [-1.91272866e-01 9.81536197e-01 -1.17691446e-03 -7.57594635e+00] [-7.46937417e-03 -2.56543790e-04 9.99972071e-01 4.90867276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.792320588 meters 0.02476733132213948 Centerline is valid? [True, True] Translation: X:105.67, Y:-7.58, Z:0.49 [[ 9.82093231e-01 1.88258971e-01 7.17249724e-03 1.05673529e+02] [-1.88255630e-01 9.82119396e-01 -1.14422445e-03 -7.57843527e+00] [-7.25965918e-03 -2.26527901e-04 9.99973623e-01 4.91335279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.822320588 meters 0.024277442592652805 Centerline is valid? [True, True] Translation: X:105.70, Y:-7.58, Z:0.49 [[ 9.82899758e-01 1.83964787e-01 8.06372738e-03 1.05704521e+02] [-1.83960416e-01 9.82932810e-01 -1.28689959e-03 -7.58114254e+00] [-8.16284642e-03 -2.18513348e-04 9.99966660e-01 4.92168306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.852320588 meters 0.023978452742459046 Centerline is valid? [True, True] Translation: X:105.74, Y:-7.58, Z:0.49 [[ 9.83401862e-01 1.81166192e-01 9.97942375e-03 1.05735333e+02] [-1.81159347e-01 9.83452466e-01 -1.59322300e-03 -7.58447324e+00] [-1.01029270e-02 -2.41087423e-04 9.99948935e-01 4.93160228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.882320588 meters 0.023560100363655384 Centerline is valid? [True, True] Translation: X:105.77, Y:-7.59, Z:0.49 [[ 9.83927444e-01 1.78290104e-01 9.97113248e-03 1.05767097e+02] [-1.78283105e-01 9.83977944e-01 -1.59359767e-03 -7.58766428e+00] [-1.00954971e-02 -2.09699980e-04 9.99949017e-01 4.93744680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.912320588 meters 0.022997770262690516 Centerline is valid? [True, True] Translation: X:105.80, Y:-7.59, Z:0.49 [[ 9.84453464e-01 1.75478527e-01 7.65927757e-03 1.05799278e+02] [-1.75474310e-01 9.84483249e-01 -1.22445257e-03 -7.58722441e+00] [-7.75529560e-03 -1.38589877e-04 9.99969918e-01 4.94567736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.942320588 meters 0.023145690813830447 Centerline is valid? [True, True] Translation: X:105.83, Y:-7.59, Z:0.49 [[ 9.84308971e-01 1.76287538e-01 7.65209324e-03 1.05830452e+02] [-1.76283349e-01 9.84338704e-01 -1.22382911e-03 -7.59136551e+00] [-7.74799736e-03 -1.44310653e-04 9.99969973e-01 4.93678195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.972320588 meters 0.023262028116335605 Centerline is valid? [True, True] Translation: X:105.86, Y:-7.60, Z:0.49 [[ 9.84061975e-01 1.77710613e-01 6.40057320e-03 1.05860801e+02] [-1.77707714e-01 9.84082782e-01 -1.02338431e-03 -7.59540207e+00] [-6.48056013e-03 -1.30357641e-04 9.99978992e-01 4.93326699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.002320588 meters 0.023371826649808202 Centerline is valid? [True, True] Translation: X:105.89, Y:-7.60, Z:0.49 [[ 9.83919492e-01 1.78505660e-01 6.17756965e-03 1.05890637e+02] [-1.78502980e-01 9.83938876e-01 -9.86967345e-04 -7.59931623e+00] [-6.25453020e-03 -1.31618186e-04 9.99980432e-01 4.93675254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.032320588 meters 0.02329493171430073 Centerline is valid? [True, True] Translation: X:105.92, Y:-7.60, Z:0.49 [[ 9.83744440e-01 1.79512771e-01 4.69493897e-03 1.05920598e+02] [-1.79511236e-01 9.83755637e-01 -7.49694456e-04 -7.60267991e+00] [-4.75325241e-03 -1.05286546e-04 9.99988698e-01 4.94572420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.062320588 meters 0.023057694538300793 Centerline is valid? [True, True] Translation: X:105.95, Y:-7.61, Z:0.50 [[ 9.84201645e-01 1.77016374e-01 3.51059555e-03 1.05949461e+02] [-1.77015513e-01 9.84207904e-01 -5.57052665e-04 -7.60730841e+00] [-3.55376333e-03 -7.31777218e-05 9.99993683e-01 4.95949169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09232058799999 meters 0.02291674129145415 Centerline is valid? [True, True] Translation: X:105.98, Y:-7.61, Z:0.50 [[ 9.84635410e-01 1.74596555e-01 3.02524490e-03 1.05978030e+02] [-1.74595910e-01 9.84640056e-01 -4.78105312e-04 -7.61312320e+00] [-3.06225285e-03 -5.74359659e-05 9.99995310e-01 4.96493783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.122320588 meters 0.022643639131397778 Centerline is valid? [True, True] Translation: X:106.01, Y:-7.62, Z:0.50 [[ 9.85025333e-01 1.72313942e-01 5.74436939e-03 1.06005340e+02] [-1.72311585e-01 9.85042078e-01 -9.06492882e-04 -7.61796423e+00] [-5.81464692e-03 -9.69029400e-05 9.99983090e-01 4.96172498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.152320588 meters 0.022647567153535452 Centerline is valid? [True, True] Translation: X:106.03, Y:-7.62, Z:0.50 [[ 9.85426179e-01 1.69869474e-01 8.92235225e-03 1.06034974e+02] [-1.69863658e-01 9.85466563e-01 -1.41128275e-03 -7.62048142e+00] [-9.03241366e-03 -1.24868420e-04 9.99959199e-01 4.95766127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.182320588 meters 0.02241347999081174 Centerline is valid? [True, True] Translation: X:106.07, Y:-7.62, Z:0.49 [[ 9.86231885e-01 1.65118410e-01 9.08731796e-03 1.06066228e+02] [-1.65112172e-01 9.86273747e-01 -1.43772233e-03 -7.61841691e+00] [-9.19997756e-03 -8.24991935e-05 9.99957676e-01 4.93090384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.212320588 meters 0.022226979992583207 Centerline is valid? [True, True] Translation: X:106.10, Y:-7.62, Z:0.49 [[ 9.86564602e-01 1.63226028e-01 6.89560080e-03 1.06096324e+02] [-1.63222389e-01 9.86588699e-01 -1.09096648e-03 -7.62339615e+00] [-6.98119595e-03 -4.92075272e-05 9.99975630e-01 4.92120702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.242320588 meters 0.0221178084895622 Centerline is valid? [True, True] Translation: X:106.13, Y:-7.63, Z:0.49 [[ 9.86664777e-01 1.62648279e-01 6.17705318e-03 1.06125432e+02] [-1.62645353e-01 9.86684111e-01 -9.76526799e-04 -7.63227381e+00] [-6.25363063e-03 -4.11643996e-05 9.99980445e-01 4.92891370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.272320588 meters 0.02224221601686474 Centerline is valid? [True, True] Translation: X:106.15, Y:-7.64, Z:0.49 [[ 9.86649247e-01 1.62742851e-01 6.16660860e-03 1.06154829e+02] [-1.62739939e-01 9.86668517e-01 -9.74455911e-04 -7.63538925e+00] [-6.24298430e-03 -4.21073155e-05 9.99980511e-01 4.94815876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.302320588 meters 0.022125236365840243 Centerline is valid? [True, True] Translation: X:106.18, Y:-7.64, Z:0.50 [[ 9.86742395e-01 1.62115749e-01 7.61116483e-03 1.06184323e+02] [-1.62111297e-01 9.86771748e-01 -1.20228543e-03 -7.63740025e+00] [-7.70539183e-03 -4.75097981e-05 9.99970312e-01 4.95433012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.332320588 meters 0.022147963590012032 Centerline is valid? [True, True] Translation: X:106.21, Y:-7.64, Z:0.50 [[ 9.86927962e-01 1.60993434e-01 7.36963620e-03 1.06214069e+02] [-1.60989233e-01 9.86955477e-01 -1.16361942e-03 -7.64098650e+00] [-7.46083789e-03 -3.80235336e-05 9.99972167e-01 4.96261835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.362320588 meters 0.02217342851288031 Centerline is valid? [True, True] Translation: X:106.24, Y:-7.65, Z:0.50 [[ 9.87161269e-01 1.59450121e-01 9.39613224e-03 1.06243095e+02] [-1.59443227e-01 9.87205986e-01 -1.48304135e-03 -7.64702931e+00] [-9.51238911e-03 -3.41486636e-05 9.99954756e-01 4.95846367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.392320588 meters 0.022198997809407848 Centerline is valid? [True, True] Translation: X:106.27, Y:-7.66, Z:0.50 [[ 9.87512944e-01 1.57144961e-01 1.11196426e-02 1.06273485e+02] [-1.57135144e-01 9.87575547e-01 -1.75656507e-03 -7.65690607e+00] [-1.12575225e-02 -1.26558999e-05 9.99936632e-01 4.96657756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.422320588 meters 0.022318169755382207 Centerline is valid? [True, True] Translation: X:106.30, Y:-7.66, Z:0.50 [[ 9.87582141e-01 1.56624948e-01 1.22531585e-02 1.06304639e+02] [-1.56612978e-01 9.87658152e-01 -1.93641510e-03 -7.66256633e+00] [-1.24052228e-02 -6.63467581e-06 9.99923052e-01 4.96889363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.452320588 meters 0.02228538892998205 Centerline is valid? [True, True] Translation: X:106.34, Y:-7.67, Z:0.50 [[ 9.87599714e-01 1.56576769e-01 1.14245187e-02 1.06336069e+02] [-1.56566337e-01 9.87665791e-01 -1.80736528e-03 -7.66764507e+00] [-1.15665977e-02 -3.74160931e-06 9.99933105e-01 4.97890610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.482320588 meters 0.022246252206128168 Centerline is valid? [True, True] Translation: X:106.37, Y:-7.67, Z:0.50 [[ 9.87716472e-01 1.55887748e-01 1.07322140e-02 1.06367793e+02] [-1.55878486e-01 9.87774777e-01 -1.69933848e-03 -7.67347047e+00] [-1.08659163e-02 5.54334155e-06 9.99940964e-01 4.97375850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.512320588 meters 0.022237960833606366 Centerline is valid? [True, True] Translation: X:106.40, Y:-7.68, Z:0.50 [[ 9.87866086e-01 1.55054764e-01 8.86663865e-03 1.06399198e+02] [-1.55048396e-01 9.87905876e-01 -1.40524896e-03 -7.68130937e+00] [-8.97729497e-03 1.34396860e-05 9.99959703e-01 4.97171407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.542320588 meters 0.022154289600810787 Centerline is valid? [True, True] Translation: X:106.43, Y:-7.69, Z:0.50 [[ 9.88186062e-01 1.53103834e-01 6.89369791e-03 1.06429021e+02] [-1.53099936e-01 9.88210107e-01 -1.09283997e-03 -7.69253932e+00] [-6.97973993e-03 2.45045171e-05 9.99975641e-01 4.99702626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.572320588 meters 0.02195858524361388 Centerline is valid? [True, True] Translation: X:106.46, Y:-7.70, Z:0.50 [[ 9.88331510e-01 1.52216844e-01 5.55505119e-03 1.06459843e+02] [-1.52214296e-01 9.88347121e-01 -8.81067744e-04 -7.69849092e+00] [-5.62443220e-03 2.52288091e-05 9.99984182e-01 5.02123919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.602320588 meters 0.02205144757344244 Centerline is valid? [True, True] Translation: X:106.49, Y:-7.70, Z:0.50 [[ 9.88353176e-01 1.52041068e-01 6.44298932e-03 1.06489927e+02] [-1.52037640e-01 9.88374176e-01 -1.02151175e-03 -7.70435239e+00] [-6.52339600e-03 3.00374921e-05 9.99978722e-01 5.02131092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.632320588 meters 0.021995675035078176 Centerline is valid? [True, True] Translation: X:106.52, Y:-7.71, Z:0.50 [[ 9.88400863e-01 1.51758475e-01 5.75323958e-03 1.06520070e+02] [-1.51755732e-01 9.88417606e-01 -9.12875622e-04 -7.71229369e+00] [-5.82513991e-03 2.91999685e-05 9.99983033e-01 5.01384399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.662320588 meters 0.022018086674559654 Centerline is valid? [True, True] Translation: X:106.55, Y:-7.73, Z:0.50 [[ 9.88568433e-01 1.50687920e-01 5.06006449e-03 1.06549520e+02] [-1.50685783e-01 9.88581382e-01 -8.03268145e-04 -7.72786775e+00] [-5.12332836e-03 3.16057532e-05 9.99986875e-01 4.98617801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.692320588 meters 0.02219777682613469 Centerline is valid? [True, True] Translation: X:106.58, Y:-7.74, Z:0.50 [[ 9.88777430e-01 1.49278130e-01 5.93575994e-03 1.06579790e+02] [-1.49275161e-01 9.88795246e-01 -9.42623102e-04 -7.73537837e+00] [-6.00996422e-03 4.59829291e-05 9.99981939e-01 4.98570041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.722320588 meters 0.022121182751669216 Centerline is valid? [True, True] Translation: X:106.61, Y:-7.74, Z:0.50 [[ 9.88930776e-01 1.48302886e-01 4.70901796e-03 1.06610432e+02] [-1.48301004e-01 9.88941986e-01 -7.48192729e-04 -7.74141357e+00] [-4.76790472e-03 4.15587232e-05 9.99988633e-01 4.99970490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.752320588 meters 0.022082258360668957 Centerline is valid? [True, True] Translation: X:106.64, Y:-7.75, Z:0.50 [[ 9.89059981e-01 1.47463351e-01 3.86183870e-03 1.06640768e+02] [-1.47462078e-01 9.89067520e-01 -6.13906616e-04 -7.74790521e+00] [-3.91014795e-03 3.77157060e-05 9.99992355e-01 5.00490388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.782320588 meters 0.02216478906558159 Centerline is valid? [True, True] Translation: X:106.67, Y:-7.76, Z:0.50 [[ 9.89310563e-01 1.45807861e-01 2.16293317e-03 1.06670961e+02] [-1.45807456e-01 9.89312927e-01 -3.44612230e-04 -7.76154034e+00] [-2.19006492e-03 2.55567361e-05 9.99997601e-01 5.02240000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.812320588 meters 0.02239686175495051 Centerline is valid? [True, True] Translation: X:106.70, Y:-7.77, Z:0.50 [[ 9.89617530e-01 1.43706052e-01 2.39051132e-03 1.06700934e+02] [-1.43705552e-01 9.89620417e-01 -3.80620162e-04 -7.77059586e+00] [-2.42039623e-03 3.31386361e-05 9.99997070e-01 5.01136581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84232058799999 meters 0.022535901739395063 Centerline is valid? [True, True] Translation: X:106.73, Y:-7.78, Z:0.50 [[ 9.89914499e-01 1.41642902e-01 2.56367090e-03 1.06731264e+02] [-1.41642319e-01 9.89917818e-01 -4.08332156e-04 -7.77907048e+00] [-2.59566086e-03 4.10896297e-05 9.99996630e-01 5.00152830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.872320588 meters 0.02305343070432839 Centerline is valid? [True, True] Translation: X:106.76, Y:-7.79, Z:0.50 [[ 9.90381262e-01 1.38351840e-01 1.92973582e-03 1.06761634e+02] [-1.38351503e-01 9.90383141e-01 -3.07567848e-04 -7.78730496e+00] [-1.95373040e-03 3.76275817e-05 9.99998091e-01 5.00423116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.902320588 meters 0.023166596694222528 Centerline is valid? [True, True] Translation: X:106.79, Y:-7.80, Z:0.50 [[ 9.90462213e-01 1.37729781e-01 3.88743173e-03 1.06792205e+02] [-1.37728408e-01 9.90469839e-01 -6.20109210e-04 -7.79755335e+00] [-3.93579139e-03 7.87849573e-05 9.99992252e-01 5.00332740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.932320588 meters 0.023306320803195314 Centerline is valid? [True, True] Translation: X:106.82, Y:-7.81, Z:0.50 [[ 9.90595220e-01 1.36611297e-01 7.64612304e-03 1.06821907e+02] [-1.36605947e-01 9.90624715e-01 -1.22005381e-03 -7.81328980e+00] [-7.74111159e-03 1.64073596e-04 9.99970024e-01 5.03236550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.962320588 meters 0.023284719283583267 Centerline is valid? [True, True] Translation: X:106.85, Y:-7.82, Z:0.50 [[ 9.90375277e-01 1.38138484e-01 8.63540718e-03 1.06852947e+02] [-1.38131710e-01 9.90412908e-01 -1.37896891e-03 -7.82228852e+00] [-8.74310742e-03 1.72873158e-04 9.99961763e-01 5.03489448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.992320588 meters 0.022978925054734096 Centerline is valid? [True, True] Translation: X:106.88, Y:-7.83, Z:0.50 [[ 9.90137253e-01 1.39890075e-01 7.68030268e-03 1.06884517e+02] [-1.39884760e-01 9.90167030e-01 -1.22754496e-03 -7.82957773e+00] [-7.77650385e-03 1.41080693e-04 9.99969753e-01 5.03286759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.022320588 meters 0.022480044748716607 Centerline is valid? [True, True] Translation: X:106.92, Y:-7.84, Z:0.50 [[ 9.89409155e-01 1.45130622e-01 2.57430871e-03 1.06915226e+02] [-1.45130040e-01 9.89412503e-01 -4.12245585e-04 -7.83937303e+00] [-2.60688269e-03 3.42700285e-05 9.99996601e-01 5.00682191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.052320588 meters 0.02252666779487651 Centerline is valid? [True, True] Translation: X:106.95, Y:-7.85, Z:0.50 [[ 9.89132007e-01 1.47029925e-01 2.71370508e-04 1.06945941e+02] [-1.47029919e-01 9.89132044e-01 -4.40968565e-05 -7.84900283e+00] [-2.74904823e-04 3.71802847e-06 9.99999962e-01 5.00673037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.082320588 meters 0.02254874057981865 Centerline is valid? [True, True] Translation: X:106.98, Y:-7.86, Z:0.50 [[ 9.89131600e-01 1.47032224e-01 4.50514325e-04 1.06977000e+02] [-1.47032206e-01 9.89131703e-01 -7.28314524e-05 -7.86001811e+00] [-4.56326571e-04 5.79977621e-06 9.99999896e-01 5.01704526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.112320588 meters 0.02258295987058568 Centerline is valid? [True, True] Translation: X:107.01, Y:-7.87, Z:0.50 [[ 9.89144080e-01 1.46928121e-01 2.47305033e-03 1.07007399e+02] [-1.46927587e-01 9.89147171e-01 -3.97069087e-04 -7.87098536e+00] [-2.50455135e-03 2.93992195e-05 9.99996863e-01 5.04222776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.142320588 meters 0.02282684292504732 Centerline is valid? [True, True] Translation: X:107.04, Y:-7.88, Z:0.51 [[ 9.89280500e-01 1.45748357e-01 9.02826987e-03 1.07037912e+02] [-1.45741206e-01 9.89321688e-01 -1.44853043e-03 -7.88082232e+00] [-9.14298412e-03 1.17211971e-04 9.99958195e-01 5.08470996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.172320588 meters 0.02289493747361268 Centerline is valid? [True, True] Translation: X:107.07, Y:-7.89, Z:0.51 [[ 9.89075169e-01 1.46984792e-01 1.12152490e-02 1.07069608e+02] [-1.46973818e-01 9.89138743e-01 -1.80098753e-03 -7.88563458e+00] [-1.13581551e-02 1.32964076e-04 9.99935485e-01 5.07371746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.202320588 meters 0.022669401297240738 Centerline is valid? [True, True] Translation: X:107.10, Y:-7.89, Z:0.51 [[ 9.88775591e-01 1.49049389e-01 1.03494231e-02 1.07101533e+02] [-1.49040137e-01 9.88829747e-01 -1.66390512e-03 -7.89062020e+00] [-1.04818214e-02 1.02749342e-04 9.99945059e-01 5.06329210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.232320588 meters 0.022715269392944635 Centerline is valid? [True, True] Translation: X:107.13, Y:-7.90, Z:0.50 [[ 9.88323878e-01 1.51981073e-01 1.08473501e-02 1.07132900e+02] [-1.51971072e-01 9.88383401e-01 -1.74525484e-03 -7.89671188e+00] [-1.09865865e-02 7.63936047e-05 9.99939643e-01 5.02648492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.262320588 meters 0.022556632573710846 Centerline is valid? [True, True] Translation: X:107.16, Y:-7.90, Z:0.50 [[ 9.87970607e-01 1.54420327e-01 8.27301051e-03 1.07164558e+02] [-1.54414584e-01 9.88005243e-01 -1.33235467e-03 -7.90403828e+00] [-8.37952040e-03 3.88537739e-05 9.99964890e-01 5.01376178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.292320588 meters 0.02257293590709903 Centerline is valid? [True, True] Translation: X:107.19, Y:-7.92, Z:0.50 [[ 9.87486267e-01 1.57550315e-01 6.98367077e-03 1.07194955e+02] [-1.57546293e-01 9.87510961e-01 -1.12579397e-03 -7.91769491e+00] [-7.07382063e-03 1.14546471e-05 9.99974980e-01 5.01606297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.322320588 meters 0.022564294766911335 Centerline is valid? [True, True] Translation: X:107.23, Y:-7.93, Z:0.50 [[ 9.87335489e-01 1.58513814e-01 6.48102790e-03 1.07226948e+02] [-1.58510360e-01 9.87356760e-01 -1.04652792e-03 -7.92795402e+00] [-6.56497583e-03 5.96408870e-06 9.99978450e-01 5.03946315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.352320588 meters 0.02275332551807532 Centerline is valid? [True, True] Translation: X:107.26, Y:-7.94, Z:0.51 [[ 9.87159061e-01 1.59583544e-01 7.07671274e-03 1.07258866e+02] [-1.59579443e-01 9.87184427e-01 -1.14412280e-03 -7.93761068e+00] [-7.16860378e-03 1.33313696e-07 9.99974305e-01 5.05431762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.382320588 meters 0.022582129675957525 Centerline is valid? [True, True] Translation: X:107.29, Y:-7.95, Z:0.51 [[ 9.86985371e-01 1.60657882e-01 6.99447373e-03 1.07291170e+02] [-1.60653892e-01 9.87010154e-01 -1.13231004e-03 -7.94572961e+00] [-7.08553113e-03 -6.11597691e-06 9.99974897e-01 5.08138522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.412320588 meters 0.022634148989114967 Centerline is valid? [True, True] Translation: X:107.32, Y:-7.95, Z:0.51 [[ 9.86675939e-01 1.62490448e-01 8.21250584e-03 1.07322893e+02] [-1.62485006e-01 9.86710116e-01 -1.33008871e-03 -7.95126761e+00] [-8.31948930e-03 -2.20425355e-05 9.99965392e-01 5.08044783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.442320588 meters 0.022986705514599314 Centerline is valid? [True, True] Translation: X:107.36, Y:-7.95, Z:0.50 [[ 9.85591398e-01 1.68949252e-01 8.10847146e-03 1.07355592e+02] [-1.68944155e-01 9.85624749e-01 -1.31436625e-03 -7.95343017e+00] [-8.21397134e-03 -7.44507889e-05 9.99966262e-01 5.03072823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.472320588 meters 0.023088004957131893 Centerline is valid? [True, True] Translation: X:107.39, Y:-7.96, Z:0.50 [[ 9.84880110e-01 1.73115451e-01 6.49681731e-03 1.07387561e+02] [-1.73112263e-01 9.84901535e-01 -1.05413079e-03 -7.95814703e+00] [-6.58121167e-03 -8.64862940e-05 9.99978340e-01 5.02585892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.502320588 meters 0.023901221025020822 Centerline is valid? [True, True] Translation: X:107.42, Y:-7.97, Z:0.50 [[ 9.83261720e-01 1.82043937e-01 7.50965405e-03 1.07418187e+02] [-1.82039902e-01 9.83290383e-01 -1.22315301e-03 -7.96698585e+00] [-7.60683820e-03 -1.64377161e-04 9.99971054e-01 5.03773586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.532320588 meters 0.024311214198873412 Centerline is valid? [True, True] Translation: X:107.45, Y:-7.97, Z:0.51 [[ 9.82879585e-01 1.84093435e-01 7.57156509e-03 1.07449453e+02] [-1.84089366e-01 9.82908732e-01 -1.23686545e-03 -7.97465773e+00] [-7.66985625e-03 -1.78154822e-04 9.99970570e-01 5.05230855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.562320588 meters 0.02445687269910301 Centerline is valid? [True, True] Translation: X:107.48, Y:-7.98, Z:0.51 [[ 9.82514012e-01 1.86067510e-01 6.71548370e-03 1.07480956e+02] [-1.86064333e-01 9.82536948e-01 -1.10030886e-03 -7.98119966e+00] [-6.80294258e-03 -1.68443124e-04 9.99976846e-01 5.06499429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59232058799999 meters 0.024474270926063354 Centerline is valid? [True, True] Translation: X:107.51, Y:-7.99, Z:0.51 [[ 9.82408516e-01 1.86665106e-01 5.44472811e-03 1.07513482e+02] [-1.86663007e-01 9.82423595e-01 -8.95709204e-04 -7.98759578e+00] [-5.51622702e-03 -1.36376970e-04 9.99984776e-01 5.06402846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.622320588 meters 0.02428269535553125 Centerline is valid? [True, True] Translation: X:107.55, Y:-7.99, Z:0.51 [[ 9.82531902e-01 1.86034638e-01 4.70900946e-03 1.07545263e+02] [-1.86033050e-01 9.82543180e-01 -7.76898008e-04 -7.99358030e+00] [-4.77133507e-03 -1.12704316e-04 9.99988611e-01 5.06248896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.652320588 meters 0.024567904567307952 Centerline is valid? [True, True] Translation: X:107.58, Y:-8.00, Z:0.51 [[ 9.82297150e-01 1.87257365e-01 5.19512687e-03 1.07577171e+02] [-1.87255434e-01 9.82310879e-01 -8.59954537e-04 -7.99989375e+00] [-5.26426246e-03 -1.28084844e-04 9.99986135e-01 5.06353377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.682320588 meters 0.024567904567307952 Centerline is valid? [True, True] Translation: X:107.61, Y:-8.00, Z:0.51 [[ 9.82200902e-01 1.87761558e-01 5.19468776e-03 1.07609277e+02] [-1.87759620e-01 9.82214631e-01 -8.62607066e-04 -8.00489479e+00] [-5.26426277e-03 -1.28099162e-04 9.99986135e-01 5.06517326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.712320588 meters 0.024839933706327644 Centerline is valid? [True, True] Translation: X:107.64, Y:-8.01, Z:0.51 [[ 9.81739811e-01 1.90160717e-01 5.08391508e-03 1.07641394e+02] [-1.90158882e-01 9.81752965e-01 -8.46267054e-04 -8.00926478e+00] [-5.15207545e-03 -1.35937550e-04 9.99986719e-01 5.08073975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.742320588 meters 0.025244355970716337 Centerline is valid? [True, True] Translation: X:107.67, Y:-8.01, Z:0.51 [[ 9.81210653e-01 1.92887822e-01 4.46564212e-03 1.07673645e+02] [-1.92886424e-01 9.81220807e-01 -7.45649926e-04 -8.01261284e+00] [-4.52560776e-03 -1.29722089e-04 9.99989751e-01 5.08764638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.772320588 meters 0.025634812349297324 Centerline is valid? [True, True] Translation: X:107.71, Y:-8.02, Z:0.51 [[ 9.80569520e-01 1.96171905e-01 -1.33850097e-05 1.07705654e+02] [-1.96171905e-01 9.80569520e-01 -1.85668276e-08 -8.01632752e+00] [ 1.31212904e-05 2.64396893e-06 1.00000000e+00 5.09775093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.802320588 meters 0.025724807514294245 Centerline is valid? [True, True] Translation: X:107.74, Y:-8.02, Z:0.51 [[ 9.80310004e-01 1.97464654e-01 8.68067451e-05 1.07737141e+02] [-1.97464653e-01 9.80310007e-01 -1.51437498e-05 -8.02259584e+00] [-8.80878761e-05 -2.29569439e-06 9.99999996e-01 5.08782249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.832320588 meters 0.025859678774454827 Centerline is valid? [True, True] Translation: X:107.77, Y:-8.03, Z:0.51 [[ 9.80196577e-01 1.98023074e-01 1.23811564e-03 1.07768582e+02] [-1.98022969e-01 9.80197358e-01 -2.07631066e-04 -8.02759518e+00] [-1.25471342e-03 -4.16560749e-05 9.99999212e-01 5.08342793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.862320588 meters 0.025942637422035758 Centerline is valid? [True, True] Translation: X:107.80, Y:-8.03, Z:0.51 [[ 9.80047872e-01 1.98740451e-01 2.89865283e-03 1.07800221e+02] [-1.98739876e-01 9.80052154e-01 -4.87876866e-04 -8.03040044e+00] [-2.93779182e-03 -9.79352196e-05 9.99995680e-01 5.09229079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.892320588 meters 0.02599920686771302 Centerline is valid? [True, True] Translation: X:107.83, Y:-8.03, Z:0.51 [[ 9.80142684e-01 1.98208471e-01 5.80695186e-03 1.07832995e+02] [-1.98206167e-01 9.80159867e-01 -9.75330110e-04 -8.03198820e+00] [-5.88505985e-03 -1.95010997e-04 9.99982664e-01 5.09582872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.922320588 meters 0.02564112158669799 Centerline is valid? [True, True] Translation: X:107.87, Y:-8.03, Z:0.51 [[ 9.80238807e-01 1.97759290e-01 4.81097160e-03 1.07865494e+02] [-1.97757686e-01 9.80250600e-01 -8.11638277e-04 -8.03316316e+00] [-4.87646681e-03 -1.55807274e-04 9.99988098e-01 5.10472079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.952320588 meters 0.0252504145647456 Centerline is valid? [True, True] Translation: X:107.90, Y:-8.04, Z:0.51 [[ 9.80785909e-01 1.95055527e-01 3.51315249e-03 1.07897242e+02] [-1.95054646e-01 9.80792196e-01 -5.94908195e-04 -8.03645996e+00] [-3.56171267e-03 -1.01779141e-04 9.99993652e-01 5.08308355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.982320588 meters 0.024785331989432044 Centerline is valid? [True, True] Translation: X:107.93, Y:-8.04, Z:0.51 [[ 9.81248085e-01 1.92718644e-01 3.42341164e-03 1.07929269e+02] [-1.92717798e-01 9.81254053e-01 -5.78615764e-04 -8.04154254e+00] [-3.47074659e-03 -9.19867421e-05 9.99993973e-01 5.08127308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.012320588 meters 0.024563071649951182 Centerline is valid? [True, True] Translation: X:107.96, Y:-8.05, Z:0.51 [[ 9.81602875e-01 1.90862880e-01 5.21126526e-03 1.07960769e+02] [-1.90860890e-01 9.81616699e-01 -8.81150829e-04 -8.04579891e+00] [-5.28364399e-03 -1.29686539e-04 9.99986033e-01 5.08621448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.042320588 meters 0.023827353887902903 Centerline is valid? [True, True] Translation: X:107.99, Y:-8.05, Z:0.51 [[ 9.82837978e-01 1.84409725e-01 4.75001679e-03 1.07993220e+02] [-1.84407992e-01 9.82849452e-01 -8.04186136e-04 -8.04869409e+00] [-4.81685115e-03 -8.55563804e-05 9.99988395e-01 5.09681899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.072320588 meters 0.02340307391644589 Centerline is valid? [True, True] Translation: X:108.02, Y:-8.05, Z:0.51 [[ 9.83561309e-01 1.80509939e-01 4.82844814e-03 1.08024819e+02] [-1.80508098e-01 9.83573158e-01 -8.17950719e-04 -8.05390936e+00] [-4.89678022e-03 -6.70693111e-05 9.99988008e-01 5.09215581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.102320588 meters 0.023296505725674183 Centerline is valid? [True, True] Translation: X:108.06, Y:-8.06, Z:0.51 [[ 9.84197976e-01 1.77029776e-01 3.84731040e-03 1.08057035e+02] [-1.77028577e-01 9.84205495e-01 -6.52719697e-04 -8.05947549e+00] [-3.90209485e-03 -3.86784812e-05 9.99992386e-01 5.09094694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.132320588 meters 0.023110768656221647 Centerline is valid? [True, True] Translation: X:108.09, Y:-8.06, Z:0.51 [[ 9.84661652e-01 1.74437526e-01 3.60274575e-03 1.08089156e+02] [-1.74436455e-01 9.84668243e-01 -6.11919895e-04 -8.06451256e+00] [-3.65425112e-03 -2.59161428e-05 9.99993323e-01 5.09056456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.162320588 meters 0.022916304767623633 Centerline is valid? [True, True] Translation: X:108.12, Y:-8.07, Z:0.51 [[ 9.84807756e-01 1.73605499e-01 3.84891897e-03 1.08121871e+02] [-1.73604266e-01 9.84815277e-01 -6.54697276e-04 -8.06934313e+00] [-3.90413325e-03 -2.34377975e-05 9.99992379e-01 5.09188268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.192320588 meters 0.02271996001412265 Centerline is valid? [True, True] Translation: X:108.15, Y:-8.07, Z:0.51 [[ 9.85065477e-01 1.72133105e-01 4.02489667e-03 1.08153327e+02] [-1.72131744e-01 9.85073700e-01 -6.84766569e-04 -8.07393669e+00] [-4.08269085e-03 -1.82725763e-05 9.99991666e-01 5.12858115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.222320588 meters 0.022807594834849575 Centerline is valid? [True, True] Translation: X:108.19, Y:-8.08, Z:0.51 [[ 9.84992877e-01 1.72551027e-01 3.89556450e-03 1.08185128e+02] [-1.72549751e-01 9.85000580e-01 -6.63956708e-04 -8.08242389e+00] [-3.95169970e-03 -1.81860540e-05 9.99992192e-01 5.13630728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.252320588 meters 0.022668330527072185 Centerline is valid? [True, True] Translation: X:108.22, Y:-8.09, Z:0.51 [[ 9.85004391e-01 1.72506384e-01 2.81013465e-03 1.08216104e+02] [-1.72505719e-01 9.85008400e-01 -4.79281858e-04 -8.09188808e+00] [-2.85068542e-03 -1.26695633e-05 9.99995937e-01 5.14662706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.282320588 meters 0.022857893640526955 Centerline is valid? [True, True] Translation: X:108.25, Y:-8.10, Z:0.51 [[ 9.84881853e-01 1.73177885e-01 4.14198432e-03 1.08247498e+02] [-1.73176444e-01 9.84890562e-01 -7.06691334e-04 -8.10168970e+00] [-4.20178457e-03 -2.12866450e-05 9.99991172e-01 5.13370972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.312320588 meters 0.02296256986478468 Centerline is valid? [True, True] Translation: X:108.28, Y:-8.11, Z:0.51 [[ 9.84770793e-01 1.73758346e-01 5.87561169e-03 1.08279129e+02] [-1.73755455e-01 9.84788320e-01 -1.00299633e-03 -8.10949430e+00] [-5.96051275e-03 -3.31980853e-05 9.99982235e-01 5.13208032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34232058799999 meters 0.022793483217795805 Centerline is valid? [True, True] Translation: X:108.31, Y:-8.11, Z:0.51 [[ 9.84778953e-01 1.73647543e-01 7.54615422e-03 1.08310871e+02] [-1.73642763e-01 9.84807864e-01 -1.28901925e-03 -8.11409749e+00] [-7.65534704e-03 -4.09360432e-05 9.99970697e-01 5.12250708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.372320588 meters 0.022808858901985904 Centerline is valid? [True, True] Translation: X:108.34, Y:-8.12, Z:0.51 [[ 9.84731979e-01 1.73911686e-01 7.59309580e-03 1.08343206e+02] [-1.73906839e-01 9.84761252e-01 -1.29896131e-03 -8.12006700e+00] [-7.70329108e-03 -4.13625479e-05 9.99970328e-01 5.11707217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.402320588 meters 0.022749629653226543 Centerline is valid? [True, True] Translation: X:108.37, Y:-8.13, Z:0.51 [[ 9.84559250e-01 1.74975970e-01 5.14722846e-03 1.08374968e+02] [-1.74973752e-01 9.84572704e-01 -8.81578490e-04 -8.12805516e+00] [-5.22207569e-03 -3.26636194e-05 9.99986364e-01 5.11625685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.432320588 meters 0.022828013955640315 Centerline is valid? [True, True] Translation: X:108.41, Y:-8.14, Z:0.51 [[ 9.83866230e-01 1.78902092e-01 1.13237425e-03 1.08406589e+02] [-1.78901986e-01 9.83866882e-01 -1.95028115e-04 -8.13921728e+00] [-1.14899646e-03 -1.07024257e-05 9.99999340e-01 5.12602864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.462320588 meters 0.023018884168673148 Centerline is valid? [True, True] Translation: X:108.44, Y:-8.15, Z:0.51 [[ 9.83413368e-01 1.81375387e-01 1.05711780e-03 1.08438593e+02] [-1.81375296e-01 9.83413936e-01 -1.81923942e-04 -8.14531946e+00] [-1.07258090e-03 -1.28286182e-05 9.99999425e-01 5.13070703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.492320588 meters 0.02292237266912458 Centerline is valid? [True, True] Translation: X:108.47, Y:-8.15, Z:0.51 [[ 9.83154812e-01 1.82773629e-01 6.45586510e-04 1.08470154e+02] [-1.82773595e-01 9.83155024e-01 -1.11448617e-04 -8.14953479e+00] [-6.55081489e-04 -8.42492372e-06 9.99999785e-01 5.13389484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.522320588 meters 0.023259848926637575 Centerline is valid? [True, True] Translation: X:108.50, Y:-8.15, Z:0.51 [[ 9.82582643e-01 1.85807432e-01 2.63583847e-03 1.08501795e+02] [-1.85806884e-01 9.82586177e-01 -4.53320919e-04 -8.15458361e+00] [-2.67416884e-03 -4.43316679e-05 9.99996423e-01 5.13011833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.552320588 meters 0.023924156525835186 Centerline is valid? [True, True] Translation: X:108.53, Y:-8.16, Z:0.51 [[ 9.81606649e-01 1.90866678e-01 4.27750973e-03 1.08533531e+02] [-1.90865283e-01 9.81615965e-01 -7.35790333e-04 -8.16115165e+00] [-4.33930970e-03 -9.41714210e-05 9.99990581e-01 5.12806159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.582320588 meters 0.024179249193583274 Centerline is valid? [True, True] Translation: X:108.57, Y:-8.17, Z:0.51 [[ 9.81163678e-01 1.93103237e-01 5.38309811e-03 1.08565520e+02] [-1.93101040e-01 9.81178436e-01 -9.29908325e-04 -8.16737576e+00] [-5.46134809e-03 -1.27089572e-04 9.99985079e-01 5.12743201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.612320588 meters 0.02432271744461251 Centerline is valid? [True, True] Translation: X:108.60, Y:-8.17, Z:0.51 [[ 9.80775781e-01 1.95078847e-01 4.80728781e-03 1.08597063e+02] [-1.95077107e-01 9.80787555e-01 -8.32878469e-04 -8.17354858e+00] [-4.87740503e-03 -1.20924768e-04 9.99988098e-01 5.13352399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.642320588 meters 0.02438801377600551 Centerline is valid? [True, True] Translation: X:108.63, Y:-8.18, Z:0.51 [[ 9.80704641e-01 1.95385967e-01 6.53690908e-03 1.08629987e+02] [-1.95382736e-01 9.80726413e-01 -1.13547799e-03 -8.17903809e+00] [-6.63277586e-03 -1.63630652e-04 9.99977990e-01 5.12774483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.672320588 meters 0.024253890000416365 Centerline is valid? [True, True] Translation: X:108.66, Y:-8.18, Z:0.51 [[ 9.80747392e-01 1.95182338e-01 6.19740769e-03 1.08661367e+02] [-1.95179413e-01 9.80766961e-01 -1.07916060e-03 -8.18338065e+00] [-6.28884580e-03 -1.51222453e-04 9.99980214e-01 5.14165637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.702320588 meters 0.023864934906148823 Centerline is valid? [True, True] Translation: X:108.69, Y:-8.18, Z:0.51 [[ 9.81143612e-01 1.93102473e-01 8.28539086e-03 1.08693595e+02] [-1.93097146e-01 9.81178578e-01 -1.44581977e-03 -8.18491539e+00] [-8.40863940e-03 -1.81328500e-04 9.99964630e-01 5.13671141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.732320588 meters 0.023925803597539475 Centerline is valid? [True, True] Translation: X:108.73, Y:-8.19, Z:0.51 [[ 9.81136902e-01 1.93187867e-01 6.98770879e-03 1.08725499e+02] [-1.93184054e-01 9.81161773e-01 -1.22295690e-03 -8.18784077e+00] [-7.09233318e-03 -1.50025763e-04 9.99974838e-01 5.13806289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.762320588 meters 0.023614755607487745 Centerline is valid? [True, True] Translation: X:108.76, Y:-8.19, Z:0.51 [[ 9.81072755e-01 1.93594033e-01 4.19526509e-03 1.08757422e+02] [-1.93592651e-01 9.81081721e-01 -7.37104903e-04 -8.19061138e+00] [-4.25859701e-03 -8.90189520e-05 9.99990928e-01 5.13754196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.792320588 meters 0.023783308002959375 Centerline is valid? [True, True] Translation: X:108.79, Y:-8.19, Z:0.51 [[ 9.80810221e-01 1.94947883e-01 2.57540800e-03 1.08789680e+02] [-1.94947367e-01 9.80813601e-01 -4.52091797e-04 -8.19384753e+00] [-2.61412953e-03 -5.86527542e-05 9.99996581e-01 5.14895241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.822320588 meters 0.02394695734964751 Centerline is valid? [True, True] Translation: X:108.82, Y:-8.20, Z:0.52 [[ 9.80350992e-01 1.97212210e-01 4.39043600e-03 1.08822384e+02] [-1.97210735e-01 9.80360817e-01 -7.70823619e-04 -8.19524908e+00] [-4.45622726e-03 -1.10163410e-04 9.99990065e-01 5.17258152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.852320588 meters 0.024353104922374948 Centerline is valid? [True, True] Translation: X:108.85, Y:-8.20, Z:0.52 [[ 9.79918107e-01 1.99238041e-01 8.04398431e-03 1.08854345e+02] [-1.99233152e-01 9.79951098e-01 -1.41277825e-03 -8.20038766e+00] [-8.16419043e-03 -2.18221362e-04 9.99966649e-01 5.17051291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.882320588 meters 0.02459715963953536 Centerline is valid? [True, True] Translation: X:108.89, Y:-8.21, Z:0.52 [[ 9.79513482e-01 2.01169379e-01 9.17708243e-03 1.08885965e+02] [-2.01163047e-01 9.79556437e-01 -1.61750637e-03 -8.20542862e+00] [-9.31486292e-03 -2.61720560e-04 9.99956581e-01 5.16036393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.912320588 meters 0.02470890580712232 Centerline is valid? [True, True] Translation: X:108.92, Y:-8.21, Z:0.51 [[ 9.79356020e-01 2.01938430e-01 9.09154401e-03 1.08918774e+02] [-2.01932200e-01 9.79398184e-01 -1.60752858e-03 -8.21000654e+00] [-9.22886349e-03 -2.61532694e-04 9.99957379e-01 5.14425761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.942320588 meters 0.02482411471903903 Centerline is valid? [True, True] Translation: X:108.95, Y:-8.21, Z:0.51 [[ 9.79117474e-01 2.03200947e-01 6.19257400e-03 1.08951982e+02] [-2.03198057e-01 9.79137039e-01 -1.09903545e-03 -8.21165741e+00] [-6.28670361e-03 -1.82234186e-04 9.99980222e-01 5.12264469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.972320588 meters 0.024669974268809965 Centerline is valid? [True, True] Translation: X:108.98, Y:-8.21, Z:0.51 [[ 9.79285991e-01 2.02428248e-01 4.66382997e-03 1.08984824e+02] [-2.02426603e-01 9.79297088e-01 -8.27024978e-04 -8.21318706e+00] [-4.73468832e-03 -1.34189283e-04 9.99988782e-01 5.11788178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.002320588 meters 0.02441475945721757 Centerline is valid? [True, True] Translation: X:109.02, Y:-8.21, Z:0.51 [[ 9.79421891e-01 2.01769552e-01 4.66979605e-03 1.09017055e+02] [-2.01767893e-01 9.79433015e-01 -8.28699481e-04 -8.21305987e+00] [-4.74095874e-03 -1.30568495e-04 9.99988753e-01 5.13059208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.032320588 meters 0.024026108674602743 Centerline is valid? [True, True] Translation: X:109.05, Y:-8.21, Z:0.52 [[ 9.79522850e-01 2.01259874e-01 5.42679459e-03 1.09049427e+02] [-2.01257621e-01 9.79537871e-01 -9.63652537e-04 -8.21324411e+00] [-5.50969540e-03 -1.48264090e-04 9.99984811e-01 5.15884227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.062320588 meters 0.024032706152451427 Centerline is valid? [True, True] Translation: X:109.08, Y:-8.22, Z:0.52 [[ 9.79483958e-01 2.01332841e-01 8.73292918e-03 1.09081254e+02] [-2.01326968e-01 9.79522859e-01 -1.55558920e-03 -8.21508164e+00] [-8.86729495e-03 -2.34499491e-04 9.99960657e-01 5.16682495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09232058799999 meters 0.023966705354630653 Centerline is valid? [True, True] Translation: X:109.11, Y:-8.22, Z:0.52 [[ 9.79722649e-01 2.00007063e-01 1.18619565e-02 1.09113851e+02] [-1.99996139e-01 9.79794408e-01 -2.11228415e-03 -8.21682230e+00] [-1.20447504e-02 -3.02892875e-04 9.99927413e-01 5.18767279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.122320588 meters 0.023969157491474505 Centerline is valid? [True, True] Translation: X:109.15, Y:-8.22, Z:0.52 [[ 9.79772887e-01 1.99794688e-01 1.12770918e-02 1.09146522e+02] [-1.99784721e-01 9.79837744e-01 -2.01501705e-03 -8.21804833e+00] [-1.14523099e-02 -2.78731568e-04 9.99934381e-01 5.17126499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.152320588 meters 0.023679010543313457 Centerline is valid? [True, True] Translation: X:109.18, Y:-8.22, Z:0.51 [[ 9.80063964e-01 1.98443639e-01 9.73387882e-03 1.09179738e+02] [-1.98436142e-01 9.80112275e-01 -1.73973114e-03 -8.21821539e+00] [-9.88553269e-03 -2.26505565e-04 9.99951111e-01 5.14751587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.182320588 meters 0.023028810158355142 Centerline is valid? [True, True] Translation: X:109.21, Y:-8.22, Z:0.51 [[ 9.80684985e-01 1.95406193e-01 8.56618638e-03 1.09212454e+02] [-1.95400248e-01 9.80722382e-01 -1.53377898e-03 -8.21616066e+00] [-8.70076062e-03 -1.69680924e-04 9.99962133e-01 5.12703516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.212320588 meters 0.02303207816879576 Centerline is valid? [True, True] Translation: X:109.24, Y:-8.22, Z:0.51 [[ 9.81029226e-01 1.93650235e-01 9.01354300e-03 1.09244195e+02] [-1.93643572e-01 9.81070620e-01 -1.61444860e-03 -8.22217579e+00] [-9.15556056e-03 -1.61593402e-04 9.99958074e-01 5.13978896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.242320588 meters 0.02275041206920658 Centerline is valid? [True, True] Translation: X:109.28, Y:-8.23, Z:0.52 [[ 9.81434829e-01 1.91540461e-01 9.89588474e-03 1.09275581e+02] [-1.91532310e-01 9.81484706e-01 -1.77377946e-03 -8.22836868e+00] [-1.00524101e-02 -1.54532722e-04 9.99949461e-01 5.15893690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.272320588 meters 0.022410592118269734 Centerline is valid? [True, True] Translation: X:109.31, Y:-8.23, Z:0.52 [[ 9.81850121e-01 1.89415064e-01 9.60589412e-03 1.09307264e+02] [-1.89407268e-01 9.81897101e-01 -1.72315771e-03 -8.23242881e+00] [-9.75839162e-03 -1.27543563e-04 9.99952378e-01 5.18383829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.302320588 meters 0.02243306622568318 Centerline is valid? [True, True] Translation: X:109.34, Y:-8.24, Z:0.52 [[ 9.82143179e-01 1.87770145e-01 1.17110805e-02 1.09340208e+02] [-1.87758410e-01 9.82212989e-01 -2.10346620e-03 -8.23505851e+00] [-1.18977435e-02 -1.32948862e-04 9.99929211e-01 5.18729764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.332320588 meters 0.022552478438877754 Centerline is valid? [True, True] Translation: X:109.37, Y:-8.24, Z:0.52 [[ 9.82139030e-01 1.87556293e-01 1.50187149e-02 1.09372342e+02] [-1.87536852e-01 9.82253843e-01 -2.70516342e-03 -8.23562817e+00] [-1.52595609e-02 -1.59715932e-04 9.99883553e-01 5.16265963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.362320588 meters 0.022602378915732864 Centerline is valid? [True, True] Translation: X:109.41, Y:-8.24, Z:0.52 [[ 9.82088262e-01 1.87815006e-01 1.51052705e-02 1.09405284e+02] [-1.87795341e-01 9.82204407e-01 -2.72270843e-03 -8.24034422e+00] [-1.53478287e-02 -1.62759426e-04 9.99882202e-01 5.15983730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.392320588 meters 0.02245932061286693 Centerline is valid? [True, True] Translation: X:109.44, Y:-8.24, Z:0.52 [[ 9.82119679e-01 1.87746536e-01 1.38626794e-02 1.09436791e+02] [-1.87729943e-01 9.82217500e-01 -2.50039881e-03 -8.24442340e+00] [-1.40856075e-02 -1.46749137e-04 9.99900782e-01 5.15186079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.422320588 meters 0.022355367938021942 Centerline is valid? [True, True] Translation: X:109.47, Y:-8.25, Z:0.51 [[ 9.82520565e-01 1.85850006e-01 1.06355312e-02 1.09468586e+02] [-1.85840111e-01 9.82578123e-01 -1.91994520e-03 -8.25161505e+00] [-1.08070621e-02 -9.01226539e-05 9.99941598e-01 5.14969524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.452320588 meters 0.02239669496120952 Centerline is valid? [True, True] Translation: X:109.50, Y:-8.26, Z:0.51 [[ 9.82590236e-01 1.85431341e-01 1.14736949e-02 1.09500659e+02] [-1.85419764e-01 9.82657219e-01 -2.07398569e-03 -8.26146744e+00] [-1.16592910e-02 -8.95717061e-05 9.99932024e-01 5.14469521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.482320588 meters 0.022389919689850945 Centerline is valid? [True, True] Translation: X:109.53, Y:-8.27, Z:0.52 [[ 9.82654870e-01 1.85124723e-01 1.08739646e-02 1.09532057e+02] [-1.85114293e-01 9.82715030e-01 -1.96679615e-03 -8.27102483e+00] [-1.10501110e-02 -8.02444444e-05 9.99938942e-01 5.15525388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.512320588 meters 0.022307344190755658 Centerline is valid? [True, True] Translation: X:109.56, Y:-8.28, Z:0.52 [[ 9.82595602e-01 1.85449272e-01 1.06981178e-02 1.09564620e+02] [-1.85439167e-01 9.82653836e-01 -1.93759401e-03 -8.27811576e+00] [-1.08718719e-02 -7.99787052e-05 9.99940896e-01 5.17539186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.542320588 meters 0.02232180460861145 Centerline is valid? [True, True] Translation: X:109.60, Y:-8.28, Z:0.52 [[ 9.82142034e-01 1.87737143e-01 1.23202769e-02 1.09597445e+02] [-1.87723906e-01 9.82219299e-01 -2.23258599e-03 -8.27646522e+00] [-1.25203531e-02 -1.20093962e-04 9.99921610e-01 5.20204150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.572320588 meters 0.02232180460861145 Centerline is valid? [True, True] Translation: X:109.63, Y:-8.28, Z:0.52 [[ 9.82104007e-01 1.87936009e-01 1.23197632e-02 1.09629444e+02] [-1.87922752e-01 9.82181267e-01 -2.23541974e-03 -8.28221070e+00] [-1.25203565e-02 -1.19749133e-04 9.99921610e-01 5.20368003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.602320588 meters 0.022415179917250155 Centerline is valid? [True, True] Translation: X:109.66, Y:-8.28, Z:0.52 [[ 9.81587524e-01 1.90526822e-01 1.36184987e-02 1.09662101e+02] [-1.90510852e-01 9.81681976e-01 -2.47249900e-03 -8.28491090e+00] [-1.38401121e-02 -1.67497631e-04 9.99904207e-01 5.20574015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.632320588 meters 0.022733805862560557 Centerline is valid? [True, True] Translation: X:109.69, Y:-8.29, Z:0.52 [[ 9.80885485e-01 1.94120128e-01 1.34551255e-02 1.09693353e+02] [-1.94104774e-01 9.80977743e-01 -2.45036344e-03 -8.29011976e+00] [-1.36748435e-02 -2.08178167e-04 9.99906473e-01 5.19944466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.662320588 meters 0.02300524319596843 Centerline is valid? [True, True] Translation: X:109.72, Y:-8.30, Z:0.52 [[ 9.80474047e-01 1.96141140e-01 1.41172649e-02 1.09724475e+02] [-1.96124442e-01 9.80575643e-01 -2.57126081e-03 -8.29713066e+00] [-1.43473762e-02 -2.47686219e-04 9.99897040e-01 5.18897308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.692320588 meters 0.023417777903337805 Centerline is valid? [True, True] Translation: X:109.76, Y:-8.30, Z:0.52 [[ 9.79984332e-01 1.98452178e-01 1.57302738e-02 1.09755968e+02] [-1.98431711e-01 9.80110522e-01 -2.86712697e-03 -8.30476412e+00] [-1.59863944e-02 -3.11645626e-04 9.99872161e-01 5.18329332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.722320588 meters 0.023547182972569875 Centerline is valid? [True, True] Translation: X:109.79, Y:-8.31, Z:0.52 [[ 9.79807655e-01 1.99306380e-01 1.59350494e-02 1.09788442e+02] [-1.99285453e-01 9.79937171e-01 -2.90660837e-03 -8.30759918e+00] [-1.61946529e-02 -3.27706422e-04 9.99868804e-01 5.18524985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.752320588 meters 0.023635842514475782 Centerline is valid? [True, True] Translation: X:109.82, Y:-8.31, Z:0.52 [[ 9.79640703e-01 2.00157028e-01 1.55324629e-02 1.09821109e+02] [-2.00137197e-01 9.79763775e-01 -2.83668520e-03 -8.30976580e+00] [-1.57859269e-02 -3.29691296e-04 9.99875340e-01 5.18081830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.782320588 meters 0.023530681281430054 Centerline is valid? [True, True] Translation: X:109.85, Y:-8.31, Z:0.52 [[ 9.79578105e-01 2.00677037e-01 1.24685010e-02 1.09853349e+02] [-2.00664281e-01 9.79657417e-01 -2.27864953e-03 -8.31186882e+00] [-1.26721321e-02 -2.69867591e-04 9.99919669e-01 5.19655741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.812320588 meters 0.02349975618867769 Centerline is valid? [True, True] Translation: X:109.89, Y:-8.31, Z:0.52 [[ 9.79349320e-01 2.01884493e-01 1.08425896e-02 1.09886531e+02] [-2.01874892e-01 9.79409307e-01 -1.98416213e-03 -8.31396736e+00] [-1.10199047e-02 -2.45658759e-04 9.99939249e-01 5.20803072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84232058799999 meters 0.023792218399208805 Centerline is valid? [True, True] Translation: X:109.92, Y:-8.31, Z:0.52 [[ 9.78699088e-01 2.05033140e-01 1.04645699e-02 1.09919034e+02] [-2.05024371e-01 9.78754994e-01 -1.91557462e-03 -8.31214660e+00] [-1.06350063e-02 -2.70720716e-04 9.99943410e-01 5.22526396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.872320588 meters 0.024122598570690313 Centerline is valid? [True, True] Translation: X:109.95, Y:-8.32, Z:0.52 [[ 9.78215071e-01 2.07275033e-01 1.15036864e-02 1.09950868e+02] [-2.07264570e-01 9.78282657e-01 -2.10748258e-03 -8.31569317e+00] [-1.16906854e-02 -3.22735385e-04 9.99931610e-01 5.22187432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.902320588 meters 0.02453858993584855 Centerline is valid? [True, True] Translation: X:109.98, Y:-8.32, Z:0.52 [[ 9.77836003e-01 2.08999029e-01 1.24962498e-02 1.09982197e+02] [-2.08986810e-01 9.77915777e-01 -2.29035079e-03 -8.32060403e+00] [-1.26989609e-02 -3.71963924e-04 9.99919296e-01 5.21847180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.932320588 meters 0.024815695933831147 Centerline is valid? [True, True] Translation: X:110.01, Y:-8.32, Z:0.52 [[ 9.77323547e-01 2.11338313e-01 1.32212666e-02 1.10014507e+02] [-2.11324823e-01 9.77412880e-01 -2.42512120e-03 -8.32250054e+00] [-1.34351573e-02 -4.23853765e-04 9.99909654e-01 5.21788386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.962320588 meters 0.0248751544730134 Centerline is valid? [True, True] Translation: X:110.05, Y:-8.32, Z:0.52 [[ 9.77251670e-01 2.11619635e-01 1.40108698e-02 1.10047022e+02] [-2.11604489e-01 9.77351997e-01 -2.57178324e-03 -8.32224120e+00] [-1.42377914e-02 -4.51483475e-04 9.99898536e-01 5.21288519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.992320588 meters 0.02489430330222071 Centerline is valid? [True, True] Translation: X:110.08, Y:-8.32, Z:0.52 [[ 9.77307028e-01 2.11395158e-01 1.35300055e-02 1.10079936e+02] [-2.11380986e-01 9.77400584e-01 -2.48537503e-03 -8.32115370e+00] [-1.37496315e-02 -4.31011424e-04 9.99905376e-01 5.21283227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.022320588 meters 0.02494382787017392 Centerline is valid? [True, True] Translation: X:110.11, Y:-8.32, Z:0.52 [[ 9.77228472e-01 2.11841895e-01 1.21460028e-02 1.10112524e+02] [-2.11830488e-01 9.77303872e-01 -2.23284304e-03 -8.32147031e+00] [-1.23433452e-02 -3.90895899e-04 9.99923742e-01 5.19997663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.052320588 meters 0.025058584910913072 Centerline is valid? [True, True] Translation: X:110.14, Y:-8.32, Z:0.52 [[ 9.76875732e-01 2.13430191e-01 1.27026464e-02 1.10144700e+02] [-2.13417827e-01 9.76958223e-01 -2.33684142e-03 -8.32367398e+00] [-1.29087074e-02 -4.28167526e-04 9.99916587e-01 5.20049882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.082320588 meters 0.025202033795358174 Centerline is valid? [True, True] Translation: X:110.18, Y:-8.33, Z:0.52 [[ 9.76621245e-01 2.14649381e-01 1.16870149e-02 1.10177038e+02] [-2.14638983e-01 9.76691086e-01 -2.15160179e-03 -8.32683907e+00] [-1.18764433e-02 -4.07188972e-04 9.99929390e-01 5.20720611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.112320588 meters 0.02568425229949153 Centerline is valid? [True, True] Translation: X:110.21, Y:-8.33, Z:0.52 [[ 9.75915780e-01 2.17821889e-01 1.19170290e-02 1.10209939e+02] [-2.17811295e-01 9.75988432e-01 -2.19552089e-03 -8.32600593e+00] [-1.21091150e-02 -4.53020045e-04 9.99926579e-01 5.22204414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.142320588 meters 0.025896367460243732 Centerline is valid? [True, True] Translation: X:110.24, Y:-8.33, Z:0.52 [[ 9.75650115e-01 2.19080894e-01 1.05078679e-02 1.10242249e+02] [-2.19072715e-01 9.75706612e-01 -1.93737460e-03 -8.32706209e+00] [-1.06770379e-02 -4.11787400e-04 9.99942914e-01 5.23455414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.172320588 meters 0.0260343746593929 Centerline is valid? [True, True] Translation: X:110.27, Y:-8.33, Z:0.52 [[ 9.75472350e-01 2.19909148e-01 9.67786158e-03 1.10274382e+02] [-2.19902247e-01 9.75520280e-01 -1.78470247e-03 -8.32778362e+00] [-9.83342264e-03 -3.87255603e-04 9.99951576e-01 5.22527392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.202320588 meters 0.026200762717025355 Centerline is valid? [True, True] Translation: X:110.31, Y:-8.33, Z:0.52 [[ 9.75398039e-01 2.20177080e-01 1.09872307e-02 1.10305264e+02] [-2.20168206e-01 9.75459818e-01 -2.02579354e-03 -8.32893006e+00] [-1.11636354e-02 -4.43083830e-04 9.99937587e-01 5.22006804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.232320588 meters 0.026767242665615844 Centerline is valid? [True, True] Translation: X:110.34, Y:-8.33, Z:0.52 [[ 9.75054925e-01 2.21693447e-01 1.09503015e-02 1.10335667e+02] [-2.21684740e-01 9.75116303e-01 -2.01794162e-03 -8.32545679e+00] [-1.11251820e-02 -4.59910834e-04 9.99938007e-01 5.21809298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.262320588 meters 0.02663024248947286 Centerline is valid? [True, True] Translation: X:110.36, Y:-8.32, Z:0.52 [[ 9.75041660e-01 2.21797430e-01 9.98306168e-03 1.10364924e+02] [-2.21790260e-01 9.75092672e-01 -1.83363957e-03 -8.32323579e+00] [-1.01411068e-02 -4.26270877e-04 9.99948487e-01 5.23406736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.292320588 meters 0.02669645503927624 Centerline is valid? [True, True] Translation: X:110.39, Y:-8.32, Z:0.53 [[ 9.75020001e-01 2.21897797e-01 9.86737769e-03 1.10394664e+02] [-2.21890845e-01 9.75069836e-01 -1.80759286e-03 -8.32028609e+00] [-1.00224832e-02 -4.27041581e-04 9.99949682e-01 5.25201028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.322320588 meters 0.02679332261943077 Centerline is valid? [True, True] Translation: X:110.42, Y:-8.32, Z:0.53 [[ 9.75015659e-01 2.21909595e-01 1.00297716e-02 1.10424006e+02] [-2.21902415e-01 9.75067148e-01 -1.83721415e-03 -8.31727283e+00] [-1.01873963e-02 -4.34317972e-04 9.99948013e-01 5.26332890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.352320588 meters 0.026759929422827792 Centerline is valid? [True, True] Translation: X:110.45, Y:-8.31, Z:0.53 [[ 9.75245016e-01 2.20885503e-01 1.03321786e-02 1.10454076e+02] [-2.20877890e-01 9.75299646e-01 -1.88639525e-03 -8.31088822e+00] [-1.04936475e-02 -4.42452260e-04 9.99944842e-01 5.25782344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.382320588 meters 0.026584861486139665 Centerline is valid? [True, True] Translation: X:110.48, Y:-8.31, Z:0.53 [[ 9.75518404e-01 2.19662945e-01 1.05845890e-02 1.10483488e+02] [-2.19654937e-01 9.75575724e-01 -1.92760908e-03 -8.31096500e+00] [-1.07494923e-02 -4.44539094e-04 9.99942124e-01 5.25302057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.412320588 meters 0.026334916859649362 Centerline is valid? [True, True] Translation: X:110.51, Y:-8.31, Z:0.52 [[ 9.76097499e-01 2.16995621e-01 1.21066895e-02 1.10512704e+02] [-2.16985005e-01 9.76172459e-01 -2.19947411e-03 -8.30958212e+00] [-1.22954931e-02 -4.80068905e-04 9.99924292e-01 5.24474376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.442320588 meters 0.02579741551581325 Centerline is valid? [True, True] Translation: X:110.54, Y:-8.31, Z:0.53 [[ 9.76770914e-01 2.13913527e-01 1.26326358e-02 1.10542901e+02] [-2.13901778e-01 9.76852489e-01 -2.28981661e-03 -8.30683697e+00] [-1.28300445e-02 -4.65517005e-04 9.99917583e-01 5.25241274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.472320588 meters 0.025428151554998144 Centerline is valid? [True, True] Translation: X:110.57, Y:-8.30, Z:0.53 [[ 9.77304902e-01 2.11500372e-01 1.19465816e-02 1.10572433e+02] [-2.11489756e-01 9.77377829e-01 -2.15954122e-03 -8.30456132e+00] [-1.21330678e-02 -4.16049407e-04 9.99926305e-01 5.25877795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.502320588 meters 0.024712701776512132 Centerline is valid? [True, True] Translation: X:110.60, Y:-8.30, Z:0.53 [[ 9.78498164e-01 2.06049256e-01 9.22208219e-03 1.10603201e+02] [-2.06042680e-01 9.78541584e-01 -1.66788584e-03 -8.30117161e+00] [-9.36785755e-03 -2.68119302e-04 9.99956085e-01 5.27338896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.532320588 meters 0.02449220018712738 Centerline is valid? [True, True] Translation: X:110.63, Y:-8.30, Z:0.53 [[ 9.79356362e-01 2.01873154e-01 1.04089267e-02 1.10632469e+02] [-2.01864577e-01 9.79411641e-01 -1.87910490e-03 -8.30387535e+00] [-1.05739648e-02 -2.60880251e-04 9.99944060e-01 5.26797764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.562320588 meters 0.024225716446963818 Centerline is valid? [True, True] Translation: X:110.66, Y:-8.31, Z:0.53 [[ 9.80212475e-01 1.97667930e-01 1.05305547e-02 1.10660891e+02] [-1.97658973e-01 9.80269014e-01 -1.89502186e-03 -8.30629949e+00] [-1.06973615e-02 -2.23934556e-04 9.99942757e-01 5.26610491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59232058799999 meters 0.023877126274606433 Centerline is valid? [True, True] Translation: X:110.69, Y:-8.31, Z:0.53 [[ 9.81023334e-01 1.93493882e-01 1.23829177e-02 1.10689309e+02] [-1.93481232e-01 9.81101458e-01 -2.22298178e-03 -8.30931595e+00] [-1.25790320e-02 -2.15065174e-04 9.99920858e-01 5.25006494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.622320588 meters 0.023727681731504968 Centerline is valid? [True, True] Translation: X:110.72, Y:-8.31, Z:0.52 [[ 9.81891973e-01 1.89150195e-01 1.05050679e-02 1.10717740e+02] [-1.89140898e-01 9.81948158e-01 -1.88057105e-03 -8.31413984e+00] [-1.06711424e-02 -1.40420359e-04 9.99943052e-01 5.24998225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.652320588 meters 0.02340910936431916 Centerline is valid? [True, True] Translation: X:110.75, Y:-8.32, Z:0.53 [[ 9.83517366e-01 1.80464192e-01 1.12368249e-02 1.10745969e+02] [-1.80453045e-01 9.83581554e-01 -2.00647327e-03 -8.31933444e+00] [-1.14144303e-02 -5.43179680e-05 9.99934852e-01 5.25083889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.682320588 meters 0.023270853636225244 Centerline is valid? [True, True] Translation: X:110.77, Y:-8.32, Z:0.53 [[ 9.83841213e-01 1.78643598e-01 1.19554173e-02 1.10773240e+02] [-1.78630924e-01 9.83913850e-01 -2.12829413e-03 -8.32322124e+00] [-1.21433067e-02 -4.17037564e-05 9.99926266e-01 5.25571452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.712320588 meters 0.023356165629274155 Centerline is valid? [True, True] Translation: X:110.80, Y:-8.33, Z:0.53 [[ 9.83897319e-01 1.78308664e-01 1.23323184e-02 1.10801202e+02] [-1.78295234e-01 9.83974603e-01 -2.18889323e-03 -8.32610146e+00] [-1.25249867e-02 -4.51474129e-05 9.99921558e-01 5.26405310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.742320588 meters 0.02352585176499261 Centerline is valid? [True, True] Translation: X:110.83, Y:-8.33, Z:0.53 [[ 9.83278124e-01 1.81520807e-01 1.46399374e-02 1.10830067e+02] [-1.81502323e-01 9.83387098e-01 -2.59262943e-03 -8.32890018e+00] [-1.48673417e-02 -1.07906838e-04 9.99889469e-01 5.26629547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.772320588 meters 0.02358793125067827 Centerline is valid? [True, True] Translation: X:110.86, Y:-8.34, Z:0.53 [[ 9.83030512e-01 1.82975830e-01 1.30712865e-02 1.10857389e+02] [-1.82961323e-01 9.83117404e-01 -2.30733861e-03 -8.33525535e+00] [-1.32727965e-02 -1.23355625e-04 9.99911905e-01 5.26956506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.802320588 meters 0.023740929703082055 Centerline is valid? [True, True] Translation: X:110.88, Y:-8.34, Z:0.53 [[ 9.82746642e-01 1.84601104e-01 1.14660510e-02 1.10884761e+02] [-1.84590120e-01 9.82813520e-01 -2.01812042e-03 -8.34286564e+00] [-1.16415372e-02 -1.33218663e-04 9.99932226e-01 5.26366249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.832320588 meters 0.023727708294406607 Centerline is valid? [True, True] Translation: X:110.91, Y:-8.35, Z:0.53 [[ 9.82718472e-01 1.84788739e-01 1.08410186e-02 1.10911331e+02] [-1.84778999e-01 9.82778258e-01 -1.90194722e-03 -8.35061048e+00] [-1.10057758e-02 -1.34113897e-04 9.99939426e-01 5.25556390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.862320588 meters 0.023696392107025954 Centerline is valid? [True, True] Translation: X:110.94, Y:-8.36, Z:0.53 [[ 9.82779582e-01 1.84435280e-01 1.13102325e-02 1.10938564e+02] [-1.84424723e-01 9.82844651e-01 -1.97834215e-03 -8.35735017e+00] [-1.14810776e-02 -1.41612237e-04 9.99934080e-01 5.25337014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.892320588 meters 0.023882483048924357 Centerline is valid? [True, True] Translation: X:110.97, Y:-8.36, Z:0.53 [[ 9.83041888e-01 1.82906423e-01 1.31866522e-02 1.10966966e+02] [-1.82892009e-01 9.83130316e-01 -2.30108195e-03 -8.36220371e+00] [-1.33850802e-02 -1.49673372e-04 9.99910405e-01 5.26977234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.922320588 meters 0.023861089445864146 Centerline is valid? [True, True] Translation: X:110.99, Y:-8.37, Z:0.53 [[ 9.83264891e-01 1.81704303e-01 1.31795354e-02 1.10994423e+02] [-1.81689895e-01 9.83353205e-01 -2.29251861e-03 -8.36525374e+00] [-1.33766989e-02 -1.40435336e-04 9.99910518e-01 5.28072420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.952320588 meters 0.023630918524594795 Centerline is valid? [True, True] Translation: X:111.02, Y:-8.37, Z:0.53 [[ 9.83576786e-01 1.80046506e-01 1.26476245e-02 1.11023176e+02] [-1.80033172e-01 9.83658092e-01 -2.19440045e-03 -8.36696315e+00] [-1.28360323e-02 -1.18630619e-04 9.99917608e-01 5.30078777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.982320588 meters 0.023630987529085892 Centerline is valid? [True, True] Translation: X:111.05, Y:-8.37, Z:0.53 [[ 9.83975276e-01 1.77973730e-01 1.08630938e-02 1.11052430e+02] [-1.77963821e-01 9.84035235e-01 -1.87994466e-03 -8.36923696e+00] [-1.10242478e-02 -8.34185960e-05 9.99939228e-01 5.29537060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.012320588 meters 0.023418644117064093 Centerline is valid? [True, True] Translation: X:111.08, Y:-8.38, Z:0.53 [[ 9.84560691e-01 1.74631843e-01 1.19985387e-02 1.11079725e+02] [-1.74619586e-01 9.84633798e-01 -2.06983023e-03 -8.37550462e+00] [-1.21756250e-02 -5.73063881e-05 9.99925873e-01 5.26843796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.042320588 meters 0.023652896653932033 Centerline is valid? [True, True] Translation: X:111.11, Y:-8.38, Z:0.53 [[ 9.84880793e-01 1.72689578e-01 1.37161650e-02 1.11107971e+02] [-1.72673451e-01 9.84976298e-01 -2.36037971e-03 -8.38369248e+00] [-1.39177104e-02 -4.37249095e-05 9.99903143e-01 5.25877018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.072320588 meters 0.023767153682725327 Centerline is valid? [True, True] Translation: X:111.14, Y:-8.39, Z:0.53 [[ 9.85434686e-01 1.69295161e-01 1.60507723e-02 1.11135688e+02] [-1.69272740e-01 9.85565395e-01 -2.75520446e-03 -8.39052739e+00] [-1.62855286e-02 -1.88416656e-06 9.99867382e-01 5.25728095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.102320588 meters 0.023778816583164726 Centerline is valid? [True, True] Translation: X:111.16, Y:-8.40, Z:0.53 [[ 9.85842951e-01 1.66955837e-01 1.54733629e-02 1.11162911e+02] [-1.66934834e-01 9.85964375e-01 -2.64826522e-03 -8.39693024e+00] [-1.56983279e-02 2.77303318e-05 9.99876773e-01 5.27732597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.132320588 meters 0.02389572988121332 Centerline is valid? [True, True] Translation: X:111.19, Y:-8.40, Z:0.53 [[ 9.86819616e-01 1.61334259e-01 1.25818615e-02 1.11190940e+02] [-1.61319993e-01 9.86899817e-01 -2.14726006e-03 -8.40337468e+00] [-1.27634634e-02 8.92525428e-05 9.99918540e-01 5.28912007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.162320588 meters 0.02404644668964925 Centerline is valid? [True, True] Translation: X:111.22, Y:-8.41, Z:0.53 [[ 9.87182195e-01 1.59156439e-01 1.18550044e-02 1.11218303e+02] [-1.59143696e-01 9.87253370e-01 -2.01664790e-03 -8.40905270e+00] [-1.20248556e-02 1.04149682e-04 9.99927693e-01 5.28675936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.192320588 meters 0.0238490996573968 Centerline is valid? [True, True] Translation: X:111.25, Y:-8.41, Z:0.53 [[ 9.87444951e-01 1.57551298e-01 1.14042717e-02 1.11246094e+02] [-1.57539469e-01 9.87510798e-01 -1.93393374e-03 -8.41450720e+00] [-1.15665352e-02 1.13030201e-04 9.99933099e-01 5.28643719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.222320588 meters 0.023871404790233527 Centerline is valid? [True, True] Translation: X:111.27, Y:-8.42, Z:0.53 [[ 9.87652735e-01 1.56281449e-01 1.08712727e-02 1.11273139e+02] [-1.56270687e-01 9.87712557e-01 -1.83774797e-03 -8.42066199e+00] [-1.10248985e-02 1.16195556e-04 9.99939217e-01 5.28400516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.252320588 meters 0.023951658325454584 Centerline is valid? [True, True] Translation: X:111.30, Y:-8.43, Z:0.53 [[ 9.87656849e-01 1.56099413e-01 1.29198234e-02 1.11301152e+02] [-1.56084262e-01 9.87741340e-01 -2.17902074e-03 -8.42887425e+00] [-1.31015875e-02 1.35543662e-04 9.99914161e-01 5.26819890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.282320588 meters 0.023885003197563544 Centerline is valid? [True, True] Translation: X:111.33, Y:-8.44, Z:0.53 [[ 9.87466007e-01 1.57076500e-01 1.54226266e-02 1.11327976e+02] [-1.57055132e-01 9.87586428e-01 -2.59461721e-03 -8.44000009e+00] [-1.56387301e-02 1.39893651e-04 9.99877698e-01 5.28189259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.312320588 meters 0.024093304515391184 Centerline is valid? [True, True] Translation: X:111.36, Y:-8.45, Z:0.53 [[ 9.87463228e-01 1.56850658e-01 1.77269528e-02 1.11356645e+02] [-1.56822530e-01 9.87622320e-01 -2.97451751e-03 -8.44549563e+00] [-1.79740893e-02 1.57241075e-04 9.99838441e-01 5.29300826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34232058799999 meters 0.02404799287630299 Centerline is valid? [True, True] Translation: X:111.39, Y:-8.45, Z:0.53 [[ 9.87682746e-01 1.55553966e-01 1.69043412e-02 1.11385436e+02] [-1.55528331e-01 9.87827382e-01 -2.82874875e-03 -8.45007348e+00] [-1.71385942e-02 1.64802377e-04 9.99853110e-01 5.30628917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.372320588 meters 0.024118931344633058 Centerline is valid? [True, True] Translation: X:111.41, Y:-8.46, Z:0.53 [[ 9.88001899e-01 1.53420216e-01 1.77337507e-02 1.11413166e+02] [-1.53391800e-01 9.88161017e-01 -2.95971400e-03 -8.45653125e+00] [-1.79778810e-02 2.03991119e-04 9.99838364e-01 5.30051749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.402320588 meters 0.024220914718615847 Centerline is valid? [True, True] Translation: X:111.44, Y:-8.47, Z:0.53 [[ 9.88407535e-01 1.50954256e-01 1.62282685e-02 1.11440323e+02] [-1.50930240e-01 9.88540724e-01 -2.70160492e-03 -8.46589343e+00] [-1.64501230e-02 2.20950203e-04 9.99864663e-01 5.28858481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.432320588 meters 0.02471316148941778 Centerline is valid? [True, True] Translation: X:111.47, Y:-8.48, Z:0.53 [[ 9.88828989e-01 1.48251512e-01 1.54505781e-02 1.11467776e+02] [-1.48229403e-01 9.88949657e-01 -2.57279363e-03 -8.47941309e+00] [-1.56612644e-02 2.53822959e-04 9.99877323e-01 5.26195259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.462320588 meters 0.024784387845285645 Centerline is valid? [True, True] Translation: X:111.50, Y:-8.48, Z:0.53 [[ 9.88974491e-01 1.47272803e-01 1.54976715e-02 1.11495728e+02] [-1.47250578e-01 9.89095877e-01 -2.57176907e-03 -8.48499651e+00] [-1.57074347e-02 2.61372904e-04 9.99876596e-01 5.26697046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.492320588 meters 0.024784387845285645 Centerline is valid? [True, True] Translation: X:111.52, Y:-8.49, Z:0.53 [[ 9.88983592e-01 1.47211693e-01 1.54975208e-02 1.11524498e+02] [-1.47189446e-01 9.89104973e-01 -2.57267656e-03 -8.48979159e+00] [-1.57074029e-02 2.63263396e-04 9.99876596e-01 5.26844320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.522320588 meters 0.024972960267299917 Centerline is valid? [True, True] Translation: X:111.55, Y:-8.49, Z:0.53 [[ 9.89301325e-01 1.45147708e-01 1.46639615e-02 1.11553256e+02] [-1.45127689e-01 9.89409960e-01 -2.42586751e-03 -8.49387171e+00] [-1.48607787e-02 2.71767091e-04 9.99889536e-01 5.27984781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.552320588 meters 0.024846549252396564 Centerline is valid? [True, True] Translation: X:111.58, Y:-8.50, Z:0.53 [[ 9.89497892e-01 1.43847082e-01 1.42105394e-02 1.11581388e+02] [-1.43828239e-01 9.89599889e-01 -2.34455687e-03 -8.49993521e+00] [-1.44000059e-02 2.76057223e-04 9.99896276e-01 5.28235809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.582320588 meters 0.024941243075578316 Centerline is valid? [True, True] Translation: X:111.61, Y:-8.51, Z:0.53 [[ 9.89750399e-01 1.42235183e-01 1.27788848e-02 1.11608925e+02] [-1.42219887e-01 9.89832856e-01 -2.10245273e-03 -8.50923021e+00] [-1.29480028e-02 2.63491861e-04 9.99916136e-01 5.28422717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.612320588 meters 0.025000361274381638 Centerline is valid? [True, True] Translation: X:111.64, Y:-8.53, Z:0.53 [[ 9.89815588e-01 1.41778904e-01 1.28001553e-02 1.11635281e+02] [-1.41763512e-01 9.89898313e-01 -2.10646918e-03 -8.52864430e+00] [-1.29695050e-02 2.70421062e-04 9.99915856e-01 5.27965151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.642320588 meters 0.024946307532594542 Centerline is valid? [True, True] Translation: X:111.66, Y:-8.54, Z:0.53 [[ 9.89730140e-01 1.42175249e-01 1.48475192e-02 1.11663810e+02] [-1.42154595e-01 9.89841454e-01 -2.44268050e-03 -8.53853076e+00] [-1.50439787e-02 3.06951440e-04 9.99886786e-01 5.28512375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.672320588 meters 0.02502975249621187 Centerline is valid? [True, True] Translation: X:111.69, Y:-8.55, Z:0.53 [[ 9.89658849e-01 1.42576290e-01 1.57277903e-02 1.11694349e+02] [-1.42553139e-01 9.89783764e-01 -2.58915930e-03 -8.54550135e+00] [-1.59362642e-02 3.20338535e-04 9.99872958e-01 5.29689483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.702320588 meters 0.024258901021176213 Centerline is valid? [True, True] Translation: X:111.72, Y:-8.55, Z:0.53 [[ 9.89015974e-01 1.47184658e-01 1.35676118e-02 1.11724866e+02] [-1.47167842e-01 9.89109009e-01 -2.23506367e-03 -8.55457508e+00] [-1.37488141e-02 2.13797532e-04 9.99905458e-01 5.30387606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.732320588 meters 0.02398010564863952 Centerline is valid? [True, True] Translation: X:111.75, Y:-8.56, Z:0.53 [[ 9.88547437e-01 1.50308240e-01 1.34683934e-02 1.11754938e+02] [-1.50291957e-01 9.88639168e-01 -2.21884247e-03 -8.56287560e+00] [-1.36488916e-02 1.69239825e-04 9.99906835e-01 5.28576025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.762320588 meters 0.0238614349670636 Centerline is valid? [True, True] Translation: X:111.79, Y:-8.57, Z:0.53 [[ 9.88148268e-01 1.53019170e-01 1.21710524e-02 1.11785064e+02] [-1.53006067e-01 9.88223213e-01 -2.00608506e-03 -8.57177841e+00] [-1.23346860e-02 1.20064611e-04 9.99923918e-01 5.27915289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.792320588 meters 0.023604569131128867 Centerline is valid? [True, True] Translation: X:111.81, Y:-8.58, Z:0.53 [[ 9.87627823e-01 1.56384624e-01 1.16246532e-02 1.11814904e+02] [-1.56372901e-01 9.87696231e-01 -1.91625808e-03 -8.58138356e+00] [-1.17812995e-02 7.47690460e-05 9.99930595e-01 5.28514859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.822320588 meters 0.02346835419881117 Centerline is valid? [True, True] Translation: X:111.84, Y:-8.59, Z:0.53 [[ 9.87056483e-01 1.59963629e-01 1.14514832e-02 1.11844013e+02] [-1.59952495e-01 9.87122908e-01 -1.88755180e-03 -8.59099125e+00] [-1.16059610e-02 3.14269359e-05 9.99932648e-01 5.29467963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.852320588 meters 0.02339685608954397 Centerline is valid? [True, True] Translation: X:111.87, Y:-8.61, Z:0.53 [[ 9.86056695e-01 1.66022383e-01 1.13473241e-02 1.11873433e+02] [-1.66011840e-01 9.86121984e-01 -1.87147097e-03 -8.60560712e+00] [-1.15005518e-02 -3.84136606e-05 9.99933866e-01 5.33617093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.882320588 meters 0.023463678987621913 Centerline is valid? [True, True] Translation: X:111.90, Y:-8.61, Z:0.54 [[ 9.85706935e-01 1.68102282e-01 1.11113290e-02 1.11903910e+02] [-1.68092296e-01 9.85769557e-01 -1.83330043e-03 -8.61430019e+00] [-1.12613919e-02 -6.06318570e-05 9.99936587e-01 5.35644993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.912320588 meters 0.0235191008566524 Centerline is valid? [True, True] Translation: X:111.93, Y:-8.62, Z:0.54 [[ 9.85207079e-01 1.70945053e-01 1.20332838e-02 1.11934971e+02] [-1.70933544e-01 9.85280558e-01 -1.98619650e-03 -8.62121030e+00] [-1.21956911e-02 -1.00076995e-04 9.99925625e-01 5.36225625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.942320588 meters 0.023873258718653752 Centerline is valid? [True, True] Translation: X:111.97, Y:-8.63, Z:0.53 [[ 9.84567774e-01 1.74528828e-01 1.28835928e-02 1.11965745e+02] [-1.74515929e-01 9.84652053e-01 -2.12738697e-03 -8.62640302e+00] [-1.30571464e-02 -1.53835507e-04 9.99914740e-01 5.34023914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.972320588 meters 0.02396020462003017 Centerline is valid? [True, True] Translation: X:112.00, Y:-8.63, Z:0.53 [[ 9.84141905e-01 1.76877348e-01 1.33833496e-02 1.11997492e+02] [-1.76863618e-01 9.84232883e-01 -2.21203081e-03 -8.63078399e+00] [-1.35635910e-02 -1.90075414e-04 9.99907992e-01 5.31542449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.002320588 meters 0.024437374650831418 Centerline is valid? [True, True] Translation: X:112.03, Y:-8.64, Z:0.53 [[ 9.83331729e-01 1.81485050e-01 1.10402713e-02 1.12029017e+02] [-1.81475978e-01 9.83393682e-01 -1.82636855e-03 -8.63598770e+00] [-1.11883916e-02 -2.07617891e-04 9.99937386e-01 5.30367622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.032320588 meters 0.024542402503944887 Centerline is valid? [True, True] Translation: X:112.06, Y:-8.64, Z:0.53 [[ 9.83166507e-01 1.82384736e-01 1.09282720e-02 1.12060068e+02] [-1.82375899e-01 9.83227218e-01 -1.80824359e-03 -8.64222072e+00] [-1.10747705e-02 -2.15248896e-04 9.99938650e-01 5.31361323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.062320588 meters 0.02458807035434159 Centerline is valid? [True, True] Translation: X:112.09, Y:-8.65, Z:0.53 [[ 9.82902462e-01 1.83793604e-01 1.10752280e-02 1.12090930e+02] [-1.83784608e-01 9.82964830e-01 -1.83330413e-03 -8.64904073e+00] [-1.12235092e-02 -2.33497299e-04 9.99936987e-01 5.33327088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09232058799999 meters 0.024791434919516003 Centerline is valid? [True, True] Translation: X:112.12, Y:-8.66, Z:0.53 [[ 9.82791997e-01 1.84378943e-01 1.11487924e-02 1.12121423e+02] [-1.84369857e-01 9.82855202e-01 -1.84623477e-03 -8.65596604e+00] [-1.12980554e-02 -2.41036503e-04 9.99936146e-01 5.33501838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.122320588 meters 0.024713937329360593 Centerline is valid? [True, True] Translation: X:112.15, Y:-8.66, Z:0.53 [[ 9.82775138e-01 1.84576485e-01 9.19512847e-03 1.12152034e+02] [-1.84570306e-01 9.82818132e-01 -1.52339431e-03 -8.66129801e+00] [-9.31832175e-03 -1.99993625e-04 9.99956563e-01 5.32403029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.152320588 meters 0.024874529298347697 Centerline is valid? [True, True] Translation: X:112.18, Y:-8.67, Z:0.53 [[ 9.82594239e-01 1.85581247e-01 8.25601632e-03 1.12181422e+02] [-1.85576304e-01 9.82628905e-01 -1.36750440e-03 -8.66758031e+00] [-8.36638345e-03 -1.88419046e-04 9.99964983e-01 5.31450996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.182320588 meters 0.024764177055503277 Centerline is valid? [True, True] Translation: X:112.21, Y:-8.67, Z:0.53 [[ 9.82693221e-01 1.85062016e-01 8.12918870e-03 1.12211492e+02] [-1.85057206e-01 9.82726827e-01 -1.34649701e-03 -8.67331190e+00] [-8.23795727e-03 -1.81171462e-04 9.99966051e-01 5.31411554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.212320588 meters 0.024883263348843096 Centerline is valid? [True, True] Translation: X:112.24, Y:-8.68, Z:0.53 [[ 9.82544384e-01 1.85781170e-01 9.58599223e-03 1.12241522e+02] [-1.85774516e-01 9.82591120e-01 -1.58779804e-03 -8.67743139e+00] [-9.71409381e-03 -2.20751014e-04 9.99952793e-01 5.33356182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.242320588 meters 0.024894260191659332 Centerline is valid? [True, True] Translation: X:112.27, Y:-8.68, Z:0.54 [[ 9.82351935e-01 1.86717791e-01 1.10064221e-02 1.12271591e+02] [-1.86709078e-01 9.82413557e-01 -1.82307424e-03 -8.67982113e+00] [-1.11532587e-02 -2.64098412e-04 9.99937766e-01 5.35772709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.272320588 meters 0.02509175267884886 Centerline is valid? [True, True] Translation: X:112.30, Y:-8.68, Z:0.54 [[ 9.81849571e-01 1.89413149e-01 9.69946924e-03 1.12302368e+02] [-1.89406504e-01 9.81897445e-01 -1.60758390e-03 -8.68350786e+00] [-9.82838159e-03 -2.58736997e-04 9.99951667e-01 5.35869831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.302320588 meters 0.025210133650445273 Centerline is valid? [True, True] Translation: X:112.33, Y:-8.69, Z:0.53 [[ 9.81814424e-01 1.89694005e-01 7.52471818e-03 1.12332535e+02] [-1.89690015e-01 9.81843238e-01 -1.24688183e-03 -8.68956424e+00] [-7.62461967e-03 -2.03157346e-04 9.99970912e-01 5.34413983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.332320588 meters 0.02516057271086263 Centerline is valid? [True, True] Translation: X:112.36, Y:-8.69, Z:0.53 [[ 9.82198430e-01 1.87679762e-01 7.90890855e-03 1.12362092e+02] [-1.87675296e-01 9.82230252e-01 -1.30967307e-03 -8.69406304e+00] [-8.01416837e-03 -1.97947927e-04 9.99967866e-01 5.33062359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362320588 meters 0.02468139579509016 Centerline is valid? [True, True] Translation: X:112.39, Y:-8.69, Z:0.53 [[ 9.82889944e-01 1.83908030e-01 1.02564646e-02 1.12392158e+02] [-1.83900321e-01 9.82943431e-01 -1.69781610e-03 -8.69274658e+00] [-1.03937665e-02 -2.17400762e-04 9.99945960e-01 5.33604162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.392320588 meters 0.024579332444408106 Centerline is valid? [True, True] Translation: X:112.42, Y:-8.69, Z:0.54 [[ 9.83218526e-01 1.82103021e-01 1.09462661e-02 1.12422474e+02] [-1.82094124e-01 9.83279434e-01 -1.81236407e-03 -8.69466171e+00] [-1.10932753e-02 -2.11300821e-04 9.99938445e-01 5.35107547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.422320588 meters 0.024575187700863442 Centerline is valid? [True, True] Translation: X:112.45, Y:-8.70, Z:0.54 [[ 9.83462963e-01 1.80698385e-01 1.21940007e-02 1.12453127e+02] [-1.80687237e-01 9.83538533e-01 -2.01895042e-03 -8.69830481e+00] [-1.23580906e-02 -2.17737327e-04 9.99923612e-01 5.36560744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.452320588 meters 0.024308224474891275 Centerline is valid? [True, True] Translation: X:112.48, Y:-8.70, Z:0.54 [[ 9.83721178e-01 1.79252496e-01 1.26959136e-02 1.12483877e+02] [-1.79240276e-01 9.83803080e-01 -2.10324368e-03 -8.70274089e+00] [-1.28672906e-02 -2.06613707e-04 9.99917192e-01 5.37642647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.482320588 meters 0.02424689380325257 Centerline is valid? [True, True] Translation: X:112.51, Y:-8.71, Z:0.54 [[ 9.84012204e-01 1.77756705e-01 1.10696436e-02 1.12514534e+02] [-1.77747323e-01 9.84074452e-01 -1.83353841e-03 -8.70641200e+00] [-1.12192772e-02 -1.63375346e-04 9.99937049e-01 5.37663764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.512320588 meters 0.0242361782702612 Centerline is valid? [True, True] Translation: X:112.55, Y:-8.71, Z:0.54 [[ 9.84322519e-01 1.76116069e-01 9.60779801e-03 1.12545005e+02] [-1.76108924e-01 9.84369399e-01 -1.59140324e-03 -8.70812866e+00] [-9.73789404e-03 -1.25564920e-04 9.99952578e-01 5.35465796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.542320588 meters 0.024000361154619333 Centerline is valid? [True, True] Translation: X:112.57, Y:-8.71, Z:0.53 [[ 9.84867747e-01 1.73018723e-01 1.00020900e-02 1.12573960e+02] [-1.73010892e-01 9.84918530e-01 -1.64960070e-03 -8.70711258e+00] [-1.01366556e-02 -1.05831988e-04 9.99948617e-01 5.31540721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.572320588 meters 0.02400198062161496 Centerline is valid? [True, True] Translation: X:112.60, Y:-8.71, Z:0.53 [[ 9.85192060e-01 1.71160967e-01 1.00263601e-02 1.12602040e+02] [-1.71153050e-01 9.85243074e-01 -1.64885393e-03 -8.71081881e+00] [-1.01606213e-02 -9.16043068e-05 9.99948375e-01 5.32251314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.602320588 meters 0.0238686731952949 Centerline is valid? [True, True] Translation: X:112.63, Y:-8.71, Z:0.53 [[ 9.85543789e-01 1.69103336e-01 1.03683467e-02 1.12630234e+02] [-1.69094805e-01 9.85598324e-01 -1.70029850e-03 -8.71488027e+00] [-1.05065512e-02 -7.75149305e-05 9.99944802e-01 5.34278185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.632320588 meters 0.023722440816159995 Centerline is valid? [True, True] Translation: X:112.66, Y:-8.72, Z:0.54 [[ 9.85780557e-01 1.67708144e-01 1.05201035e-02 1.12658584e+02] [-1.67699334e-01 9.85836687e-01 -1.72030404e-03 -8.71791717e+00] [-1.06596129e-02 -6.83720709e-05 9.99943182e-01 5.36148689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.662320588 meters 0.023619788682043476 Centerline is valid? [True, True] Translation: X:112.69, Y:-8.72, Z:0.54 [[ 9.86008050e-01 1.66479321e-01 8.52997275e-03 1.12687923e+02] [-1.66473522e-01 9.86044945e-01 -1.39037123e-03 -8.71857185e+00] [-8.64240456e-03 -4.90973853e-05 9.99962653e-01 5.37229876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.692320588 meters 0.023663870102016368 Centerline is valid? [True, True] Translation: X:112.72, Y:-8.72, Z:0.54 [[ 9.86205612e-01 1.65285940e-01 8.89092812e-03 1.12715461e+02] [-1.65279637e-01 9.86245687e-01 -1.44419630e-03 -8.72140838e+00] [-9.00734486e-03 -4.52148703e-05 9.99959432e-01 5.37195881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.722320588 meters 0.02365079408180726 Centerline is valid? [True, True] Translation: X:112.74, Y:-8.72, Z:0.54 [[ 9.86371834e-01 1.64209649e-01 1.02857513e-02 1.12743781e+02] [-1.64201164e-01 9.86425461e-01 -1.66981717e-03 -8.72355338e+00] [-1.04203270e-02 -4.18717110e-05 9.99945706e-01 5.37045990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.752320588 meters 0.023761597247272247 Centerline is valid? [True, True] Translation: X:112.77, Y:-8.73, Z:0.54 [[ 9.86904515e-01 1.60957803e-01 1.05860475e-02 1.12771446e+02] [-1.60948704e-01 9.86961289e-01 -1.71149523e-03 -8.72571296e+00] [-1.07234976e-02 -1.47282531e-05 9.99942502e-01 5.36422874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.782320588 meters 0.023593519927877497 Centerline is valid? [True, True] Translation: X:112.80, Y:-8.73, Z:0.54 [[ 9.87311462e-01 1.58497098e-01 9.73384027e-03 1.12799068e+02] [-1.58489339e-01 9.87359443e-01 -1.56830555e-03 -8.72952113e+00] [-9.85937098e-03 5.69613196e-06 9.99951395e-01 5.36459078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.812320588 meters 0.02377898220936758 Centerline is valid? [True, True] Translation: X:112.83, Y:-8.73, Z:0.53 [[ 9.88129946e-01 1.53196494e-01 1.14036860e-02 1.12827108e+02] [-1.53185543e-01 9.88195745e-01 -1.83286869e-03 -8.73446981e+00] [-1.15498630e-02 6.42326117e-05 9.99933296e-01 5.34781423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84232058799999 meters 0.023949907498633245 Centerline is valid? [True, True] Translation: X:112.86, Y:-8.74, Z:0.54 [[ 9.88550836e-01 1.50458798e-01 1.13751812e-02 1.12855921e+02] [-1.50447780e-01 9.88616276e-01 -1.82305599e-03 -8.73804295e+00] [-1.15199841e-02 9.08127619e-05 9.99933639e-01 5.35112364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.872320588 meters 0.023890546025961204 Centerline is valid? [True, True] Translation: X:112.88, Y:-8.74, Z:0.54 [[ 9.89010685e-01 1.47472230e-01 1.04788586e-02 1.12884397e+02] [-1.47462776e-01 9.89066191e-01 -1.67343646e-03 -8.73974565e+00] [-1.06110701e-02 1.09804974e-04 9.99943695e-01 5.36182691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.902320588 meters 0.02398891710700035 Centerline is valid? [True, True] Translation: X:112.91, Y:-8.74, Z:0.54 [[ 9.89368600e-01 1.45020867e-01 1.08958970e-02 1.12912907e+02] [-1.45010546e-01 9.89428587e-01 -1.73551432e-03 -8.74250246e+00] [-1.10323978e-02 1.37043391e-04 9.99939132e-01 5.37142223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.932320588 meters 0.024163912519190412 Centerline is valid? [True, True] Translation: X:112.94, Y:-8.75, Z:0.54 [[ 9.89791815e-01 1.41970437e-01 1.25123476e-02 1.12941311e+02] [-1.41956652e-01 9.89870880e-01 -1.98762783e-03 -8.74974656e+00] [-1.26677929e-02 1.91126790e-04 9.99919742e-01 5.37605642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.962320588 meters 0.024188891368995085 Centerline is valid? [True, True] Translation: X:112.97, Y:-8.76, Z:0.54 [[ 9.89889391e-01 1.41221176e-01 1.32504230e-02 1.12969878e+02] [-1.41205632e-01 9.89978047e-01 -2.10610714e-03 -8.75781833e+00] [-1.34150549e-02 2.13778744e-04 9.99909991e-01 5.37764229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.992320588 meters 0.024376281618812154 Centerline is valid? [True, True] Translation: X:113.00, Y:-8.76, Z:0.54 [[ 9.89874129e-01 1.41443890e-01 1.19513166e-02 1.12999597e+02] [-1.41431258e-01 9.89946256e-01 -1.89990561e-03 -8.76488119e+00] [-1.20998912e-02 1.90377672e-04 9.99926776e-01 5.36394049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.022320588 meters 0.02405965927010714 Centerline is valid? [True, True] Translation: X:113.03, Y:-8.77, Z:0.54 [[ 9.89957027e-01 1.41011665e-01 1.00396918e-02 1.13028315e+02] [-1.41002750e-01 9.90007921e-01 -1.59386866e-03 -8.77150846e+00] [-1.01641285e-02 1.62237326e-04 9.99948331e-01 5.36070317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.052320588 meters 0.024298845543079556 Centerline is valid? [True, True] Translation: X:113.06, Y:-8.78, Z:0.53 [[ 9.90261100e-01 1.39108587e-01 5.63521089e-03 1.13056069e+02] [-1.39105773e-01 9.90277129e-01 -8.90200066e-04 -8.77851705e+00] [-5.70425493e-03 9.76401319e-05 9.99983726e-01 5.33939059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.082320588 meters 0.02444832776469193 Centerline is valid? [True, True] Translation: X:113.08, Y:-8.78, Z:0.53 [[ 9.90490253e-01 1.37458285e-01 5.85485306e-03 1.13084566e+02] [-1.37455233e-01 9.90507551e-01 -9.22334916e-04 -8.78457437e+00] [-5.92605874e-03 1.08783551e-04 9.99982435e-01 5.34919222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.112320588 meters 0.024305455246746505 Centerline is valid? [True, True] Translation: X:113.11, Y:-8.79, Z:0.54 [[ 9.90579873e-01 1.36813804e-01 5.78770218e-03 1.13112096e+02] [-1.36810830e-01 9.90596775e-01 -9.08424959e-04 -8.79031681e+00] [-5.85756419e-03 1.08047139e-04 9.99982838e-01 5.37549220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.142320588 meters 0.02424540479879029 Centerline is valid? [True, True] Translation: X:113.14, Y:-8.80, Z:0.54 [[ 9.90617496e-01 1.36524060e-01 6.17716317e-03 1.13139365e+02] [-1.36520687e-01 9.90636749e-01 -9.66474125e-04 -8.79603638e+00] [-6.25127181e-03 1.14095618e-04 9.99980454e-01 5.38863671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.172320588 meters 0.024120972901922104 Centerline is valid? [True, True] Translation: X:113.17, Y:-8.80, Z:0.54 [[ 9.90554982e-01 1.36973259e-01 6.25726041e-03 1.13166410e+02] [-1.36969827e-01 9.90574739e-01 -9.75812862e-04 -8.80279770e+00] [-6.33194437e-03 1.09540417e-04 9.99979947e-01 5.39640862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.202320588 meters 0.024199421980051337 Centerline is valid? [True, True] Translation: X:113.19, Y:-8.81, Z:0.54 [[ 9.90605822e-01 1.36498643e-01 8.25991395e-03 1.13193553e+02] [-1.36492668e-01 9.90640247e-01 -1.28554236e-03 -8.81436997e+00] [-8.35807798e-03 1.46048055e-04 9.99965060e-01 5.37449800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.232320588 meters 0.024249036673207224 Centerline is valid? [True, True] Translation: X:113.22, Y:-8.82, Z:0.54 [[ 9.90594494e-01 1.36497326e-01 9.54085700e-03 1.13221874e+02] [-1.36489341e-01 9.90640425e-01 -1.48609845e-03 -8.82208873e+00] [-9.65440709e-03 1.69895649e-04 9.99953381e-01 5.37102786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.262320588 meters 0.024208560005554085 Centerline is valid? [True, True] Translation: X:113.25, Y:-8.83, Z:0.54 [[ 9.90623699e-01 1.36281788e-01 9.58968822e-03 1.13251602e+02] [-1.36273707e-01 9.90670099e-01 -1.49418947e-03 -8.83030091e+00] [-9.70384819e-03 1.73357134e-04 9.99952902e-01 5.37089891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.292320588 meters 0.02404730196331408 Centerline is valid? [True, True] Translation: X:113.28, Y:-8.84, Z:0.54 [[ 9.90555399e-01 1.36775226e-01 9.61975991e-03 1.13281171e+02] [-1.36767117e-01 9.90602094e-01 -1.49887500e-03 -8.83856616e+00] [-9.73436328e-03 1.69051893e-04 9.99952606e-01 5.37949283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.322320588 meters 0.02403637789347871 Centerline is valid? [True, True] Translation: X:113.31, Y:-8.85, Z:0.54 [[ 9.90404644e-01 1.37835789e-01 9.99678260e-03 1.13311753e+02] [-1.37827077e-01 9.90455081e-01 -1.55858795e-03 -8.84635993e+00] [-1.01161933e-02 1.65805424e-04 9.99948816e-01 5.39626089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.352320588 meters 0.023794652567636534 Centerline is valid? [True, True] Translation: X:113.34, Y:-8.85, Z:0.54 [[ 9.90182584e-01 1.39415139e-01 1.00930661e-02 1.13342242e+02] [-1.39406333e-01 9.90234011e-01 -1.57425052e-03 -8.85113858e+00] [-1.02139717e-02 1.51758111e-04 9.99947825e-01 5.40254373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.382320588 meters 0.023794652567636534 Centerline is valid? [True, True] Translation: X:113.37, Y:-8.86, Z:0.54 [[ 9.90173781e-01 1.39477655e-01 1.00929668e-02 1.13372723e+02] [-1.39468846e-01 9.90225207e-01 -1.57488726e-03 -8.85587412e+00] [-1.02139717e-02 1.51757637e-04 9.99947825e-01 5.40409807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.412320588 meters 0.02376568516895092 Centerline is valid? [True, True] Translation: X:113.40, Y:-8.86, Z:0.54 [[ 9.90026280e-01 1.40553163e-01 9.63192994e-03 1.13403481e+02] [-1.40545185e-01 9.90073124e-01 -1.50358697e-03 -8.86100510e+00] [-9.74764886e-03 1.34869236e-04 9.99952481e-01 5.40200762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.442320588 meters 0.023574828620723853 Centerline is valid? [True, True] Translation: X:113.43, Y:-8.87, Z:0.54 [[ 9.89789743e-01 1.42228610e-01 9.34272910e-03 1.13433662e+02] [-1.42221173e-01 9.89833829e-01 -1.45906457e-03 -8.86867617e+00] [-9.45527005e-03 1.15433260e-04 9.99955291e-01 5.40748853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.472320588 meters 0.02325520496551533 Centerline is valid? [True, True] Translation: X:113.46, Y:-8.88, Z:0.54 [[ 9.89537390e-01 1.44096724e-01 7.20330916e-03 1.13463570e+02] [-1.44092348e-01 9.89563605e-01 -1.12550068e-03 -8.88097551e+00] [-7.29031354e-03 7.57832748e-05 9.99973422e-01 5.40060142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502320588 meters 0.023144204521265022 Centerline is valid? [True, True] Translation: X:113.49, Y:-8.89, Z:0.54 [[ 9.89425558e-01 1.44874865e-01 6.95265833e-03 1.13493858e+02] [-1.44870810e-01 9.89449983e-01 -1.08602045e-03 -8.88743527e+00] [-7.03664473e-03 6.72991446e-05 9.99975240e-01 5.40708485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.532320588 meters 0.023132919284820357 Centerline is valid? [True, True] Translation: X:113.52, Y:-8.89, Z:0.54 [[ 9.89348167e-01 1.45353730e-01 7.90555199e-03 1.13524099e+02] [-1.45348503e-01 9.89379749e-01 -1.23486452e-03 -8.89199862e+00] [-8.00108521e-03 7.26508073e-05 9.99967988e-01 5.40175984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.562320588 meters 0.023146777896177858 Centerline is valid? [True, True] Translation: X:113.55, Y:-8.90, Z:0.54 [[ 9.89283667e-01 1.45659005e-01 1.00637838e-02 1.13554851e+02] [-1.45650540e-01 9.89334850e-01 -1.57297611e-03 -8.89628274e+00] [-1.01855702e-02 9.03240407e-05 9.99948122e-01 5.40769525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59232058799999 meters 0.023171898668806992 Centerline is valid? [True, True] Translation: X:113.59, Y:-8.90, Z:0.54 [[ 9.89299229e-01 1.45573626e-01 9.76502308e-03 1.13586047e+02] [-1.45565645e-01 9.89347417e-01 -1.52693421e-03 -8.90133869e+00] [-9.88328171e-03 8.91429539e-05 9.99951155e-01 5.41304112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.622320588 meters 0.02323760088432595 Centerline is valid? [True, True] Translation: X:113.62, Y:-8.91, Z:0.54 [[ 9.89220877e-01 1.46274328e-01 6.77328178e-03 1.13616930e+02] [-1.46270501e-01 9.89244064e-01 -1.05967203e-03 -8.90798888e+00] [-6.85543161e-03 5.75183700e-05 9.99976500e-01 5.41643908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.652320588 meters 0.02303761573603273 Centerline is valid? [True, True] Translation: X:113.65, Y:-8.91, Z:0.54 [[ 9.89152511e-01 1.46778885e-01 5.76785293e-03 1.13646810e+02] [-1.46776120e-01 9.89169327e-01 -9.02093400e-04 -8.91272185e+00] [-5.83779147e-03 4.57248752e-05 9.99982959e-01 5.40305222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.682320588 meters 0.023094230072085126 Centerline is valid? [True, True] Translation: X:113.68, Y:-8.92, Z:0.54 [[ 9.88939740e-01 1.48202080e-01 5.85945198e-03 1.13675761e+02] [-1.48199256e-01 9.88957098e-01 -9.15700743e-04 -8.91706102e+00] [-5.93045539e-03 3.72064311e-05 9.99982414e-01 5.39528147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.712320588 meters 0.022973236946374372 Centerline is valid? [True, True] Translation: X:113.71, Y:-8.92, Z:0.54 [[ 9.88667101e-01 1.49809648e-01 9.71769422e-03 1.13705095e+02] [-1.49801962e-01 9.88714856e-01 -1.51822960e-03 -8.92135084e+00] [-9.83547409e-03 4.52939954e-05 9.99951630e-01 5.40985391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.742320588 meters 0.02294091661805825 Centerline is valid? [True, True] Translation: X:113.74, Y:-8.93, Z:0.54 [[ 9.88607752e-01 1.50338872e-01 7.27579264e-03 1.13736201e+02] [-1.50334570e-01 9.88634524e-01 -1.13778691e-03 -8.92629702e+00] [-7.36415339e-03 3.10218081e-05 9.99972884e-01 5.43429100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.772320588 meters 0.022852399489365807 Centerline is valid? [True, True] Translation: X:113.77, Y:-8.93, Z:0.54 [[ 9.88629904e-01 1.50315255e-01 4.02946080e-03 1.13766190e+02] [-1.50313936e-01 9.88638116e-01 -6.29942439e-04 -8.93091996e+00] [-4.07836849e-03 1.70958210e-05 9.99991683e-01 5.43536683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.802320588 meters 0.022725758794458848 Centerline is valid? [True, True] Translation: X:113.79, Y:-8.94, Z:0.54 [[ 9.88701753e-01 1.49887105e-01 1.64280403e-03 1.13794923e+02] [-1.49886891e-01 9.88703118e-01 -2.53686486e-04 -8.93588521e+00] [-1.66226980e-03 4.58548491e-06 9.99998618e-01 5.43320897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.832320588 meters 0.022761647416448927 Centerline is valid? [True, True] Translation: X:113.82, Y:-8.94, Z:0.54 [[ 9.88893828e-01 1.48619066e-01 1.17061087e-03 1.13822897e+02] [-1.48618958e-01 9.88894521e-01 -1.79118193e-04 -8.94041706e+00] [-1.18423105e-03 3.15390915e-06 9.99999299e-01 5.43052689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.862320588 meters 0.02291750608462237 Centerline is valid? [True, True] Translation: X:113.85, Y:-8.94, Z:0.54 [[ 9.89000125e-01 1.47831016e-01 4.97425700e-03 1.13851631e+02] [-1.47829024e-01 9.89012634e-01 -7.67859317e-04 -8.94437387e+00] [-5.03311644e-03 2.40734034e-05 9.99987333e-01 5.43903312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.892320588 meters 0.022992160158951697 Centerline is valid? [True, True] Translation: X:113.88, Y:-8.95, Z:0.54 [[ 9.88892257e-01 1.48492992e-01 6.47577906e-03 1.13881246e+02] [-1.48489615e-01 9.88913460e-01 -1.00195749e-03 -8.94831852e+00] [-6.55276874e-03 2.92420702e-05 9.99978530e-01 5.44089831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.922320588 meters 0.02302824334388852 Centerline is valid? [True, True] Translation: X:113.91, Y:-8.95, Z:0.54 [[ 9.88713160e-01 1.49679406e-01 6.50872288e-03 1.13911021e+02] [-1.49676023e-01 9.88734583e-01 -1.00661568e-03 -8.95232548e+00] [-6.58606904e-03 2.10544152e-05 9.99978311e-01 5.44815978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.952320588 meters 0.023095157336499483 Centerline is valid? [True, True] Translation: X:113.94, Y:-8.96, Z:0.54 [[ 9.88464449e-01 1.51238907e-01 8.05148959e-03 1.13940347e+02] [-1.51233785e-01 9.88497240e-01 -1.24475923e-03 -8.95615883e+00] [-8.14713126e-03 1.27430044e-05 9.99966811e-01 5.44732020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.982320588 meters 0.02302599879096919 Centerline is valid? [True, True] Translation: X:113.97, Y:-8.96, Z:0.54 [[ 9.88247329e-01 1.52645060e-01 8.16714898e-03 1.13970477e+02] [-1.52639835e-01 9.88281076e-01 -1.26297769e-03 -8.96003551e+00] [-8.26422608e-03 1.50205508e-06 9.99965851e-01 5.44536985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.012320588 meters 0.023176860432169044 Centerline is valid? [True, True] Translation: X:114.00, Y:-8.97, Z:0.54 [[ 9.87876690e-01 1.55025628e-01 8.16704496e-03 1.14001090e+02] [-1.55020477e-01 9.87910449e-01 -1.26385524e-03 -8.96521728e+00] [-8.26423900e-03 -1.75260735e-05 9.99965850e-01 5.43267884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.042320588 meters 0.02308337370951837 Centerline is valid? [True, True] Translation: X:114.03, Y:-8.97, Z:0.54 [[ 9.87965478e-01 1.54486423e-01 7.62619102e-03 1.14031100e+02] [-1.54481918e-01 9.87994911e-01 -1.17984167e-03 -8.96973970e+00] [-7.71690744e-03 -1.24657731e-05 9.99970224e-01 5.43288173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.072320588 meters 0.023097520281284745 Centerline is valid? [True, True] Translation: X:114.06, Y:-8.97, Z:0.54 [[ 9.88137675e-01 1.53453623e-01 5.99332281e-03 1.14061671e+02] [-1.53450822e-01 9.88155851e-01 -9.27221991e-04 -8.97387633e+00] [-6.06462258e-03 -3.45732976e-06 9.99981610e-01 5.44148424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.102320588 meters 0.02302561634887596 Centerline is valid? [True, True] Translation: X:114.09, Y:-8.98, Z:0.54 [[ 9.88372838e-01 1.51927273e-01 6.10211745e-03 1.14091306e+02] [-1.51924345e-01 9.88391675e-01 -9.43299146e-04 -8.97705239e+00] [-6.17459496e-03 5.27105809e-06 9.99980937e-01 5.44194820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.132320588 meters 0.023345435548628255 Centerline is valid? [True, True] Translation: X:114.12, Y:-8.98, Z:0.54 [[ 9.88944510e-01 1.47867504e-01 1.11335700e-02 1.14121172e+02] [-1.47857504e-01 9.89007178e-01 -1.72062064e-03 -8.97893593e+00] [-1.12656045e-02 5.54164773e-05 9.99936540e-01 5.44056759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.162320588 meters 0.023570153679278272 Centerline is valid? [True, True] Translation: X:114.15, Y:-8.98, Z:0.54 [[ 9.89195551e-01 1.45978880e-01 1.35028826e-02 1.14152035e+02] [-1.45963971e-01 9.89287702e-01 -2.08841502e-03 -8.98415034e+00] [-1.36631001e-02 9.49164850e-05 9.99906651e-01 5.44020738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.192320588 meters 0.02348901978177978 Centerline is valid? [True, True] Translation: X:114.18, Y:-8.99, Z:0.54 [[ 9.89380550e-01 1.44705281e-01 1.36568408e-02 1.14184034e+02] [-1.44689879e-01 9.89474794e-01 -2.11435818e-03 -8.98975883e+00] [-1.38190586e-02 1.15898208e-04 9.99904506e-01 5.44418167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.222320588 meters 0.023500617652325365 Centerline is valid? [True, True] Translation: X:114.22, Y:-9.00, Z:0.54 [[ 9.89642613e-01 1.43049077e-01 1.20191374e-02 1.14215561e+02] [-1.43037006e-01 9.89715588e-01 -1.86246609e-03 -8.99542570e+00] [-1.21619517e-02 1.23994384e-04 9.99926033e-01 5.44733459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.252320588 meters 0.02338718187469043 Centerline is valid? [True, True] Translation: X:114.25, Y:-9.00, Z:0.54 [[ 9.90169338e-01 1.39657839e-01 7.76988327e-03 1.14246586e+02] [-1.39652680e-01 9.90199816e-01 -1.20525779e-03 -9.00438371e+00] [-7.86206069e-03 1.08324282e-04 9.99969088e-01 5.44577167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.282320588 meters 0.023661571985633775 Centerline is valid? [True, True] Translation: X:114.28, Y:-9.01, Z:0.54 [[ 9.90412943e-01 1.37978466e-01 6.64414239e-03 1.14277374e+02] [-1.37974655e-01 9.90435224e-01 -1.03084133e-03 -9.01302215e+00] [-6.72282656e-03 1.04235337e-04 9.99977396e-01 5.43234911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.312320588 meters 0.023710707164750915 Centerline is valid? [True, True] Translation: X:114.31, Y:-9.02, Z:0.54 [[ 9.90618362e-01 1.36556264e-01 5.25814515e-03 1.14306462e+02] [-1.36553858e-01 9.90632313e-01 -8.15543504e-04 -9.02163967e+00] [-5.32025607e-03 8.98723609e-05 9.99985843e-01 5.44712596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34232058799999 meters 0.023669442959715375 Centerline is valid? [True, True] Translation: X:114.34, Y:-9.03, Z:0.55 [[ 9.90726150e-01 1.35782898e-01 4.96990116e-03 1.14335981e+02] [-1.35780739e-01 9.90738612e-01 -7.70836577e-04 -9.02962787e+00] [-5.02853940e-03 8.88711027e-05 9.99987353e-01 5.46185810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.372320588 meters 0.02359209206836759 Centerline is valid? [True, True] Translation: X:114.37, Y:-9.04, Z:0.55 [[ 9.90587808e-01 1.36631433e-01 8.22475995e-03 1.14365886e+02] [-1.36625550e-01 9.90621942e-01 -1.27566839e-03 -9.03619452e+00] [-8.32192407e-03 1.39949202e-04 9.99965362e-01 5.46942228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.402320588 meters 0.023517229447767612 Centerline is valid? [True, True] Translation: X:114.40, Y:-9.04, Z:0.55 [[ 9.90416793e-01 1.37849843e-01 8.48514062e-03 1.14397579e+02] [-1.37843611e-01 9.90453130e-01 -1.31781032e-03 -9.04209774e+00] [-8.58579403e-03 1.35559053e-04 9.99963132e-01 5.46870791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.432320588 meters 0.02329340180820303 Centerline is valid? [True, True] Translation: X:114.43, Y:-9.05, Z:0.55 [[ 9.90086435e-01 1.40085556e-01 1.02414769e-02 1.14427694e+02] [-1.40076594e-01 9.90139393e-01 -1.59079113e-03 -9.04935557e+00] [-1.03633365e-02 1.40429527e-04 9.99946289e-01 5.46037339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.462320588 meters 0.02289177208101384 Centerline is valid? [True, True] Translation: X:114.46, Y:-9.06, Z:0.54 [[ 9.89623075e-01 1.43304149e-01 1.04923932e-02 1.14458647e+02] [-1.43294905e-01 9.89678690e-01 -1.63148161e-03 -9.05853390e+00] [-1.06178960e-02 1.11045369e-04 9.99943622e-01 5.44220965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.492320588 meters 0.022898341001225144 Centerline is valid? [True, True] Translation: X:114.49, Y:-9.07, Z:0.54 [[ 9.89102246e-01 1.46848812e-01 1.05911425e-02 1.14490089e+02] [-1.46839581e-01 9.89158946e-01 -1.64824830e-03 -9.06833649e+00] [-1.07183666e-02 7.50871703e-05 9.99942554e-01 5.42892866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.522320588 meters 0.022709965584452697 Centerline is valid? [True, True] Translation: X:114.52, Y:-9.08, Z:0.54 [[ 9.87781378e-01 1.55514619e-01 1.01564462e-02 1.14521153e+02] [-1.55506573e-01 9.87833591e-01 -1.58199427e-03 -9.07983168e+00] [-1.02789019e-02 -1.67296549e-05 9.99947171e-01 5.44973666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.552320588 meters 0.022679025432681497 Centerline is valid? [True, True] Translation: X:114.55, Y:-9.08, Z:0.55 [[ 9.87239844e-01 1.59004217e-01 8.66886382e-03 1.14552770e+02] [-1.58998479e-01 9.87277903e-01 -1.35156542e-03 -9.08462203e+00] [-8.77348229e-03 -4.40169288e-05 9.99961511e-01 5.47617168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.582320588 meters 0.02277908744705258 Centerline is valid? [True, True] Translation: X:114.58, Y:-9.09, Z:0.55 [[ 9.86797686e-01 1.61795303e-01 7.25305056e-03 1.14584492e+02] [-1.61791353e-01 9.86824339e-01 -1.13193258e-03 -9.08861599e+00] [-7.34062820e-03 -5.64924098e-05 9.99973056e-01 5.50577991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.612320588 meters 0.022995001977929627 Centerline is valid? [True, True] Translation: X:114.62, Y:-9.09, Z:0.55 [[ 9.85893247e-01 1.67240842e-01 6.70871881e-03 1.14615900e+02] [-1.67237582e-01 9.85916068e-01 -1.04795243e-03 -9.09433486e+00] [-6.78949412e-03 -8.87806875e-05 9.99976947e-01 5.50264694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.642320588 meters 0.023239985575109035 Centerline is valid? [True, True] Translation: X:114.65, Y:-9.10, Z:0.55 [[ 9.85553679e-01 1.69239183e-01 6.48419088e-03 1.14648187e+02] [-1.69236175e-01 9.85575004e-01 -1.01379249e-03 -9.09825294e+00] [-6.56222986e-03 -9.82127464e-05 9.99978464e-01 5.49585811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.672320588 meters 0.023547440545626203 Centerline is valid? [True, True] Translation: X:114.68, Y:-9.10, Z:0.55 [[ 9.85037115e-01 1.72144206e-01 8.26162596e-03 1.14680754e+02] [-1.72139417e-01 9.85071749e-01 -1.29263852e-03 -9.10079228e+00] [-8.36081457e-03 -1.48854558e-04 9.99965037e-01 5.48868493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.702320588 meters 0.023943653818308937 Centerline is valid? [True, True] Translation: X:114.71, Y:-9.10, Z:0.55 [[ 9.84475744e-01 1.75237597e-01 9.96463703e-03 1.14712977e+02] [-1.75230776e-01 9.84526150e-01 -1.56031276e-03 -9.10321547e+00] [-1.00838712e-02 -2.10021014e-04 9.99949134e-01 5.49153534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.732320588 meters 0.024686587996274035 Centerline is valid? [True, True] Translation: X:114.75, Y:-9.11, Z:0.55 [[ 9.83519610e-01 1.80526496e-01 9.96798112e-03 1.14745186e+02] [-1.80519928e-01 9.83570087e-01 -1.56218630e-03 -9.10540607e+00] [-1.00862241e-02 -2.62978378e-04 9.99949098e-01 5.49549033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.762320588 meters 0.02500711780892069 Centerline is valid? [True, True] Translation: X:114.78, Y:-9.11, Z:0.55 [[ 9.83122049e-01 1.82679431e-01 9.96301852e-03 1.14776948e+02] [-1.82672967e-01 9.83172490e-01 -1.56273552e-03 -9.10838776e+00] [-1.00808454e-02 -2.83614409e-04 9.99949147e-01 5.49598084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.792320588 meters 0.025271102074292798 Centerline is valid? [True, True] Translation: X:114.81, Y:-9.11, Z:0.55 [[ 9.82735281e-01 1.84796005e-01 9.04458568e-03 1.14809465e+02] [-1.84790756e-01 9.82776862e-01 -1.41994341e-03 -9.10888950e+00] [-9.15120940e-03 -2.75927335e-04 9.99958089e-01 5.49441703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.822320588 meters 0.025335728536016736 Centerline is valid? [True, True] Translation: X:114.84, Y:-9.11, Z:0.55 [[ 9.82271023e-01 1.87299022e-01 7.91914992e-03 1.14841013e+02] [-1.87295077e-01 9.82302910e-01 -1.24352890e-03 -9.10827869e+00] [-8.01191576e-03 -2.61735390e-04 9.99967870e-01 5.49535338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.852320588 meters 0.025949902914114985 Centerline is valid? [True, True] Translation: X:114.87, Y:-9.11, Z:0.55 [[ 9.81845717e-01 1.89539517e-01 7.33214893e-03 1.14872403e+02] [-1.89536194e-01 9.81873059e-01 -1.15186670e-03 -9.10989776e+00] [-7.41756376e-03 -2.58752216e-04 9.99972456e-01 5.49441594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.882320588 meters 0.026353810842209016 Centerline is valid? [True, True] Translation: X:114.90, Y:-9.11, Z:0.55 [[ 9.81363434e-01 1.92065573e-01 6.05186908e-03 1.14902545e+02] [-1.92063361e-01 9.81382068e-01 -9.50104848e-04 -9.11100574e+00] [-6.12167822e-03 -2.29944159e-04 9.99981236e-01 5.49162198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.912320588 meters 0.026511448592238376 Centerline is valid? [True, True] Translation: X:114.93, Y:-9.11, Z:0.55 [[ 9.81038542e-01 1.93669038e-01 7.46212009e-03 1.14932426e+02] [-1.93665722e-01 9.81066876e-01 -1.17129952e-03 -9.11370586e+00] [-7.54768330e-03 -2.96066906e-04 9.99971472e-01 5.49759191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.942320588 meters 0.02653448443197921 Centerline is valid? [True, True] Translation: X:114.96, Y:-9.11, Z:0.55 [[ 9.81034070e-01 1.93689766e-01 7.51180206e-03 1.14962730e+02] [-1.93686411e-01 9.81062784e-01 -1.17844369e-03 -9.11427033e+00] [-7.59780192e-03 -2.98840569e-04 9.99971092e-01 5.50549187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.972320588 meters 0.02661316926308247 Centerline is valid? [True, True] Translation: X:114.99, Y:-9.11, Z:0.55 [[ 9.81083229e-01 1.93381952e-01 8.89482754e-03 1.14993069e+02] [-1.93377241e-01 9.81123487e-01 -1.39488462e-03 -9.11471414e+00] [-8.99666972e-03 -3.51559301e-04 9.99959467e-01 5.51129120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002320588 meters 0.026285165924017577 Centerline is valid? [True, True] Translation: X:115.02, Y:-9.11, Z:0.55 [[ 9.81543529e-01 1.90809342e-01 1.28099919e-02 1.15023743e+02] [-1.90799361e-01 9.81627002e-01 -2.00816501e-03 -9.11280796e+00] [-1.29578106e-02 -4.73036898e-04 9.99915932e-01 5.50805081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.032320588 meters 0.02617822674227961 Centerline is valid? [True, True] Translation: X:115.05, Y:-9.12, Z:0.55 [[ 9.81726527e-01 1.89948844e-01 1.15092060e-02 1.15054984e+02] [-1.89940712e-01 9.81793902e-01 -1.80562367e-03 -9.11583664e+00] [-1.16426444e-02 -4.13438135e-04 9.99932137e-01 5.52076327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.062320588 meters 0.02629260843159567 Centerline is valid? [True, True] Translation: X:115.09, Y:-9.12, Z:0.55 [[ 9.81642300e-01 1.90400471e-01 1.12274529e-02 1.15085712e+02] [-1.90392765e-01 9.81706419e-01 -1.76110155e-03 -9.11808476e+00] [-1.13573771e-02 -4.08854013e-04 9.99935419e-01 5.52390610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09232058799999 meters 0.02635419899766973 Centerline is valid? [True, True] Translation: X:115.12, Y:-9.12, Z:0.55 [[ 9.81490751e-01 1.91288201e-01 9.20492113e-03 1.15116113e+02] [-1.91283069e-01 9.81533854e-01 -1.44292460e-03 -9.11842602e+00] [-9.31095616e-03 -3.44528412e-04 9.99956593e-01 5.52237025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.122320588 meters 0.026676519944168052 Centerline is valid? [True, True] Translation: X:115.15, Y:-9.11, Z:0.55 [[ 9.81051312e-01 1.93642001e-01 6.41077896e-03 1.15146286e+02] [-1.93639594e-01 9.81072223e-01 -9.99909304e-04 -9.11374561e+00] [-6.48306161e-03 -2.60418303e-04 9.99978951e-01 5.50163498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.152320588 meters 0.026831039113389386 Centerline is valid? [True, True] Translation: X:115.17, Y:-9.12, Z:0.55 [[ 9.81070790e-01 1.93492944e-01 7.78367785e-03 1.15174912e+02] [-1.93489416e-01 9.81101615e-01 -1.21094002e-03 -9.11586129e+00] [-7.87088726e-03 -3.18041402e-04 9.99968974e-01 5.49441759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.182320588 meters 0.027019892355486328 Centerline is valid? [True, True] Translation: X:115.20, Y:-9.12, Z:0.55 [[ 9.80936956e-01 1.94089421e-01 9.59086624e-03 1.15203662e+02] [-1.94084130e-01 9.80983759e-01 -1.48824785e-03 -9.11888453e+00] [-9.69733718e-03 -4.01557618e-04 9.99952899e-01 5.51255587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.212320588 meters 0.026976237373040765 Centerline is valid? [True, True] Translation: X:115.23, Y:-9.12, Z:0.55 [[ 9.80956874e-01 1.93947678e-01 1.03879254e-02 1.15232814e+02] [-1.93941511e-01 9.81011777e-01 -1.60736477e-03 -9.12037288e+00] [-1.05024218e-02 -4.37894424e-04 9.99944752e-01 5.53582579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.242320588 meters 0.026892649516964823 Centerline is valid? [True, True] Translation: X:115.26, Y:-9.12, Z:0.55 [[ 9.81272154e-01 1.92267009e-01 1.17625541e-02 1.15262044e+02] [-1.92259043e-01 9.81342533e-01 -1.81494915e-03 -9.11958064e+00] [-1.18920495e-02 -4.80498338e-04 9.99929172e-01 5.54926219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.272320588 meters 0.025933075848183898 Centerline is valid? [True, True] Translation: X:115.29, Y:-9.11, Z:0.55 [[ 9.82241863e-01 1.87161689e-01 1.30929313e-02 1.15292415e+02] [-1.87151363e-01 9.82329011e-01 -2.02039411e-03 -9.11188952e+00] [-1.32397066e-02 -4.65844278e-04 9.99912243e-01 5.54013964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.302320588 meters 0.025933075848183898 Centerline is valid? [True, True] Translation: X:115.32, Y:-9.12, Z:0.55 [[ 9.82339104e-01 1.86650543e-01 1.30942816e-02 1.15319497e+02] [-1.86640289e-01 9.82426260e-01 -2.01163049e-03 -9.11635149e+00] [-1.32396380e-02 -4.67817202e-04 9.99912243e-01 5.54152356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.332320588 meters 0.025667365836611018 Centerline is valid? [True, True] Translation: X:115.35, Y:-9.12, Z:0.55 [[ 9.82849794e-01 1.83930592e-01 1.32597212e-02 1.15348111e+02] [-1.83919908e-01 9.82939134e-01 -2.03121918e-03 -9.11823535e+00] [-1.34071022e-02 -4.42343346e-04 9.99910023e-01 5.52940726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.362320588 meters 0.025344516925429147 Centerline is valid? [True, True] Translation: X:115.38, Y:-9.12, Z:0.55 [[ 9.83434429e-01 1.80789478e-01 1.31106103e-02 1.15377100e+02] [-1.80778835e-01 9.83521735e-01 -2.00221528e-03 -9.12080216e+00] [-1.32565496e-02 -4.01073412e-04 9.99912048e-01 5.52963342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.392320588 meters 0.02493805602638921 Centerline is valid? [True, True] Translation: X:115.41, Y:-9.12, Z:0.55 [[ 9.84170310e-01 1.76885913e-01 1.09624269e-02 1.15405678e+02] [-1.76878232e-01 9.84231319e-01 -1.67396995e-03 -9.12259917e+00] [-1.10856656e-02 -2.91543162e-04 9.99938510e-01 5.53098172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.422320588 meters 0.024198564143162973 Centerline is valid? [True, True] Translation: X:115.44, Y:-9.12, Z:0.55 [[ 9.85664549e-01 1.68442927e-01 9.61130574e-03 1.15435601e+02] [-1.68436678e-01 9.85711392e-01 -1.46186210e-03 -9.11961855e+00] [-9.72021389e-03 -1.77990761e-04 9.99952742e-01 5.52053129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.452320588 meters 0.0237773018757271 Centerline is valid? [True, True] Translation: X:115.46, Y:-9.12, Z:0.55 [[ 9.86299799e-01 1.64742635e-01 8.51879913e-03 1.15464348e+02] [-1.64737625e-01 9.86336579e-01 -1.29130807e-03 -9.12118346e+00] [-8.61513669e-03 -1.29749850e-04 9.99962881e-01 5.51942453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.482320588 meters 0.023562010894392364 Centerline is valid? [True, True] Translation: X:115.49, Y:-9.12, Z:0.55 [[ 9.87023475e-01 1.60298957e-01 9.42885381e-03 1.15493397e+02] [-1.60292657e-01 9.87068505e-01 -1.42502345e-03 -9.12374623e+00] [-9.53535440e-03 -1.04844434e-04 9.99954532e-01 5.50992483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.512320588 meters 0.023468086275095317 Centerline is valid? [True, True] Translation: X:115.52, Y:-9.13, Z:0.55 [[ 9.87748128e-01 1.55765013e-01 9.53395460e-03 1.15522629e+02] [-1.55758399e-01 9.87794137e-01 -1.43693794e-03 -9.12600603e+00] [-9.64140911e-03 -6.56607468e-05 9.99953518e-01 5.51285927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.542320588 meters 0.023062587242034194 Centerline is valid? [True, True] Translation: X:115.55, Y:-9.12, Z:0.55 [[ 9.88742708e-01 1.49360445e-01 8.90593341e-03 1.15552815e+02] [-1.49354449e-01 9.88782816e-01 -1.33830248e-03 -9.12214534e+00] [-9.00592337e-03 -6.90396350e-06 9.99959446e-01 5.53599751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.572320588 meters 0.02308722509577644 Centerline is valid? [True, True] Translation: X:115.58, Y:-9.12, Z:0.55 [[ 9.89175969e-01 1.46528925e-01 7.75737618e-03 1.15580607e+02] [-1.46524326e-01 9.89206386e-01 -1.16091935e-03 -9.12452001e+00] [-7.84375432e-03 1.17092074e-05 9.99969237e-01 5.53595134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.602320588 meters 0.02320170137150149 Centerline is valid? [True, True] Translation: X:115.61, Y:-9.13, Z:0.55 [[ 9.89631205e-01 1.43383543e-01 8.44026426e-03 1.15609032e+02] [-1.43378013e-01 9.89667196e-01 -1.25980282e-03 -9.12973736e+00] [-8.53368766e-03 3.65918551e-05 9.99963587e-01 5.52635957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.632320588 meters 0.02393879013559487 Centerline is valid? [True, True] Translation: X:115.64, Y:-9.14, Z:0.55 [[ 9.90410368e-01 1.37380939e-01 1.46212421e-02 1.15636276e+02] [-1.37363703e-01 9.90518276e-01 -2.18140255e-03 -9.13813788e+00] [-1.47822906e-02 1.52055752e-04 9.99890724e-01 5.51886332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.662320588 meters 0.024077795681536344 Centerline is valid? [True, True] Translation: X:115.66, Y:-9.14, Z:0.55 [[ 9.90717558e-01 1.35023352e-01 1.57294515e-02 1.15664525e+02] [-1.35003233e-01 9.90842398e-01 -2.33884244e-03 -9.14242638e+00] [-1.59012057e-02 1.93605471e-04 9.99873549e-01 5.52857155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.692320588 meters 0.024099631985744357 Centerline is valid? [True, True] Translation: X:115.69, Y:-9.15, Z:0.55 [[ 9.90944889e-01 1.33263257e-01 1.64052233e-02 1.15693116e+02] [-1.33241251e-01 9.91080650e-01 -2.43208475e-03 -9.14593346e+00] [-1.65830069e-02 2.24209475e-04 9.99862467e-01 5.52799768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.722320588 meters 0.02410816934760072 Centerline is valid? [True, True] Translation: X:115.72, Y:-9.15, Z:0.55 [[ 9.91216001e-01 1.31556063e-01 1.35587988e-02 1.15721915e+02] [-1.31540960e-01 9.91308711e-01 -2.00365448e-03 -9.15047052e+00] [-1.37045482e-02 2.02516982e-04 9.99906068e-01 5.52631564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.752320588 meters 0.024149611164265377 Centerline is valid? [True, True] Translation: X:115.75, Y:-9.16, Z:0.55 [[ 9.91220936e-01 1.31667647e-01 1.20285487e-02 1.15750009e+02] [-1.31655837e-01 9.91293902e-01 -1.77192829e-03 -9.15705645e+00] [-1.21571326e-02 1.72743773e-04 9.99926084e-01 5.50756426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.782320588 meters 0.02414093638783099 Centerline is valid? [True, True] Translation: X:115.78, Y:-9.16, Z:0.55 [[ 9.91289256e-01 1.31319049e-01 1.00458087e-02 1.15778029e+02] [-1.31310843e-01 9.91340147e-01 -1.47499223e-03 -9.16383251e+00] [-1.01525081e-02 1.43020345e-04 9.99948452e-01 5.50105923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.812320588 meters 0.023748236854567506 Centerline is valid? [True, True] Translation: X:115.81, Y:-9.17, Z:0.55 [[ 9.91022018e-01 1.33432980e-01 8.42616045e-03 1.15805889e+02] [-1.33427318e-01 9.91057834e-01 -1.23307185e-03 -9.17040920e+00] [-8.51534478e-03 9.77213644e-05 9.99963739e-01 5.51526034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84232058799999 meters 0.023675122472064 Centerline is valid? [True, True] Translation: X:115.83, Y:-9.18, Z:0.55 [[ 9.90938162e-01 1.34059293e-01 8.34658721e-03 1.15833621e+02] [-1.34053799e-01 9.90973309e-01 -1.21674838e-03 -9.17508770e+00] [-8.43436157e-03 8.68306845e-05 9.99964426e-01 5.52530569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.872320588 meters 0.023629102770519904 Centerline is valid? [True, True] Translation: X:115.86, Y:-9.18, Z:0.55 [[ 9.90831594e-01 1.34748537e-01 9.77666311e-03 1.15860627e+02] [-1.34741078e-01 9.90879823e-01 -1.42067295e-03 -9.18118735e+00] [-9.87893181e-03 9.03295120e-05 9.99951198e-01 5.53454507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.902320588 meters 0.02356360611903188 Centerline is valid? [True, True] Translation: X:115.89, Y:-9.19, Z:0.55 [[ 9.90820715e-01 1.34705578e-01 1.13454101e-02 1.15888373e+02] [-1.34695580e-01 9.90885663e-01 -1.64426229e-03 -9.18774774e+00] [-1.14634955e-02 1.00992544e-04 9.99934287e-01 5.54162907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.932320588 meters 0.0236444160137537 Centerline is valid? [True, True] Translation: X:115.92, Y:-9.19, Z:0.55 [[ 9.90879554e-01 1.34293123e-01 1.10935677e-02 1.15916076e+02] [-1.34283607e-01 9.90941647e-01 -1.60165022e-03 -9.19197898e+00] [-1.12081688e-02 9.73581756e-05 9.99937182e-01 5.54320944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.962320588 meters 0.02367380893070314 Centerline is valid? [True, True] Translation: X:115.94, Y:-9.19, Z:0.55 [[ 9.90971466e-01 1.33680864e-01 1.02459418e-02 1.15943950e+02] [-1.33672770e-01 9.91024429e-01 -1.47380594e-03 -9.19408359e+00] [-1.03509983e-02 9.08962060e-05 9.99946423e-01 5.52734521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.992320588 meters 0.023665505667421753 Centerline is valid? [True, True] Translation: X:115.97, Y:-9.20, Z:0.55 [[ 9.90918042e-01 1.34078544e-01 1.02165570e-02 1.15971407e+02] [-1.34070572e-01 9.90970705e-01 -1.46432656e-03 -9.19741625e+00] [-1.03206434e-02 8.12879674e-05 9.99946737e-01 5.51710869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.022320588 meters 0.02387526319860703 Centerline is valid? [True, True] Translation: X:116.00, Y:-9.20, Z:0.55 [[ 9.90929452e-01 1.33818751e-01 1.23029451e-02 1.15999529e+02] [-1.33807229e-01 9.91005819e-01 -1.75866783e-03 -9.20158503e+00] [-1.24276330e-02 9.64927610e-05 9.99922769e-01 5.53060800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.052320588 meters 0.023684568127478597 Centerline is valid? [True, True] Translation: X:116.03, Y:-9.21, Z:0.55 [[ 9.91048196e-01 1.33028441e-01 1.12652861e-02 1.16027176e+02] [-1.33018801e-01 9.91112216e-01 -1.60400297e-03 -9.20506087e+00] [-1.13785407e-02 9.11493940e-05 9.99935258e-01 5.53985980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.082320588 meters 0.023578747154279742 Centerline is valid? [True, True] Translation: X:116.06, Y:-9.21, Z:0.55 [[ 9.91229777e-01 1.31837280e-01 9.08079747e-03 1.16056020e+02] [-1.31831006e-01 9.91271368e-01 -1.28864951e-03 -9.20720233e+00] [-9.17142658e-03 8.02170982e-05 9.99957938e-01 5.54374760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.112320588 meters 0.023553608692570227 Centerline is valid? [True, True] Translation: X:116.08, Y:-9.21, Z:0.55 [[ 9.91347709e-01 1.31074635e-01 7.01138704e-03 1.16084904e+02] [-1.31070899e-01 9.91372501e-01 -9.91736544e-04 -9.20958125e+00] [-7.08088781e-03 6.41669475e-05 9.99974928e-01 5.54640785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.142320588 meters 0.023869466269771676 Centerline is valid? [True, True] Translation: X:116.11, Y:-9.21, Z:0.55 [[ 9.91449934e-01 1.30177629e-01 8.98957970e-03 1.16113425e+02] [-1.30171458e-01 9.91490684e-01 -1.27066685e-03 -9.21006738e+00] [-9.07849693e-03 8.96158689e-05 9.99958786e-01 5.52493681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.172320588 meters 0.023935928967345782 Centerline is valid? [True, True] Translation: X:116.14, Y:-9.21, Z:0.55 [[ 9.91607016e-01 1.28892819e-01 1.01077724e-02 1.16142239e+02] [-1.28885006e-01 9.91658525e-01 -1.42332229e-03 -9.21287688e+00] [-1.02069147e-02 1.08636054e-04 9.99947902e-01 5.53556981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.202320588 meters 0.024331032289552655 Centerline is valid? [True, True] Translation: X:116.17, Y:-9.21, Z:0.55 [[ 9.91743417e-01 1.27682477e-01 1.19239475e-02 1.16171313e+02] [-1.27671576e-01 9.91815087e-01 -1.67412194e-03 -9.21482374e+00] [-1.20401071e-02 1.37950231e-04 9.99927506e-01 5.53992185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.232320588 meters 0.023924259173432504 Centerline is valid? [True, True] Translation: X:116.20, Y:-9.22, Z:0.56 [[ 9.91817526e-01 1.27249282e-01 1.02769501e-02 1.16199797e+02] [-1.27241211e-01 9.91870761e-01 -1.43804930e-03 -9.21780445e+00] [-1.03763970e-02 1.18630924e-04 9.99946157e-01 5.55286931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.262320588 meters 0.024197073770686355 Centerline is valid? [True, True] Translation: X:116.23, Y:-9.22, Z:0.55 [[ 9.92177631e-01 1.24508539e-01 9.00953690e-03 1.16227109e+02] [-1.24502270e-01 9.92218529e-01 -1.25551378e-03 -9.22126886e+00] [-9.09575163e-03 1.23984897e-04 9.99958625e-01 5.54931678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.292320588 meters 0.024439037703226123 Centerline is valid? [True, True] Translation: X:116.26, Y:-9.23, Z:0.56 [[ 9.92409555e-01 1.22668759e-01 8.69769275e-03 1.16255589e+02] [-1.22662878e-01 9.92447660e-01 -1.20843349e-03 -9.22618974e+00] [-8.78024185e-03 1.32376922e-04 9.99961444e-01 5.55472748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.322320588 meters 0.024904325865983463 Centerline is valid? [True, True] Translation: X:116.28, Y:-9.23, Z:0.56 [[ 9.92931671e-01 1.18344124e-01 9.02021453e-03 1.16283974e+02] [-1.18337656e-01 9.92972627e-01 -1.24937413e-03 -9.23223308e+00] [-9.10468221e-03 1.73112100e-04 9.99958537e-01 5.55593837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.352320588 meters 0.02515213560275519 Centerline is valid? [True, True] Translation: X:116.31, Y:-9.24, Z:0.56 [[ 9.93050309e-01 1.17189624e-01 1.08478765e-02 1.16312618e+02] [-1.17180247e-01 9.93109533e-01 -1.49824052e-03 -9.23695434e+00] [-1.09487078e-02 2.16671365e-04 9.99940038e-01 5.55009072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.382320588 meters 0.02520104863097232 Centerline is valid? [True, True] Translation: X:116.34, Y:-9.24, Z:0.55 [[ 9.93111982e-01 1.16661486e-01 1.08944879e-02 1.16339870e+02] [-1.16652059e-01 9.93171712e-01 -1.49891250e-03 -9.24108927e+00] [-1.09949626e-02 2.17723514e-04 9.99939530e-01 5.54875324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.412320588 meters 0.02507263208035287 Centerline is valid? [True, True] Translation: X:116.37, Y:-9.24, Z:0.56 [[ 9.93143757e-01 1.16302122e-01 1.18022842e-02 1.16368266e+02] [-1.16291089e-01 9.93213855e-01 -1.61916782e-03 -9.24391450e+00] [-1.19105049e-02 2.35565925e-04 9.99929040e-01 5.56330253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.442320588 meters 0.024939030108280576 Centerline is valid? [True, True] Translation: X:116.40, Y:-9.25, Z:0.56 [[ 9.93171877e-01 1.16205423e-01 1.02918804e-02 1.16397223e+02] [-1.16197078e-01 9.93225180e-01 -1.40711158e-03 -9.24741485e+00] [-1.03856688e-02 2.01617218e-04 9.99946047e-01 5.56935084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.472320588 meters 0.024939026385006034 Centerline is valid? [True, True] Translation: X:116.43, Y:-9.25, Z:0.56 [[ 9.93178009e-01 1.16220480e-01 9.49956954e-03 1.16425915e+02] [-1.16213413e-01 9.93223422e-01 -1.29444598e-03 -9.25173576e+00] [-9.58563611e-03 1.81637879e-04 9.99954040e-01 5.56335295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502320588 meters 0.02515249628912228 Centerline is valid? [True, True] Translation: X:116.45, Y:-9.26, Z:0.55 [[ 9.93373793e-01 1.14652623e-01 7.95507278e-03 1.16453114e+02] [-1.14647654e-01 9.93405632e-01 -1.07932940e-03 -9.25928277e+00] [-8.02636205e-03 1.60147104e-04 9.99967775e-01 5.54240905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.532320588 meters 0.02527579505734717 Centerline is valid? [True, True] Translation: X:116.48, Y:-9.26, Z:0.55 [[ 9.93508381e-01 1.13521181e-01 7.35108561e-03 1.16480913e+02] [-1.13516936e-01 9.93535565e-01 -9.93456735e-04 -9.26497855e+00] [-7.41634337e-03 1.52534875e-04 9.99972487e-01 5.54487637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.562320588 meters 0.025577685157130735 Centerline is valid? [True, True] Translation: X:116.51, Y:-9.27, Z:0.56 [[ 9.93728808e-01 1.11521204e-01 8.12876881e-03 1.16509051e+02] [-1.11515971e-01 9.93762038e-01 -1.09563103e-03 -9.27021269e+00] [-8.20024795e-03 1.82272567e-04 9.99966361e-01 5.56486636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59232058799999 meters 0.025611861344166504 Centerline is valid? [True, True] Translation: X:116.54, Y:-9.27, Z:0.56 [[ 9.93893107e-01 1.10071052e-01 7.80095731e-03 1.16537703e+02] [-1.10066215e-01 9.93923704e-01 -1.04791587e-03 -9.27394281e+00] [-7.86890159e-03 1.82894511e-04 9.99969023e-01 5.59586325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.622320588 meters 0.025671357179331136 Centerline is valid? [True, True] Translation: X:116.57, Y:-9.28, Z:0.56 [[ 9.94098285e-01 1.08284442e-01 6.56348419e-03 1.16566397e+02] [-1.08281001e-01 9.94119939e-01 -8.78497674e-04 -9.27676916e+00] [-6.62001813e-03 1.62612394e-04 9.99978074e-01 5.61635504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.652320588 meters 0.02571369248720767 Centerline is valid? [True, True] Translation: X:116.59, Y:-9.28, Z:0.56 [[ 9.94278761e-01 1.06750879e-01 3.74111035e-03 1.16593489e+02] [-1.06749762e-01 9.94285794e-01 -4.97616414e-04 -9.28233679e+00] [-3.77285387e-03 9.54067920e-05 9.99992878e-01 5.60072073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.682320588 meters 0.025724926943852634 Centerline is valid? [True, True] Translation: X:116.62, Y:-9.29, Z:0.56 [[ 9.94211002e-01 1.07312472e-01 5.34014376e-03 1.16620461e+02] [-1.07310213e-01 9.94225335e-01 -7.08665423e-04 -9.28931615e+00] [-5.38535485e-03 1.31510999e-04 9.99985490e-01 5.57244652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.712320588 meters 0.025604285384257252 Centerline is valid? [True, True] Translation: X:116.65, Y:-9.30, Z:0.56 [[ 9.94086711e-01 1.08271364e-01 8.30199512e-03 1.16647654e+02] [-1.08265960e-01 9.94121358e-01 -1.09892714e-03 -9.29536618e+00] [-8.37217300e-03 1.93605392e-04 9.99964934e-01 5.55635587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.742320588 meters 0.02552786070635117 Centerline is valid? [True, True] Translation: X:116.68, Y:-9.30, Z:0.56 [[ 9.93933533e-01 1.09450554e-01 1.08031986e-02 1.16675305e+02] [-1.09441524e-01 9.93992214e-01 -1.42537572e-03 -9.29960818e+00] [-1.08943034e-02 2.34410212e-04 9.99940628e-01 5.56444400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.772320588 meters 0.02524812415372402 Centerline is valid? [True, True] Translation: X:116.70, Y:-9.30, Z:0.56 [[ 9.93785395e-01 1.10825718e-01 1.04042543e-02 1.16704377e+02] [-1.10817430e-01 9.93839834e-01 -1.37149974e-03 -9.30315340e+00] [-1.04921598e-02 2.10003684e-04 9.99944934e-01 5.59245114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.802320588 meters 0.02474447448197778 Centerline is valid? [True, True] Translation: X:116.73, Y:-9.31, Z:0.56 [[ 9.93702560e-01 1.11675871e-01 9.14999461e-03 1.16733072e+02] [-1.11669541e-01 9.93744671e-01 -1.20143769e-03 -9.30929922e+00] [-9.22692998e-03 1.72096016e-04 9.99957416e-01 5.61499466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.832320588 meters 0.02465543570808483 Centerline is valid? [True, True] Translation: X:116.76, Y:-9.32, Z:0.56 [[ 9.93759658e-01 1.11359388e-01 6.38981007e-03 1.16761392e+02] [-1.11356318e-01 9.93780193e-01 -8.35387147e-04 -9.31605649e+00] [-6.44309488e-03 1.18628322e-04 9.99979236e-01 5.61653380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862320588 meters 0.024723515954412172 Centerline is valid? [True, True] Translation: X:116.79, Y:-9.32, Z:0.56 [[ 9.93805335e-01 1.10953412e-01 6.34789301e-03 1.16789284e+02] [-1.10950397e-01 9.93825602e-01 -8.26360295e-04 -9.32171889e+00] [-6.40038608e-03 1.16940022e-04 9.99979510e-01 5.60382117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.892320588 meters 0.024604782549122645 Centerline is valid? [True, True] Translation: X:116.82, Y:-9.32, Z:0.56 [[ 9.93671076e-01 1.11933853e-01 9.41307375e-03 1.16816773e+02] [-1.11927299e-01 9.93715647e-01 -1.22185341e-03 -9.32328652e+00] [-9.49068543e-03 1.60540466e-04 9.99954950e-01 5.59561381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.922320588 meters 0.024685728146154183 Centerline is valid? [True, True] Translation: X:116.85, Y:-9.33, Z:0.56 [[ 9.93616509e-01 1.12215850e-01 1.15687858e-02 1.16845589e+02] [-1.12206019e-01 9.93683837e-01 -1.49745931e-03 -9.32645229e+00] [-1.16637541e-02 1.89812899e-04 9.99931958e-01 5.58705737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.952320588 meters 0.024380212527275305 Centerline is valid? [True, True] Translation: X:116.87, Y:-9.33, Z:0.56 [[ 9.93516125e-01 1.13233094e-01 1.01968397e-02 1.16874127e+02] [-1.13225558e-01 9.93568439e-01 -1.31514966e-03 -9.33238049e+00] [-1.02801765e-02 1.52079528e-04 9.99947146e-01 5.59712397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.982320588 meters 0.024298348153273534 Centerline is valid? [True, True] Translation: X:116.90, Y:-9.34, Z:0.56 [[ 9.93423253e-01 1.14100816e-01 9.55218387e-03 1.16902117e+02] [-1.14094286e-01 9.93469168e-01 -1.22759888e-03 -9.33902914e+00] [-9.62987019e-03 1.29675677e-04 9.99953623e-01 5.59154609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.012320588 meters 0.02363430555919405 Centerline is valid? [True, True] Translation: X:116.93, Y:-9.35, Z:0.56 [[ 9.92948689e-01 1.18458642e-01 4.52220730e-03 1.16930049e+02] [-1.18457237e-01 9.92958986e-01 -5.78274038e-04 -9.34583307e+00] [-4.55886793e-03 3.85082674e-05 9.99989608e-01 5.61807920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.042320588 meters 0.023376311208851013 Centerline is valid? [True, True] Translation: X:116.96, Y:-9.35, Z:0.56 [[ 9.92656673e-01 1.20870740e-01 4.79510822e-03 1.16957916e+02] [-1.20869202e-01 9.92668255e-01 -6.10280575e-04 -9.34800047e+00] [-4.83371677e-03 2.62181830e-05 9.99988317e-01 5.61826769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.072320588 meters 0.023295387068898277 Centerline is valid? [True, True] Translation: X:116.99, Y:-9.35, Z:0.56 [[ 9.92293601e-01 1.23779028e-01 5.67112707e-03 1.16986282e+02] [-1.23776937e-01 9.92309806e-01 -7.19602651e-04 -9.34993308e+00] [-5.71658672e-03 1.21023661e-05 9.99983660e-01 5.62278815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.102320588 meters 0.023155958328850028 Centerline is valid? [True, True] Translation: X:117.01, Y:-9.35, Z:0.56 [[ 9.92016664e-01 1.25957831e-01 6.12889312e-03 1.17013826e+02] [-1.25955450e-01 9.92035597e-01 -7.74411383e-04 -9.35288275e+00] [-6.17762332e-03 -3.73849737e-06 9.99980918e-01 5.62046970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.132320588 meters 0.023316195390229045 Centerline is valid? [True, True] Translation: X:117.04, Y:-9.36, Z:0.56 [[ 9.91674644e-01 1.28346303e-01 1.04224188e-02 1.17042244e+02] [-1.28339578e-01 9.91729411e-01 -1.31431703e-03 -9.35749454e+00] [-1.05049070e-02 -3.42339617e-05 9.99944821e-01 5.60661785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.162320588 meters 0.023525898039560237 Centerline is valid? [True, True] Translation: X:117.07, Y:-9.36, Z:0.56 [[ 9.91584376e-01 1.29016178e-01 1.07354946e-02 1.17069778e+02] [-1.29009146e-01 9.91642488e-01 -1.34792224e-03 -9.36119836e+00] [-1.08196763e-02 -4.83983527e-05 9.99941464e-01 5.60586303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.192320588 meters 0.023525898039560237 Centerline is valid? [True, True] Translation: X:117.10, Y:-9.36, Z:0.56 [[ 9.91650740e-01 1.28505032e-01 1.07361879e-02 1.17096944e+02] [-1.28498030e-01 9.91708856e-01 -1.34239387e-03 -9.36493268e+00] [-1.08196770e-02 -4.83931203e-05 9.99941464e-01 5.60724832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.222320588 meters 0.023390785953469512 Centerline is valid? [True, True] Translation: X:117.13, Y:-9.37, Z:0.56 [[ 9.91772595e-01 1.27789152e-01 7.55325342e-03 1.17125518e+02] [-1.27785695e-01 9.91801357e-01 -9.40514210e-04 -9.36771741e+00] [-7.61151451e-03 -3.24215159e-05 9.99971031e-01 5.61962571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.252320588 meters 0.023272822596360185 Centerline is valid? [True, True] Translation: X:117.15, Y:-9.37, Z:0.56 [[ 9.92019992e-01 1.25964001e-01 5.42271962e-03 1.17154392e+02] [-1.25962209e-01 9.92034813e-01 -6.72047020e-04 -9.36977077e+00] [-5.46418037e-03 -1.63736635e-05 9.99985071e-01 5.62720373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.282320588 meters 0.023278638823556432 Centerline is valid? [True, True] Translation: X:117.18, Y:-9.37, Z:0.56 [[ 9.92677217e-01 1.20637448e-01 6.20886276e-03 1.17182617e+02] [-1.20635015e-01 9.92696633e-01 -7.66185828e-04 -9.37112419e+00] [-6.25594786e-03 1.15689603e-05 9.99980431e-01 5.63570893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.312320588 meters 0.023311072724831326 Centerline is valid? [True, True] Translation: X:117.21, Y:-9.37, Z:0.57 [[ 9.92904065e-01 1.18697270e-01 7.24402844e-03 1.17211176e+02] [-1.18693926e-01 9.92930490e-01 -8.91355772e-04 -9.37434120e+00] [-7.29861821e-03 2.52085938e-05 9.99973364e-01 5.65005522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34232058799999 meters 0.023492256354636427 Centerline is valid? [True, True] Translation: X:117.24, Y:-9.38, Z:0.57 [[ 9.93248585e-01 1.15799188e-01 6.91351121e-03 1.17239010e+02] [-1.15796100e-01 9.93272645e-01 -8.46665976e-04 -9.37690173e+00] [-6.96504480e-03 4.03921479e-05 9.99975743e-01 5.65622460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.372320588 meters 0.023622618294243863 Centerline is valid? [True, True] Translation: X:117.27, Y:-9.38, Z:0.56 [[ 9.93502999e-01 1.13574423e-01 7.25538787e-03 1.17268021e+02] [-1.13570983e-01 9.93529490e-01 -8.85728515e-04 -9.37990721e+00] [-7.30903791e-03 5.59724073e-05 9.99973287e-01 5.64063043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.402320588 meters 0.023637847209396417 Centerline is valid? [True, True] Translation: X:117.30, Y:-9.38, Z:0.56 [[ 9.93714676e-01 1.11827780e-01 5.06857886e-03 1.17295778e+02] [-1.11826097e-01 9.93727601e-01 -6.15128312e-04 -9.38415674e+00] [-5.10557515e-03 4.44626410e-05 9.99986965e-01 5.63049595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.432320588 meters 0.0238126573192182 Centerline is valid? [True, True] Translation: X:117.32, Y:-9.39, Z:0.56 [[ 9.93843997e-01 1.10676830e-01 4.97478777e-03 1.17323249e+02] [-1.10675207e-01 9.93856447e-01 -6.01117712e-04 -9.39072164e+00] [-5.01075470e-03 4.68315629e-05 9.99987445e-01 5.60412956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.462320588 meters 0.02377956832820908 Centerline is valid? [True, True] Translation: X:117.35, Y:-9.39, Z:0.56 [[ 9.93816699e-01 1.10805904e-01 7.10065800e-03 1.17352042e+02] [-1.10802615e-01 9.93842064e-01 -8.56243471e-04 -9.39490072e+00] [-7.15180943e-03 6.41775882e-05 9.99974423e-01 5.62079237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.492320588 meters 0.023887107536758035 Centerline is valid? [True, True] Translation: X:117.38, Y:-9.40, Z:0.56 [[ 9.93818696e-01 1.10639796e-01 9.12335059e-03 1.17380870e+02] [-1.10634390e-01 9.93860568e-01 -1.09665559e-03 -9.39805311e+00] [-9.18867215e-03 8.05205000e-05 9.99957780e-01 5.63551410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.522320588 meters 0.02366579111172288 Centerline is valid? [True, True] Translation: X:117.41, Y:-9.40, Z:0.57 [[ 9.93877824e-01 1.10138614e-01 8.73827476e-03 1.17408283e+02] [-1.10133675e-01 9.93916234e-01 -1.04587726e-03 -9.40463345e+00] [-8.80030461e-03 7.70959056e-05 9.99961274e-01 5.67533165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.552320588 meters 0.023867568444481364 Centerline is valid? [True, True] Translation: X:117.44, Y:-9.41, Z:0.57 [[ 9.94122093e-01 1.08029772e-01 7.12975723e-03 1.17435652e+02] [-1.08026461e-01 9.94147657e-01 -8.48971269e-04 -9.40939972e+00] [-7.17974562e-03 7.37786516e-05 9.99974223e-01 5.67786613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.582320588 meters 0.023934337041651897 Centerline is valid? [True, True] Translation: X:117.46, Y:-9.41, Z:0.57 [[ 9.94348160e-01 1.05941547e-01 6.93723959e-03 1.17464489e+02] [-1.05938382e-01 9.94372356e-01 -8.23257240e-04 -9.41317560e+00] [-6.98541642e-03 8.36843881e-05 9.99975598e-01 5.67394192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.612320588 meters 0.024368120361590924 Centerline is valid? [True, True] Translation: X:117.49, Y:-9.42, Z:0.57 [[ 9.94593675e-01 1.03538989e-01 7.94348886e-03 1.17493396e+02] [-1.03534787e-01 9.94625389e-01 -9.39456000e-04 -9.41609396e+00] [-7.99806603e-03 1.11949566e-04 9.99968009e-01 5.65950133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.642320588 meters 0.024722564165687657 Centerline is valid? [True, True] Translation: X:117.52, Y:-9.42, Z:0.56 [[ 9.94892950e-01 1.00389272e-01 1.04887081e-02 1.17521620e+02] [-1.00381812e-01 9.94948221e-01 -1.23652957e-03 -9.42083813e+00] [-1.05598558e-02 1.77339028e-04 9.99944227e-01 5.63709505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.672320588 meters 0.02480968007897258 Centerline is valid? [True, True] Translation: X:117.55, Y:-9.42, Z:0.56 [[ 9.95058760e-01 9.87778143e-02 1.00502934e-02 1.17550510e+02] [-9.87709296e-02 9.95109497e-01 -1.18030217e-03 -9.42467620e+00] [-1.01177300e-02 1.81793192e-04 9.99948798e-01 5.64198999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.702320588 meters 0.024810434823792773 Centerline is valid? [True, True] Translation: X:117.58, Y:-9.43, Z:0.57 [[ 9.95170549e-01 9.77408746e-02 9.07194573e-03 1.17578754e+02] [-9.77352690e-02 9.95211883e-01 -1.06025745e-03 -9.42716518e+00] [-9.13213869e-03 1.68487931e-04 9.99958287e-01 5.65765360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.732320588 meters 0.024718251448499297 Centerline is valid? [True, True] Translation: X:117.61, Y:-9.43, Z:0.57 [[ 9.95260997e-01 9.69771030e-02 7.14071064e-03 1.17607082e+02] [-9.69736347e-02 9.95286604e-01 -8.31173440e-04 -9.42981346e+00] [-7.18765843e-03 1.34773841e-04 9.99974159e-01 5.67489645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.762320588 meters 0.024628011587138617 Centerline is valid? [True, True] Translation: X:117.63, Y:-9.44, Z:0.57 [[ 9.95166086e-01 9.77544731e-02 9.40874546e-03 1.17634824e+02] [-9.77485281e-02 9.95210548e-01 -1.09075594e-03 -9.43702588e+00] [-9.47030900e-03 1.65792302e-04 9.99955142e-01 5.67180248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.792320588 meters 0.024528597856805445 Centerline is valid? [True, True] Translation: X:117.66, Y:-9.44, Z:0.57 [[ 9.95184133e-01 9.73862192e-02 1.11564095e-02 1.17663404e+02] [-9.73778829e-02 9.95246646e-01 -1.28930448e-03 -9.44393522e+00] [-1.12289396e-02 1.96707820e-04 9.99936934e-01 5.67180128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.822320588 meters 0.02482212487621085 Centerline is valid? [True, True] Translation: X:117.69, Y:-9.45, Z:0.57 [[ 9.95145534e-01 9.72463087e-02 1.51169399e-02 1.17693073e+02] [-9.72309508e-02 9.95260309e-01 -1.74934508e-03 -9.44910760e+00] [-1.52154076e-02 2.71018509e-04 9.99884202e-01 5.67195553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.852320588 meters 0.02506657144423932 Centerline is valid? [True, True] Translation: X:117.72, Y:-9.45, Z:0.57 [[ 9.95356953e-01 9.50556640e-02 1.51313501e-02 1.17724774e+02] [-9.50399925e-02 9.95471912e-01 -1.75306986e-03 -9.45101555e+00] [-1.52294733e-02 3.06846874e-04 9.99883978e-01 5.67301306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.882320588 meters 0.025164617759583303 Centerline is valid? [True, True] Translation: X:117.76, Y:-9.45, Z:0.57 [[ 9.95502784e-01 9.40368654e-02 1.14575019e-02 1.17756486e+02] [-9.40277992e-02 9.95568686e-01 -1.32861020e-03 -9.45424055e+00] [-1.15316685e-02 2.45311463e-04 9.99933478e-01 5.67168063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.912320588 meters 0.025094178294981086 Centerline is valid? [True, True] Translation: X:117.79, Y:-9.46, Z:0.57 [[ 9.95678830e-01 9.25506189e-02 7.61912057e-03 1.17786389e+02] [-9.25465687e-02 9.95707966e-01 -8.83201084e-04 -9.45899781e+00] [-7.66815985e-03 1.74261156e-04 9.99970584e-01 5.67481764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.942320588 meters 0.02527506130174881 Centerline is valid? [True, True] Translation: X:117.81, Y:-9.46, Z:0.57 [[ 9.95789158e-01 9.15111799e-02 5.44573368e-03 1.17814277e+02] [-9.15091241e-02 9.95804041e-01 -6.26009564e-04 -9.46454587e+00] [-5.48017048e-03 1.25039217e-04 9.99984976e-01 5.66212223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.972320588 meters 0.025019199697663565 Centerline is valid? [True, True] Translation: X:117.84, Y:-9.47, Z:0.57 [[ 9.95806352e-01 9.13650259e-02 4.70535768e-03 1.17842109e+02] [-9.13635021e-02 9.95817464e-01 -5.38229383e-04 -9.47078916e+00] [-4.73485270e-03 1.06074282e-04 9.99988785e-01 5.66209462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002320588 meters 0.02504436977878376 Centerline is valid? [True, True] Translation: X:117.87, Y:-9.48, Z:0.57 [[ 9.95703634e-01 9.19887338e-02 1.05993513e-02 1.17870020e+02] [-9.19810504e-02 9.95760021e-01 -1.21114330e-03 -9.47702627e+00] [-1.06658218e-02 2.31000318e-04 9.99943092e-01 5.69800108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.032320588 meters 0.02515900397604311 Centerline is valid? [True, True] Translation: X:117.90, Y:-9.48, Z:0.57 [[ 9.95590866e-01 9.27565799e-02 1.39658054e-02 1.17899884e+02] [-9.27432750e-02 9.95688771e-01 -1.59873277e-03 -9.48074591e+00] [-1.40538886e-02 2.96449208e-04 9.99901195e-01 5.71583892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.062320588 meters 0.02502205025512335 Centerline is valid? [True, True] Translation: X:117.93, Y:-9.48, Z:0.57 [[ 9.95597853e-01 9.28298534e-02 1.29434531e-02 1.17931942e+02] [-9.28184022e-02 9.95681948e-01 -1.48393955e-03 -9.48462107e+00] [-1.30253165e-02 2.76016394e-04 9.99915129e-01 5.74068693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09232058799999 meters 0.024891908518456147 Centerline is valid? [True, True] Translation: X:117.96, Y:-9.49, Z:0.57 [[ 9.95600663e-01 9.31167144e-02 1.04210239e-02 1.17962967e+02] [-9.31093026e-02 9.95655176e-01 -1.19521112e-03 -9.48916383e+00] [-1.04870405e-02 2.19658709e-04 9.99944985e-01 5.73014022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.122320588 meters 0.02496115059686838 Centerline is valid? [True, True] Translation: X:117.99, Y:-9.50, Z:0.57 [[ 9.95769089e-01 9.17323669e-02 5.39390289e-03 1.17993155e+02] [-9.17303618e-02 9.95783690e-01 -6.18476864e-04 -9.49756702e+00] [-5.42789487e-03 1.21075480e-04 9.99985262e-01 5.68863972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.152320588 meters 0.025135309852733073 Centerline is valid? [True, True] Translation: X:118.02, Y:-9.51, Z:0.57 [[ 9.95841437e-01 9.09115755e-02 5.90918870e-03 1.18021462e+02] [-9.09091829e-02 9.95858960e-01 -6.72800403e-04 -9.50526032e+00] [-5.94588386e-03 1.32803003e-04 9.99982314e-01 5.68652677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.182320588 meters 0.025069043266181652 Centerline is valid? [True, True] Translation: X:118.05, Y:-9.51, Z:0.57 [[ 9.95813261e-01 9.09485059e-02 9.18246374e-03 1.18050023e+02] [-9.09427563e-02 9.95855576e-01 -1.04263628e-03 -9.51236809e+00] [-9.23923393e-03 2.03192470e-04 9.99957297e-01 5.69216049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.212320588 meters 0.02482199065631843 Centerline is valid? [True, True] Translation: X:118.08, Y:-9.52, Z:0.57 [[ 9.95682697e-01 9.20551554e-02 1.19086372e-02 1.18080234e+02] [-9.20455297e-02 9.95753877e-01 -1.35503948e-03 -9.51798333e+00] [-1.19828100e-02 2.53052550e-04 9.99928172e-01 5.70790895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.242320588 meters 0.024449882228324782 Centerline is valid? [True, True] Translation: X:118.11, Y:-9.52, Z:0.57 [[ 9.95350698e-01 9.57044065e-02 1.08469007e-02 1.18111089e+02] [-9.56966264e-02 9.95409780e-01 -1.23522765e-03 -9.52227162e+00] [-1.09153278e-02 1.91472901e-04 9.99940408e-01 5.72048913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.272320588 meters 0.024028723027464706 Centerline is valid? [True, True] Translation: X:118.14, Y:-9.53, Z:0.57 [[ 9.95126862e-01 9.81876331e-02 9.03980898e-03 1.18141134e+02] [-9.81823342e-02 9.95167910e-01 -1.02917596e-03 -9.52736345e+00] [-9.09718017e-03 1.36611099e-04 9.99958610e-01 5.70574517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.302320588 meters 0.023854219381458493 Centerline is valid? [True, True] Translation: X:118.17, Y:-9.53, Z:0.57 [[ 9.94782371e-01 1.01611756e-01 9.11509460e-03 1.18171175e+02] [-1.01606512e-01 9.94824125e-01 -1.03774718e-03 -9.53450787e+00] [-9.17336333e-03 1.06179630e-04 9.99957918e-01 5.68478657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.332320588 meters 0.023657431564254112 Centerline is valid? [True, True] Translation: X:118.20, Y:-9.54, Z:0.57 [[ 9.94441945e-01 1.04962087e-01 8.25705779e-03 1.18200662e+02] [-1.04957918e-01 9.94476222e-01 -9.37923823e-04 -9.54226033e+00] [-8.30989407e-03 6.60671997e-05 9.99965470e-01 5.68540670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.362320588 meters 0.023280484360474068 Centerline is valid? [True, True] Translation: X:118.23, Y:-9.55, Z:0.57 [[ 9.93761826e-01 1.11169082e-01 8.88080580e-03 1.18229913e+02] [-1.11164506e-01 9.93801507e-01 -1.00872495e-03 -9.55066194e+00] [-8.93789721e-03 1.52019586e-05 9.99960056e-01 5.73098986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.392320588 meters 0.02334424801422833 Centerline is valid? [True, True] Translation: X:118.26, Y:-9.55, Z:0.57 [[ 9.93493211e-01 1.13582847e-01 8.37720117e-03 1.18260122e+02] [-1.13578858e-01 9.93528528e-01 -9.51835340e-04 -9.55493184e+00] [-8.43110052e-03 -5.83099774e-06 9.99964458e-01 5.74934651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.422320588 meters 0.023312473504206697 Centerline is valid? [True, True] Translation: X:118.29, Y:-9.56, Z:0.58 [[ 9.93257918e-01 1.15745463e-01 6.45723981e-03 1.18290168e+02] [-1.15743139e-01 9.93278907e-01 -7.33685264e-04 -9.55760937e+00] [-6.49876084e-03 -1.86425062e-05 9.99978883e-01 5.75321277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.452320588 meters 0.023347529521732 Centerline is valid? [True, True] Translation: X:118.32, Y:-9.56, Z:0.57 [[ 9.92965176e-01 1.18131041e-01 8.07566424e-03 1.18318430e+02] [-1.18127535e-01 9.92998013e-01 -9.11473665e-04 -9.56000763e+00] [-8.12679188e-03 -4.88967007e-05 9.99966976e-01 5.73439435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.482320588 meters 0.023630140223485474 Centerline is valid? [True, True] Translation: X:118.35, Y:-9.56, Z:0.57 [[ 9.92617074e-01 1.20656901e-01 1.23797020e-02 1.18347765e+02] [-1.20648835e-01 9.92694264e-01 -1.39909536e-03 -9.56072453e+00] [-1.24580697e-02 -1.04830679e-04 9.99922390e-01 5.70373743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.512320588 meters 0.02397828213087662 Centerline is valid? [True, True] Translation: X:118.38, Y:-9.56, Z:0.57 [[ 9.92399002e-01 1.22138819e-01 1.50442687e-02 1.18378600e+02] [-1.22127048e-01 9.92513016e-01 -1.70216658e-03 -9.56466970e+00] [-1.51395331e-02 -1.48083700e-04 9.99885380e-01 5.69188626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.542320588 meters 0.023843871873991843 Centerline is valid? [True, True] Translation: X:118.41, Y:-9.57, Z:0.57 [[ 9.92211195e-01 1.23973640e-01 1.21441763e-02 1.18410727e+02] [-1.23966082e-01 9.92285502e-01 -1.37601625e-03 -9.56845310e+00] [-1.22210798e-02 -1.40167224e-04 9.99925310e-01 5.74060885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.572320588 meters 0.02374434785699796 Centerline is valid? [True, True] Translation: X:118.44, Y:-9.57, Z:0.58 [[ 9.92236542e-01 1.23975567e-01 9.83378939e-03 1.18441505e+02] [-1.23970617e-01 9.92285264e-01 -1.11370342e-03 -9.57059581e+00] [-9.89599632e-03 -1.14043712e-04 9.99951027e-01 5.75373872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.602320588 meters 0.02361385890577064 Centerline is valid? [True, True] Translation: X:118.47, Y:-9.57, Z:0.58 [[ 9.92262174e-01 1.23928713e-01 7.57966776e-03 1.18471777e+02] [-1.23925786e-01 9.92291120e-01 -8.56476873e-04 -9.57125478e+00] [-7.62737909e-03 -8.94666771e-05 9.99970907e-01 5.76395489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.632320588 meters 0.02373723257897372 Centerline is valid? [True, True] Translation: X:118.50, Y:-9.57, Z:0.57 [[ 9.92325598e-01 1.23338543e-01 8.80406806e-03 1.18500605e+02] [-1.23334620e-01 9.92364647e-01 -9.89287488e-04 -9.57170376e+00] [-8.85886317e-03 -1.04151088e-04 9.99960754e-01 5.74948132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.662320588 meters 0.02385996575090715 Centerline is valid? [True, True] Translation: X:118.53, Y:-9.57, Z:0.57 [[ 9.92217924e-01 1.23923763e-01 1.21033876e-02 1.18529801e+02] [-1.23916449e-01 9.92291730e-01 -1.35530811e-03 -9.57264544e+00] [-1.21780463e-02 -1.55047815e-04 9.99925833e-01 5.74547656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.692320588 meters 0.02388893765226623 Centerline is valid? [True, True] Translation: X:118.56, Y:-9.57, Z:0.57 [[ 9.92134148e-01 1.24372129e-01 1.41917638e-02 1.18560746e+02] [-1.24362079e-01 9.92235627e-01 -1.59187830e-03 -9.57209119e+00] [-1.42795590e-02 -1.85560437e-04 9.99898025e-01 5.74344235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.722320588 meters 0.02410147578246821 Centerline is valid? [True, True] Translation: X:118.59, Y:-9.57, Z:0.57 [[ 9.92111388e-01 1.24570726e-01 1.40402200e-02 1.18591255e+02] [-1.24560910e-01 9.92210713e-01 -1.57487976e-03 -9.57351928e+00] [-1.41270406e-02 -1.86406436e-04 9.99900191e-01 5.73882355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.752320588 meters 0.02402142175172462 Centerline is valid? [True, True] Translation: X:118.62, Y:-9.57, Z:0.57 [[ 9.92219875e-01 1.23839465e-01 1.27869787e-02 1.18622159e+02] [-1.23831262e-01 9.92302253e-01 -1.43430473e-03 -9.57345693e+00] [-1.28661713e-02 -1.60282062e-04 9.99917215e-01 5.72863213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.782320588 meters 0.023961774623359182 Centerline is valid? [True, True] Translation: X:118.65, Y:-9.57, Z:0.57 [[ 9.92258303e-01 1.23586773e-01 1.22380041e-02 1.18652524e+02] [-1.23579247e-01 9.92333758e-01 -1.37215853e-03 -9.57323810e+00] [-1.23137653e-02 -1.50827647e-04 9.99924171e-01 5.72771227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.812320588 meters 0.023900204411350073 Centerline is valid? [True, True] Translation: X:118.68, Y:-9.57, Z:0.57 [[ 9.92262765e-01 1.23531243e-01 1.24352881e-02 1.18682711e+02] [-1.23523480e-01 9.92340672e-01 -1.39329716e-03 -9.57356547e+00] [-1.25121579e-02 -1.53533176e-04 9.99921708e-01 5.72427851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84232058799999 meters 0.023784275582755462 Centerline is valid? [True, True] Translation: X:118.71, Y:-9.57, Z:0.58 [[ 9.92276453e-01 1.23405060e-01 1.25949486e-02 1.18712532e+02] [-1.23397097e-01 9.92356371e-01 -1.41036643e-03 -9.57161511e+00] [-1.26727238e-02 -1.54706698e-04 9.99919686e-01 5.75194757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.872320588 meters 0.023682296150182414 Centerline is valid? [True, True] Translation: X:118.74, Y:-9.57, Z:0.58 [[ 9.92396963e-01 1.22469650e-01 1.22250897e-02 1.18741270e+02] [-1.22462171e-01 9.92472248e-01 -1.36130611e-03 -9.57176569e+00] [-1.22997810e-02 -1.46154979e-04 9.99924344e-01 5.77525022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.902320588 meters 0.023768845220308307 Centerline is valid? [True, True] Translation: X:118.77, Y:-9.57, Z:0.58 [[ 9.92448169e-01 1.21856604e-01 1.40570577e-02 1.18770528e+02] [-1.21846741e-01 9.92547702e-01 -1.55916526e-03 -9.57078698e+00] [-1.41422949e-02 -1.65415949e-04 9.99899979e-01 5.77987732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.932320588 meters 0.023689451753647065 Centerline is valid? [True, True] Translation: X:118.80, Y:-9.57, Z:0.58 [[ 9.92601459e-01 1.20690223e-01 1.32745535e-02 1.18800334e+02] [-1.20681310e-01 9.92690209e-01 -1.47335838e-03 -9.56936770e+00] [-1.33553393e-02 -1.39532830e-04 9.99910804e-01 5.76727910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.962320588 meters 0.023472463140799815 Centerline is valid? [True, True] Translation: X:118.83, Y:-9.57, Z:0.57 [[ 9.92833192e-01 1.19223139e-01 8.25202489e-03 1.18829250e+02] [-1.19219690e-01 9.92867482e-01 -9.10463125e-04 -9.56802101e+00] [-8.30171545e-03 -7.98658344e-05 9.99965537e-01 5.73395745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.992320588 meters 0.023442594773113185 Centerline is valid? [True, True] Translation: X:118.86, Y:-9.57, Z:0.57 [[ 9.92943561e-01 1.18399562e-01 6.68042752e-03 1.18857884e+02] [-1.18397308e-01 9.92966031e-01 -7.33352936e-04 -9.57284582e+00] [-6.72026627e-03 -6.27665582e-05 9.99977417e-01 5.71995653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.022320588 meters 0.023404624610667574 Centerline is valid? [True, True] Translation: X:118.89, Y:-9.58, Z:0.57 [[ 9.93163492e-01 1.16604172e-01 5.45398430e-03 1.18886168e+02] [-1.16602659e-01 9.93178466e-01 -5.95696155e-04 -9.57807459e+00] [-5.48624042e-03 -4.43253984e-05 9.99984949e-01 5.71877047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.052320588 meters 0.02316444835794422 Centerline is valid? [True, True] Translation: X:118.91, Y:-9.58, Z:0.57 [[ 9.93561520e-01 1.13020258e-01 7.86943959e-03 1.18914237e+02] [-1.13017023e-01 9.93592683e-01 -8.56032203e-04 -9.57942871e+00] [-7.91576657e-03 -3.88599807e-05 9.99968669e-01 5.74745909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.082320588 meters 0.023270055100622775 Centerline is valid? [True, True] Translation: X:118.94, Y:-9.58, Z:0.58 [[ 9.93817653e-01 1.10627210e-01 9.38581699e-03 1.18943196e+02] [-1.10622534e-01 9.93861972e-01 -1.01748577e-03 -9.58090457e+00] [-9.44076820e-03 -2.70875358e-05 9.99955435e-01 5.76282243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.112320588 meters 0.023270055100622775 Centerline is valid? [True, True] Translation: X:118.97, Y:-9.58, Z:0.58 [[ 9.93874794e-01 1.10112622e-01 9.38637481e-03 1.18970416e+02] [-1.10107972e-01 9.93919116e-01 -1.01233394e-03 -9.58417990e+00] [-9.44076810e-03 -2.73815140e-05 9.99955435e-01 5.76420725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.142320588 meters 0.02319770520704109 Centerline is valid? [True, True] Translation: X:119.00, Y:-9.59, Z:0.58 [[ 9.93974985e-01 1.09011526e-01 1.14112754e-02 1.18998586e+02] [-1.09004630e-01 9.94040485e-01 -1.22639077e-03 -9.58718105e+00] [-1.14769605e-02 -2.48801090e-05 9.99934137e-01 5.76879293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.172320588 meters 0.023295028091410628 Centerline is valid? [True, True] Translation: X:119.03, Y:-9.59, Z:0.58 [[ 9.94107664e-01 1.07657055e-01 1.26455986e-02 1.19027416e+02] [-1.07648548e-01 9.94188090e-01 -1.35343508e-03 -9.59096886e+00] [-1.27178104e-02 -1.58201469e-05 9.99919125e-01 5.76601081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20232058799999 meters 0.02339442685083337 Centerline is valid? [True, True] Translation: X:119.06, Y:-9.59, Z:0.58 [[ 9.94252944e-01 1.06423996e-01 1.16196739e-02 1.19055680e+02] [-1.06416793e-01 9.94320840e-01 -1.23815779e-03 -9.59341567e+00] [-1.16854536e-02 -5.48640279e-06 9.99931723e-01 5.75728071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.232320588 meters 0.02298443402661102 Centerline is valid? [True, True] Translation: X:119.08, Y:-9.60, Z:0.57 [[ 9.94422839e-01 1.05061247e-01 9.23860034e-03 1.19084463e+02] [-1.05056679e-01 9.94465753e-01 -9.79689801e-04 -9.59659329e+00] [-9.29039908e-03 3.64924338e-06 9.99956843e-01 5.74744267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.262320588 meters 0.023118353997277748 Centerline is valid? [True, True] Translation: X:119.11, Y:-9.60, Z:0.57 [[ 9.94523946e-01 1.04208214e-01 7.92266384e-03 1.19112073e+02] [-1.04204866e-01 9.94555503e-01 -8.35333029e-04 -9.60179524e+00] [-7.96657748e-03 5.17857673e-06 9.99968266e-01 5.72936338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.292320588 meters 0.02305300064402708 Centerline is valid? [True, True] Translation: X:119.14, Y:-9.61, Z:0.57 [[ 9.94689972e-01 1.02648195e-01 7.43019724e-03 1.19139157e+02] [-1.02645236e-01 9.94717723e-01 -7.79411766e-04 -9.61128700e+00] [-7.47095409e-03 1.25987147e-05 9.99972092e-01 5.74661249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.322320588 meters 0.022978205650452218 Centerline is valid? [True, True] Translation: X:119.17, Y:-9.62, Z:0.58 [[ 9.94750123e-01 1.01920081e-01 9.19188191e-03 1.19167510e+02] [-1.01915553e-01 9.94792590e-01 -9.60898597e-04 -9.61669578e+00] [-9.24195087e-03 1.90582665e-05 9.99957292e-01 5.75361916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.352320588 meters 0.023104467455450077 Centerline is valid? [True, True] Translation: X:119.20, Y:-9.62, Z:0.58 [[ 9.94893526e-01 1.00460479e-01 9.72438860e-03 1.19195340e+02] [-1.00455393e-01 9.94941049e-01 -1.01127685e-03 -9.62065004e+00] [-9.77678675e-03 2.92455102e-05 9.99952206e-01 5.75484557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.382320588 meters 0.02306810605328475 Centerline is valid? [True, True] Translation: X:119.22, Y:-9.63, Z:0.58 [[ 9.95061372e-01 9.88017691e-02 9.54341306e-03 1.19223423e+02] [-9.87968420e-02 9.95107134e-01 -9.87507552e-04 -9.62503058e+00] [-9.59428591e-03 3.97715471e-05 9.99953973e-01 5.75238331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.412320588 meters 0.02315866913400077 Centerline is valid? [True, True] Translation: X:119.25, Y:-9.63, Z:0.57 [[ 9.95227731e-01 9.71335355e-02 9.31880237e-03 1.19251265e+02] [-9.71288016e-02 9.95271357e-01 -9.60300038e-04 -9.63470155e+00] [-9.36801441e-03 5.05931206e-05 9.99956118e-01 5.74331775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.442320588 meters 0.02301069727236979 Centerline is valid? [True, True] Translation: X:119.28, Y:-9.64, Z:0.58 [[ 9.95357850e-01 9.56257223e-02 1.08845024e-02 1.19279220e+02] [-9.56192234e-02 9.95417358e-01 -1.11711918e-03 -9.64216868e+00] [-1.09414479e-02 7.11656754e-05 9.99940138e-01 5.75027982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.472320588 meters 0.023095081734619907 Centerline is valid? [True, True] Translation: X:119.31, Y:-9.65, Z:0.58 [[ 9.95345581e-01 9.57158441e-02 1.12094607e-02 1.19309174e+02] [-9.57089307e-02 9.95408696e-01 -1.15280232e-03 -9.64847115e+00] [-1.12683361e-02 7.45911939e-05 9.99936508e-01 5.76659732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.502320588 meters 0.023154572657963553 Centerline is valid? [True, True] Translation: X:119.34, Y:-9.66, Z:0.58 [[ 9.95360845e-01 9.52705068e-02 1.34283137e-02 1.19339560e+02] [-9.52605288e-02 9.95451416e-01 -1.38219194e-03 -9.65643651e+00] [-1.34989160e-02 9.65914700e-05 9.99908881e-01 5.78612891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.532320588 meters 0.023085658708732196 Centerline is valid? [True, True] Translation: X:119.37, Y:-9.66, Z:0.58 [[ 9.95211021e-01 9.67297029e-02 1.40850655e-02 1.19370838e+02] [-9.67188406e-02 9.95310684e-01 -1.45194368e-03 -9.66357186e+00] [-1.41594622e-02 8.26991533e-05 9.99899746e-01 5.79128016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.562320588 meters 0.023144019232114784 Centerline is valid? [True, True] Translation: X:119.40, Y:-9.67, Z:0.58 [[ 9.95033482e-01 9.84959557e-02 1.43846041e-02 1.19402219e+02] [-9.84847839e-02 9.95137449e-01 -1.48468732e-03 -9.67155728e+00] [-1.44608939e-02 6.06489673e-05 9.99895434e-01 5.78326820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59232058799999 meters 0.023033846874785956 Centerline is valid? [True, True] Translation: X:119.43, Y:-9.68, Z:0.58 [[ 9.94845822e-01 1.00466337e-01 1.37224803e-02 1.19433595e+02] [-1.00456333e-01 9.94940458e-01 -1.41815690e-03 -9.67923093e+00] [-1.37955279e-02 3.23374177e-05 9.99904837e-01 5.77812921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.622320588 meters 0.022875437189827787 Centerline is valid? [True, True] Translation: X:119.47, Y:-9.69, Z:0.58 [[ 9.94667543e-01 1.02422002e-01 1.20918673e-02 1.19465690e+02] [-1.02414358e-01 9.94741038e-01 -1.25132188e-03 -9.68634829e+00] [-1.21564396e-02 6.26842887e-06 9.99926108e-01 5.75669616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.652320588 meters 0.022958988343254758 Centerline is valid? [True, True] Translation: X:119.50, Y:-9.70, Z:0.57 [[ 9.94463536e-01 1.04575382e-01 1.03085319e-02 1.19496692e+02] [-1.04569927e-01 9.94516963e-01 -1.06823961e-03 -9.69538699e+00] [-1.03637214e-02 -1.56370854e-05 9.99946295e-01 5.74156896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.682320588 meters 0.022956455744724484 Centerline is valid? [True, True] Translation: X:119.53, Y:-9.70, Z:0.58 [[ 9.94403753e-01 1.05046641e-01 1.12418623e-02 1.19527931e+02] [-1.05040179e-01 9.94467296e-01 -1.16531067e-03 -9.70041032e+00] [-1.13020764e-02 -2.20579248e-05 9.99936129e-01 5.76380030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.712320588 meters 0.022894423812148765 Centerline is valid? [True, True] Translation: X:119.56, Y:-9.70, Z:0.58 [[ 9.94406515e-01 1.05109291e-01 1.03788318e-02 1.19558781e+02] [-1.05103780e-01 9.94460676e-01 -1.07656547e-03 -9.70465570e+00] [-1.04344971e-02 -2.03107343e-05 9.99945559e-01 5.78967879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.742320588 meters 0.0229191534828112 Centerline is valid? [True, True] Translation: X:119.59, Y:-9.71, Z:0.58 [[ 9.94509884e-01 1.04165486e-01 9.98208657e-03 1.19590318e+02] [-1.04160334e-01 9.94559979e-01 -1.03608333e-03 -9.70840129e+00] [-1.00357079e-02 -9.34235877e-06 9.99949641e-01 5.80810209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.772320588 meters 0.022951629762991366 Centerline is valid? [True, True] Translation: X:119.62, Y:-9.72, Z:0.58 [[ 9.94505022e-01 1.04128870e-01 1.08138532e-02 1.19620787e+02] [-1.04122813e-01 9.94563813e-01 -1.12310487e-03 -9.71730183e+00] [-1.08720147e-02 -9.03538939e-06 9.99940898e-01 5.78755516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.802320588 meters 0.022888424245928057 Centerline is valid? [True, True] Translation: X:119.65, Y:-9.72, Z:0.58 [[ 9.94474226e-01 1.04516594e-01 9.86387671e-03 1.19651857e+02] [-1.04511568e-01 9.94523143e-01 -1.02512447e-03 -9.72414971e+00] [-9.91699619e-03 -1.14293546e-05 9.99950825e-01 5.77762997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.832320588 meters 0.023096271042715933 Centerline is valid? [True, True] Translation: X:119.68, Y:-9.73, Z:0.58 [[ 9.94309988e-01 1.05936195e-01 1.11879748e-02 1.19682635e+02] [-1.05929810e-01 9.94372929e-01 -1.16343123e-03 -9.72961083e+00] [-1.12482688e-02 -2.83287596e-05 9.99936736e-01 5.76536439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.862320588 meters 0.022980530407333968 Centerline is valid? [True, True] Translation: X:119.71, Y:-9.73, Z:0.58 [[ 9.94207167e-01 1.06909739e-01 1.10641878e-02 1.19714656e+02] [-1.06903529e-01 9.94268729e-01 -1.15289166e-03 -9.73301896e+00] [-1.11240313e-02 -3.65875675e-05 9.99938125e-01 5.77829722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.892320588 meters 0.02312058203861355 Centerline is valid? [True, True] Translation: X:119.75, Y:-9.74, Z:0.58 [[ 9.93831465e-01 1.10115709e-01 1.31738354e-02 1.19746451e+02] [-1.10107167e-01 9.93918771e-01 -1.37417257e-03 -9.73584719e+00] [-1.32450403e-02 -8.48377517e-05 9.99912277e-01 5.79159697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.922320588 meters 0.023100661743672257 Centerline is valid? [True, True] Translation: X:119.78, Y:-9.74, Z:0.58 [[ 9.93661059e-01 1.11745155e-01 1.22768485e-02 1.19778614e+02] [-1.11737840e-01 9.93736892e-01 -1.28227768e-03 -9.73998550e+00] [-1.23432455e-02 -9.76391382e-05 9.99923814e-01 5.79854199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95232058799999 meters 0.023140132842487462 Centerline is valid? [True, True] Translation: X:119.81, Y:-9.74, Z:0.58 [[ 9.93522056e-01 1.13197102e-01 1.00169959e-02 1.19810288e+02] [-1.13192292e-01 9.93572548e-01 -1.04769847e-03 -9.74419522e+00] [-1.00712085e-02 -9.29351781e-05 9.99949280e-01 5.80343618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.982320588 meters 0.023053829387485028 Centerline is valid? [True, True] Translation: X:119.84, Y:-9.75, Z:0.58 [[ 9.93423978e-01 1.14227928e-01 7.79620284e-03 1.19840979e+02] [-1.14225044e-01 9.93454566e-01 -8.15748209e-04 -9.74782622e+00] [-7.83835453e-03 -8.01377792e-05 9.99969276e-01 5.80327098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.012320588 meters 0.023184737867839693 Centerline is valid? [True, True] Translation: X:119.87, Y:-9.75, Z:0.58 [[ 9.93213501e-01 1.16070984e-01 7.38021022e-03 1.19870653e+02] [-1.16068452e-01 9.93240917e-01 -7.71907893e-04 -9.75327699e+00] [-7.41992287e-03 -8.99402362e-05 9.99972468e-01 5.78970019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.042320588 meters 0.023387594044316784 Centerline is valid? [True, True] Translation: X:119.90, Y:-9.76, Z:0.58 [[ 9.93021246e-01 1.17633740e-01 8.43256165e-03 1.19900950e+02] [-1.17630491e-01 9.93057042e-01 -8.81974999e-04 -9.75758408e+00] [-8.47776475e-03 -1.16106457e-04 9.99964056e-01 5.79030968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.072320588 meters 0.02359711419178743 Centerline is valid? [True, True] Translation: X:119.93, Y:-9.76, Z:0.58 [[ 9.92837762e-01 1.18945183e-01 1.11902239e-02 1.19931681e+02] [-1.18939539e-01 9.92900808e-01 -1.17094901e-03 -9.76012177e+00] [-1.12500611e-02 -1.68397679e-04 9.99936702e-01 5.79784968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.102320588 meters 0.02379583380612807 Centerline is valid? [True, True] Translation: X:119.96, Y:-9.76, Z:0.58 [[ 9.92565793e-01 1.20854970e-01 1.43952429e-02 1.19963674e+02] [-1.20845814e-01 9.92670145e-01 -1.50739226e-03 -9.75729980e+00] [-1.44719037e-02 -2.43418842e-04 9.99895247e-01 5.82937685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.132320588 meters 0.02388915409685704 Centerline is valid? [True, True] Translation: X:120.00, Y:-9.76, Z:0.58 [[ 9.92537261e-01 1.21075820e-01 1.45062609e-02 1.19996093e+02] [-1.21066513e-01 9.92643232e-01 -1.52127068e-03 -9.75879790e+00] [-1.45837308e-02 -2.46304592e-04 9.99893621e-01 5.82627992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.162320588 meters 0.023849930693740938 Centerline is valid? [True, True] Translation: X:120.03, Y:-9.76, Z:0.58 [[ 9.92560559e-01 1.20930097e-01 1.41226000e-02 1.20027998e+02] [-1.20921234e-01 9.92660998e-01 -1.48292144e-03 -9.76186498e+00] [-1.41982840e-02 -2.35832881e-04 9.99899171e-01 5.81602861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.192320588 meters 0.02376816381274834 Centerline is valid? [True, True] Translation: X:120.06, Y:-9.77, Z:0.58 [[ 9.92510238e-01 1.21636459e-01 1.13136528e-02 1.20060311e+02] [-1.21630799e-01 9.92574699e-01 -1.18961076e-03 -9.76569605e+00] [-1.13743456e-02 -1.95387771e-04 9.99935291e-01 5.81024398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.222320588 meters 0.023886755428831553 Centerline is valid? [True, True] Translation: X:120.09, Y:-9.77, Z:0.58 [[ 9.92472964e-01 1.21943476e-01 1.12784580e-02 1.20091868e+02] [-1.21937866e-01 9.92537027e-01 -1.18632122e-03 -9.76516924e+00] [-1.13389513e-02 -1.97879361e-04 9.99935692e-01 5.81080853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.252320588 meters 0.024136062524487217 Centerline is valid? [True, True] Translation: X:120.12, Y:-9.77, Z:0.58 [[ 9.92318766e-01 1.22897474e-01 1.41307131e-02 1.20123030e+02] [-1.22888752e-01 9.92419338e-01 -1.48719108e-03 -9.76503688e+00] [-1.42063650e-02 -2.60738082e-04 9.99899051e-01 5.81770013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.282320588 meters 0.024040238811117345 Centerline is valid? [True, True] Translation: X:120.16, Y:-9.76, Z:0.58 [[ 9.92252040e-01 1.23353348e-01 1.48270555e-02 1.20155605e+02] [-1.23343762e-01 9.92362773e-01 -1.56275948e-03 -9.76467611e+00] [-1.49065896e-02 -2.78173526e-04 9.99888852e-01 5.82938947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.312320588 meters 0.024027282470551456 Centerline is valid? [True, True] Translation: X:120.19, Y:-9.76, Z:0.58 [[ 9.92215759e-01 1.23618498e-01 1.50450614e-02 1.20188265e+02] [-1.23608628e-01 9.92329777e-01 -1.58774264e-03 -9.76411686e+00] [-1.51259368e-02 -2.84316146e-04 9.99885556e-01 5.83257753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34232058799999 meters 0.023958469060143515 Centerline is valid? [True, True] Translation: X:120.22, Y:-9.77, Z:0.58 [[ 9.92307422e-01 1.22740360e-01 1.61488293e-02 1.20220597e+02] [-1.22728839e-01 9.92438774e-01 -1.70633624e-03 -9.76683599e+00] [-1.62361607e-02 -2.88716956e-04 9.99868143e-01 5.82077735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.372320588 meters 0.02411667551286454 Centerline is valid? [True, True] Translation: X:120.25, Y:-9.77, Z:0.58 [[ 9.92363544e-01 1.22314371e-01 1.59308036e-02 1.20252552e+02] [-1.22303069e-01 9.92491370e-01 -1.68543086e-03 -9.77041458e+00] [-1.60173375e-02 -2.75826036e-04 9.99871676e-01 5.82018656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.402320588 meters 0.0237925611694445 Centerline is valid? [True, True] Translation: X:120.29, Y:-9.77, Z:0.58 [[ 9.92453932e-01 1.21605887e-01 1.57226378e-02 1.20285005e+02] [-1.21594757e-01 9.92578431e-01 -1.66549716e-03 -9.77385133e+00] [-1.58084854e-02 -2.58861108e-04 9.99875005e-01 5.82032181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.432320588 meters 0.023804241074137644 Centerline is valid? [True, True] Translation: X:120.32, Y:-9.78, Z:0.58 [[ 9.92620329e-01 1.20690521e-01 1.17762836e-02 1.20317408e+02] [-1.20684192e-01 9.92690166e-01 -1.24919471e-03 -9.77646700e+00] [-1.18409669e-02 -1.81235200e-04 9.99929877e-01 5.83114286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.462320588 meters 0.023562047715436036 Centerline is valid? [True, True] Translation: X:120.35, Y:-9.78, Z:0.58 [[ 9.92700712e-01 1.20247498e-01 9.26480679e-03 1.20348227e+02] [-1.20243566e-01 9.92743935e-01 -9.82260237e-04 -9.77731981e+00] [-9.31569508e-03 -1.38942970e-04 9.99956598e-01 5.83122301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.492320588 meters 0.0237815917432856 Centerline is valid? [True, True] Translation: X:120.38, Y:-9.78, Z:0.58 [[ 9.92627501e-01 1.20944667e-01 7.93927352e-03 1.20377762e+02] [-1.20941809e-01 9.92659243e-01 -8.40870200e-04 -9.77712070e+00] [-7.98269201e-03 -1.25519214e-04 9.99968130e-01 5.82138978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.522320588 meters 0.023779080210785373 Centerline is valid? [True, True] Translation: X:120.41, Y:-9.78, Z:0.58 [[ 9.92597757e-01 1.21132915e-01 8.74697812e-03 1.20407140e+02] [-1.21129506e-01 9.92636286e-01 -9.20408722e-04 -9.77693179e+00] [-8.79405966e-03 -1.45921504e-04 9.99961321e-01 5.82632240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.552320588 meters 0.02396028440536271 Centerline is valid? [True, True] Translation: X:120.44, Y:-9.78, Z:0.58 [[ 9.92319977e-01 1.23151751e-01 1.16064756e-02 1.20436344e+02] [-1.23145941e-01 9.92387826e-01 -1.21665647e-03 -9.77656688e+00] [-1.16679585e-02 -2.21977837e-04 9.99931902e-01 5.84994679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.582320588 meters 0.02413390017156939 Centerline is valid? [True, True] Translation: X:120.47, Y:-9.78, Z:0.59 [[ 9.92195717e-01 1.23974467e-01 1.33413161e-02 1.20466668e+02] [-1.23966828e-01 9.92285373e-01 -1.40119009e-03 -9.78056437e+00] [-1.34121047e-02 -2.63625839e-04 9.99910019e-01 5.85144473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.612320588 meters 0.02399366354732733 Centerline is valid? [True, True] Translation: X:120.50, Y:-9.78, Z:0.58 [[ 9.92274881e-01 1.23158508e-01 1.49178544e-02 1.20497239e+02] [-1.23148866e-01 9.92386972e-01 -1.56676819e-03 -9.78423117e+00] [-1.49972452e-02 -2.82452128e-04 9.99887495e-01 5.84619867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.642320588 meters 0.023760361958590062 Centerline is valid? [True, True] Translation: X:120.53, Y:-9.79, Z:0.58 [[ 9.92618082e-01 1.20613305e-01 1.27190526e-02 1.20528533e+02] [-1.20606072e-01 9.92699546e-01 -1.33700908e-03 -9.78747875e+00] [-1.27874588e-02 -2.06855585e-04 9.99918216e-01 5.82359498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.672320588 meters 0.023541585544806863 Centerline is valid? [True, True] Translation: X:120.56, Y:-9.79, Z:0.58 [[ 9.92877816e-01 1.18588407e-01 1.14206581e-02 1.20558767e+02] [-1.18582444e-01 9.92943484e-01 -1.20022596e-03 -9.78903556e+00] [-1.14824010e-02 -1.62611831e-04 9.99934062e-01 5.83754708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70232058799999 meters 0.023438243018967 Centerline is valid? [True, True] Translation: X:120.59, Y:-9.79, Z:0.58 [[ 9.93047733e-01 1.17088678e-01 1.21012784e-02 1.20589013e+02] [-1.17081873e-01 9.93121452e-01 -1.27175406e-03 -9.79059449e+00] [-1.21669471e-02 -1.53927842e-04 9.99925968e-01 5.84713980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.732320588 meters 0.023497236284079598 Centerline is valid? [True, True] Translation: X:120.62, Y:-9.79, Z:0.59 [[ 9.93345161e-01 1.14355572e-01 1.37184055e-02 1.20619300e+02] [-1.14346566e-01 9.93439875e-01 -1.44170206e-03 -9.79102887e+00] [-1.37932777e-02 -1.36544790e-04 9.99904859e-01 5.86297254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.762320588 meters 0.023321555586423806 Centerline is valid? [True, True] Translation: X:120.65, Y:-9.79, Z:0.59 [[ 9.93478875e-01 1.13118183e-01 1.42829333e-02 1.20650658e+02] [-1.13108274e-01 9.93581532e-01 -1.50230406e-03 -9.79356148e+00] [-1.43611966e-02 -1.23010581e-04 9.99896865e-01 5.86492862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.792320588 meters 0.02346648582226138 Centerline is valid? [True, True] Translation: X:120.68, Y:-9.80, Z:0.58 [[ 9.93712574e-01 1.10885155e-01 1.54855801e-02 1.20681474e+02] [-1.10873220e-01 9.93833222e-01 -1.62978316e-03 -9.79692907e+00] [-1.55708027e-02 -9.74001075e-05 9.99878763e-01 5.84373760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.822320588 meters 0.023222925673450395 Centerline is valid? [True, True] Translation: X:120.71, Y:-9.80, Z:0.58 [[ 9.93920131e-01 1.09246478e-01 1.37105733e-02 1.20713469e+02] [-1.09236936e-01 9.94014690e-01 -1.44516393e-03 -9.80112833e+00] [-1.37863904e-02 -6.13234961e-05 9.99904961e-01 5.83348070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.852320588 meters 0.023257091734376928 Centerline is valid? [True, True] Translation: X:120.74, Y:-9.81, Z:0.58 [[ 9.94209194e-01 1.06872354e-01 1.12418342e-02 1.20744806e+02] [-1.06865775e-01 9.94272749e-01 -1.18600191e-03 -9.80721680e+00] [-1.13042002e-02 -2.22333152e-05 9.99936105e-01 5.82289783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.882320588 meters 0.02332511818965407 Centerline is valid? [True, True] Translation: X:120.77, Y:-9.81, Z:0.58 [[ 9.94326875e-01 1.05638443e-01 1.24332059e-02 1.20774772e+02] [-1.05630307e-01 9.94404605e-01 -1.31114469e-03 -9.81112800e+00] [-1.25021445e-02 -9.61694773e-06 9.99921845e-01 5.83341751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.912320588 meters 0.02332604840496499 Centerline is valid? [True, True] Translation: X:120.81, Y:-9.81, Z:0.59 [[ 9.94414588e-01 1.04720027e-01 1.31660097e-02 1.20805638e+02] [-1.04710807e-01 9.94501743e-01 -1.38961933e-03 -9.81457126e+00] [-1.32391406e-02 3.23422609e-06 9.99912359e-01 5.85390650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.942320588 meters 0.023317357785739092 Centerline is valid? [True, True] Translation: X:120.84, Y:-9.82, Z:0.59 [[ 9.94484323e-01 1.03649444e-01 1.60538126e-02 1.20837304e+02] [-1.03635579e-01 9.94613891e-01 -1.69539645e-03 -9.81603762e+00] [-1.61430719e-02 2.22990265e-05 9.99869692e-01 5.88105435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.972320588 meters 0.023161780171284528 Centerline is valid? [True, True] Translation: X:120.87, Y:-9.82, Z:0.59 [[ 9.94672948e-01 1.02127711e-01 1.39877443e-02 1.20869624e+02] [-1.02117004e-01 9.94771295e-01 -1.47939201e-03 -9.81846258e+00] [-1.40656934e-02 4.31246684e-05 9.99901072e-01 5.89580386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.002320588 meters 0.022969840751733358 Centerline is valid? [True, True] Translation: X:120.90, Y:-9.82, Z:0.59 [[ 9.94769935e-01 1.01457505e-01 1.17962374e-02 1.20900892e+02] [-1.01449838e-01 9.94839873e-01 -1.24814368e-03 -9.82290404e+00] [-1.18620008e-02 4.48894375e-05 9.99929643e-01 5.89343616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.032320588 meters 0.022969840751733358 Centerline is valid? [True, True] Translation: X:120.93, Y:-9.83, Z:0.59 [[ 9.94763386e-01 1.01521706e-01 1.17961564e-02 1.20931569e+02] [-1.01514034e-01 9.94833323e-01 -1.24890892e-03 -9.82613084e+00] [-1.18620008e-02 4.48934555e-05 9.99929643e-01 5.89499036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.062320588 meters 0.023180355053689018 Centerline is valid? [True, True] Translation: X:120.96, Y:-9.83, Z:0.59 [[ 9.94902737e-01 1.00258891e-01 1.08027467e-02 1.20962592e+02] [-1.00252374e-01 9.94961382e-01 -1.14446397e-03 -9.83218223e+00] [-1.08630585e-02 5.56293324e-05 9.99940994e-01 5.86689626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09232058799999 meters 0.023257620064827313 Centerline is valid? [True, True] Translation: X:120.99, Y:-9.84, Z:0.58 [[ 9.95043942e-01 9.86767929e-02 1.22655921e-02 1.20992729e+02] [-9.86682622e-02 9.95119532e-01 -1.30017969e-03 -9.84443882e+00] [-1.23340279e-02 8.35112588e-05 9.99923929e-01 5.82525974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.122320588 meters 0.023417018152562127 Centerline is valid? [True, True] Translation: X:121.02, Y:-9.85, Z:0.58 [[ 9.95151809e-01 9.75093103e-02 1.28378801e-02 1.21024362e+02] [-9.74998423e-02 9.95234607e-01 -1.36282155e-03 -9.85113841e+00] [-1.29095904e-02 1.04523047e-04 9.99916662e-01 5.82537007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.152320588 meters 0.023208772361163154 Centerline is valid? [True, True] Translation: X:121.06, Y:-9.86, Z:0.58 [[ 9.95223907e-01 9.68169904e-02 1.24837980e-02 1.21056192e+02] [-9.68079626e-02 9.95302194e-01 -1.32686086e-03 -9.85625960e+00] [-1.25536143e-02 1.11992593e-04 9.99921194e-01 5.84634922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.182320588 meters 0.02338184429805378 Centerline is valid? [True, True] Translation: X:121.09, Y:-9.86, Z:0.59 [[ 9.95334436e-01 9.56638212e-02 1.25615860e-02 1.21088116e+02] [-9.56545681e-02 9.95413691e-01 -1.33675468e-03 -9.86051035e+00] [-1.26318537e-02 1.28944882e-04 9.99920207e-01 5.86515823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.212320588 meters 0.023050996957485474 Centerline is valid? [True, True] Translation: X:121.12, Y:-9.87, Z:0.59 [[ 9.95318632e-01 9.61614415e-02 9.68497905e-03 1.21119682e+02] [-9.61559466e-02 9.95365746e-01 -1.03250396e-03 -9.87216043e+00] [-9.73938346e-03 9.64021010e-05 9.99952566e-01 5.87373821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.242320588 meters 0.023064108136861054 Centerline is valid? [True, True] Translation: X:121.15, Y:-9.88, Z:0.59 [[ 9.95197017e-01 9.74874137e-02 8.89390311e-03 1.21150945e+02] [-9.74828232e-02 9.95236755e-01 -9.49239699e-04 -9.88099202e+00] [-8.94407819e-03 7.76777327e-05 9.99959998e-01 5.87231757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.272320588 meters 0.022918655025608053 Centerline is valid? [True, True] Translation: X:121.18, Y:-9.89, Z:0.59 [[ 9.94945041e-01 9.99067393e-02 1.01492932e-02 1.21181396e+02] [-9.99008847e-02 9.94996804e-01 -1.08346801e-03 -9.88836852e+00] [-1.02067600e-02 6.40677579e-05 9.99947908e-01 5.88109363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.302320588 meters 0.022560712300678104 Centerline is valid? [True, True] Translation: X:121.21, Y:-9.89, Z:0.59 [[ 9.94277729e-01 1.06409048e-01 9.42936965e-03 1.21212835e+02] [-1.06404291e-01 9.94322440e-01 -1.00611222e-03 -9.89381299e+00] [-9.48289328e-03 -2.97041974e-06 9.99955036e-01 5.90863615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.332320588 meters 0.022675326894142978 Centerline is valid? [True, True] Translation: X:121.24, Y:-9.90, Z:0.59 [[ 9.93890793e-01 1.09930408e-01 9.81818366e-03 1.21244021e+02] [-1.09925412e-01 9.93939286e-01 -1.04865756e-03 -9.89856312e+00] [-9.87395781e-03 -3.70167966e-05 9.99951251e-01 5.89782742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.362320588 meters 0.022837452340142447 Centerline is valid? [True, True] Translation: X:121.28, Y:-9.91, Z:0.59 [[ 9.93555669e-01 1.12951722e-01 9.43613900e-03 1.21275348e+02] [-1.12947228e-01 9.93600475e-01 -1.00945768e-03 -9.90560268e+00] [-9.48977218e-03 -6.28333405e-05 9.99954969e-01 5.87003296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.392320588 meters 0.022900115401364263 Centerline is valid? [True, True] Translation: X:121.31, Y:-9.91, Z:0.59 [[ 9.93222425e-01 1.15960507e-01 7.89782051e-03 1.21306340e+02] [-1.15957445e-01 9.93253822e-01 -8.46051902e-04 -9.91450566e+00] [-7.94264902e-03 -7.54933666e-05 9.99968454e-01 5.85260875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.422320588 meters 0.02300761724982055 Centerline is valid? [True, True] Translation: X:121.34, Y:-9.93, Z:0.59 [[ 9.92990195e-01 1.17927025e-01 7.98058096e-03 1.21336451e+02] [-1.17923960e-01 9.93022260e-01 -8.55113317e-04 -9.92570142e+00] [-8.02573550e-03 -9.19825726e-05 9.99967789e-01 5.85105445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45232058799999 meters 0.022960486905669576 Centerline is valid? [True, True] Translation: X:121.37, Y:-9.93, Z:0.59 [[ 9.93060314e-01 1.17281334e-01 8.73505926e-03 1.21367837e+02] [-1.17277633e-01 9.93098726e-01 -9.36502198e-04 -9.92977544e+00] [-8.78461045e-03 -9.44239071e-05 9.99961410e-01 5.86922695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.482320588 meters 0.022964164479351387 Centerline is valid? [True, True] Translation: X:121.40, Y:-9.93, Z:0.59 [[ 9.93164475e-01 1.16466375e-01 7.74013489e-03 1.21398831e+02] [-1.16463436e-01 9.93194632e-01 -8.30816276e-04 -9.93279241e+00] [-7.78422259e-03 -7.63054960e-05 9.99969700e-01 5.89927594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.512320588 meters 0.022656289791589602 Centerline is valid? [True, True] Translation: X:121.43, Y:-9.94, Z:0.59 [[ 9.93223404e-01 1.15974631e-01 7.56004493e-03 1.21429543e+02] [-1.15971811e-01 9.93252173e-01 -8.11848874e-04 -9.93636030e+00] [-7.60318494e-03 -7.04048017e-05 9.99971093e-01 5.91676253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.542320588 meters 0.02272493940292973 Centerline is valid? [True, True] Translation: X:121.46, Y:-9.94, Z:0.59 [[ 9.93248160e-01 1.15588737e-01 9.86589510e-03 1.21460585e+02] [-1.15583910e-01 9.93297154e-01 -1.06002583e-03 -9.93775794e+00] [-9.92229257e-03 -8.74700263e-05 9.99950769e-01 5.93538296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.572320588 meters 0.022899957668257708 Centerline is valid? [True, True] Translation: X:121.49, Y:-9.94, Z:0.59 [[ 9.93061664e-01 1.17188118e-01 9.77122687e-03 1.21492528e+02] [-1.17183444e-01 9.93109729e-01 -1.05150875e-03 -9.94108554e+00] [-9.82712481e-03 -1.00812993e-04 9.99951708e-01 5.92454129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.602320588 meters 0.02301586506337991 Centerline is valid? [True, True] Translation: X:121.52, Y:-9.95, Z:0.59 [[ 9.92781970e-01 1.19490751e-01 1.02918036e-02 1.21524330e+02] [-1.19485676e-01 9.92835305e-01 -1.10886961e-03 -9.94640389e+00] [-1.03505656e-02 -1.28857355e-04 9.99946423e-01 5.90749401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.632320588 meters 0.023200798786088033 Centerline is valid? [True, True] Translation: X:121.56, Y:-9.96, Z:0.59 [[ 9.92419963e-01 1.22515702e-01 9.61870199e-03 1.21555816e+02] [-1.22511398e-01 9.92466564e-01 -1.03769186e-03 -9.95705193e+00] [-9.67337366e-03 -1.48574508e-04 9.99953201e-01 5.89683445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.662320588 meters 0.023324524878736864 Centerline is valid? [True, True] Translation: X:121.59, Y:-9.96, Z:0.59 [[ 9.92268853e-01 1.23811185e-01 8.56237979e-03 1.21587741e+02] [-1.23807812e-01 9.92305785e-01 -9.24946274e-04 -9.96127941e+00] [-8.61101769e-03 -1.42294128e-04 9.99962914e-01 5.90808476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.692320588 meters 0.023335489069482653 Centerline is valid? [True, True] Translation: X:121.62, Y:-9.96, Z:0.59 [[ 9.92226716e-01 1.24154296e-01 8.47671895e-03 1.21619814e+02] [-1.24150993e-01 9.92262914e-01 -9.16858657e-04 -9.96252043e+00] [-8.52496579e-03 -1.42661418e-04 9.99963652e-01 5.91984340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.722320588 meters 0.023264226339668778 Centerline is valid? [True, True] Translation: X:121.65, Y:-9.96, Z:0.59 [[ 9.92292295e-01 1.23573656e-01 9.24946566e-03 1.21652478e+02] [-1.23569687e-01 9.92335392e-01 -1.00161624e-03 -9.96427515e+00] [-9.30234551e-03 -1.49057497e-04 9.99956721e-01 5.92590547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.752320588 meters 0.023228939494012734 Centerline is valid? [True, True] Translation: X:121.68, Y:-9.97, Z:0.59 [[ 9.92171453e-01 1.24377443e-01 1.12275930e-02 1.21683690e+02] [-1.24371636e-01 9.92234960e-01 -1.21665446e-03 -9.97026026e+00] [-1.12917347e-02 -1.89264288e-04 9.99936228e-01 5.92812369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.782320588 meters 0.02336255304938601 Centerline is valid? [True, True] Translation: X:121.72, Y:-9.98, Z:0.59 [[ 9.92097577e-01 1.24834755e-01 1.25969230e-02 1.21715360e+02] [-1.24827460e-01 9.92177523e-01 -1.36682909e-03 -9.97544687e+00] [-1.26690117e-02 -2.16414077e-04 9.99919721e-01 5.94277486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.812320588 meters 0.02350248973559789 Centerline is valid? [True, True] Translation: X:121.75, Y:-9.98, Z:0.59 [[ 9.91836664e-01 1.26741204e-01 1.40249304e-02 1.21747185e+02] [-1.26732326e-01 9.91935782e-01 -1.52358078e-03 -9.97930298e+00] [-1.41049308e-02 -2.66268766e-04 9.99900485e-01 5.94510069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84232058799999 meters 0.02363027936009634 Centerline is valid? [True, True] Translation: X:121.78, Y:-9.98, Z:0.59 [[ 9.91529794e-01 1.29462137e-01 1.04030186e-02 1.21779113e+02] [-1.29457385e-01 9.91584341e-01 -1.13168806e-03 -9.98104298e+00] [-1.04619811e-02 -2.24645163e-04 9.99945247e-01 5.94209658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.872320588 meters 0.023543371959757625 Centerline is valid? [True, True] Translation: X:121.81, Y:-9.98, Z:0.59 [[ 9.91482323e-01 1.29989290e-01 8.09862129e-03 1.21810893e+02] [-1.29986418e-01 9.91515382e-01 -8.82239134e-04 -9.98358640e+00] [-8.14458922e-03 -1.77986267e-04 9.99966816e-01 5.94474549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.902320588 meters 0.02376171978397825 Centerline is valid? [True, True] Translation: X:121.84, Y:-9.99, Z:0.59 [[ 9.91357613e-01 1.30948798e-01 7.90536410e-03 1.21842993e+02] [-1.30946083e-01 9.91389116e-01 -8.62276281e-04 -9.98736659e+00] [-7.95020597e-03 -1.80352306e-04 9.99968380e-01 5.93751423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.932320588 meters 0.02387259853604101 Centerline is valid? [True, True] Translation: X:121.87, Y:-9.99, Z:0.59 [[ 9.91255515e-01 1.31677147e-01 8.58098845e-03 1.21874618e+02] [-1.31673970e-01 9.91292635e-01 -9.36610619e-04 -9.98941795e+00] [-8.62960087e-03 -2.01472374e-04 9.99962744e-01 5.93310355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.962320588 meters 0.024324446391565155 Centerline is valid? [True, True] Translation: X:121.91, Y:-9.99, Z:0.59 [[ 9.90825878e-01 1.34748828e-01 1.03360024e-02 1.21906684e+02] [-1.34744382e-01 9.90879749e-01 -1.12858776e-03 -9.98765395e+00] [-1.03938113e-02 -2.74484295e-04 9.99945945e-01 5.92506244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.992320588 meters 0.02456037747569392 Centerline is valid? [True, True] Translation: X:121.94, Y:-9.99, Z:0.59 [[ 9.90621690e-01 1.36080323e-01 1.22805743e-02 1.21938882e+02] [-1.36074124e-01 9.90697749e-01 -1.34280881e-03 -9.98817753e+00] [-1.23490672e-02 -3.40852867e-04 9.99923689e-01 5.92741295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.022320588 meters 0.02439256158502231 Centerline is valid? [True, True] Translation: X:121.97, Y:-9.99, Z:0.59 [[ 9.90712037e-01 1.35662420e-01 9.23944983e-03 1.21971365e+02] [-1.35658880e-01 9.90755088e-01 -1.01167691e-03 -9.98816183e+00] [-9.29127846e-03 -2.51132923e-04 9.99956804e-01 5.94705551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.052320588 meters 0.024137775763423193 Centerline is valid? [True, True] Translation: X:122.00, Y:-9.99, Z:0.60 [[ 9.90788057e-01 1.35188363e-01 7.94565172e-03 1.22003163e+02] [-1.35185725e-01 9.90819894e-01 -8.70724785e-04 -9.98997591e+00] [-7.99042166e-03 -2.11434969e-04 9.99968054e-01 5.95746637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.082320588 meters 0.02410381600064865 Centerline is valid? [True, True] Translation: X:122.03, Y:-9.99, Z:0.60 [[ 9.90877076e-01 1.34498414e-01 8.53215453e-03 1.22033796e+02] [-1.34495350e-01 9.90913784e-01 -9.34462669e-04 -9.99038737e+00] [-8.58031328e-03 -2.21597474e-04 9.99963164e-01 5.96532032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.112320588 meters 0.02406451872964946 Centerline is valid? [True, True] Translation: X:122.06, Y:-9.99, Z:0.60 [[ 9.90997298e-01 1.33466148e-01 1.05424594e-02 1.22064604e+02] [-1.33461412e-01 9.91053338e-01 -1.15463623e-03 -9.98999563e+00] [-1.06022444e-02 -2.62770129e-04 9.99943760e-01 5.97411375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.142320588 meters 0.023838607524671235 Centerline is valid? [True, True] Translation: X:122.10, Y:-9.99, Z:0.60 [[ 9.91239021e-01 1.31443583e-01 1.29532966e-02 1.22096586e+02] [-1.31436245e-01 9.91323609e-01 -1.41987655e-03 -9.98884598e+00] [-1.30275424e-02 -2.95095624e-04 9.99915094e-01 5.97721211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.172320588 meters 0.023672566068224155 Centerline is valid? [True, True] Translation: X:122.13, Y:-9.99, Z:0.60 [[ 9.91929339e-01 1.26292492e-01 1.12424533e-02 1.22128535e+02] [-1.26286625e-01 9.91993028e-01 -1.23314940e-03 -9.98645200e+00] [-1.13081728e-02 -1.96574407e-04 9.99936041e-01 5.98018026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20232058799999 meters 0.02342407648105519 Centerline is valid? [True, True] Translation: X:122.16, Y:-9.99, Z:0.60 [[ 9.92135142e-01 1.24848612e-01 8.98244612e-03 1.22160028e+02] [-1.24844801e-01 9.92175793e-01 -9.85921149e-04 -9.98912112e+00] [-9.03525648e-03 -1.43244677e-04 9.99959171e-01 5.96669725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.232320588 meters 0.02323746895507685 Centerline is valid? [True, True] Translation: X:122.19, Y:-9.99, Z:0.60 [[ 9.92484921e-01 1.22147699e-01 7.32259725e-03 1.22190571e+02] [-1.22145095e-01 9.92511930e-01 -8.03461783e-04 -9.99272114e+00] [-7.36590613e-03 -9.69956298e-05 9.99972867e-01 5.95681572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.262320588 meters 0.023050515195204062 Centerline is valid? [True, True] Translation: X:122.22, Y:-10.00, Z:0.59 [[ 9.93070964e-01 1.16971695e-01 1.12997238e-02 1.22220390e+02] [-1.16965171e-01 9.93135245e-01 -1.23875561e-03 -9.99748322e+00] [-1.13670533e-02 -9.15019077e-05 9.99935389e-01 5.94835058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.292320588 meters 0.022882441400961743 Centerline is valid? [True, True] Translation: X:122.25, Y:-10.00, Z:0.60 [[ 9.93330624e-01 1.14706835e-01 1.16882013e-02 1.22251985e+02] [-1.14699681e-01 9.93399385e-01 -1.28279390e-03 -1.00006146e+01] [-1.17581972e-02 -6.63944923e-05 9.99930868e-01 5.95286769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.322320588 meters 0.022827119903769594 Centerline is valid? [True, True] Translation: X:122.28, Y:-10.00, Z:0.60 [[ 9.93410355e-01 1.13854192e-01 1.31563174e-02 1.22283654e+02] [-1.13845026e-01 9.93497468e-01 -1.44596945e-03 -1.00035434e+01] [-1.32353977e-02 -6.13402701e-05 9.99912406e-01 5.95579652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.352320588 meters 0.022805614616554233 Centerline is valid? [True, True] Translation: X:122.32, Y:-10.01, Z:0.60 [[ 9.93369838e-01 1.14250290e-01 1.27764017e-02 1.22315399e+02] [-1.14241657e-01 9.93451995e-01 -1.40592202e-03 -1.00079096e+01] [-1.28533688e-02 -6.29967666e-05 9.99917390e-01 5.96692699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.382320588 meters 0.022763038147215652 Centerline is valid? [True, True] Translation: X:122.35, Y:-10.01, Z:0.60 [[ 9.93273018e-01 1.15186642e-01 1.18637654e-02 1.22347578e+02] [-1.15179245e-01 9.93343864e-01 -1.30711810e-03 -1.00118579e+01] [-1.19353611e-02 -6.81344044e-05 9.99928769e-01 5.97648988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.412320588 meters 0.02276949515149645 Centerline is valid? [True, True] Translation: X:122.38, Y:-10.02, Z:0.60 [[ 9.93102295e-01 1.16541387e-01 1.28816636e-02 1.22379634e+02] [-1.16532759e-01 9.93185832e-01 -1.42093246e-03 -1.00150419e+01] [-1.29594832e-02 -9.00045123e-05 9.99916018e-01 5.97314400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.442320588 meters 0.022811861943483187 Centerline is valid? [True, True] Translation: X:122.41, Y:-10.02, Z:0.60 [[ 9.92967402e-01 1.17805372e-01 1.17317430e-02 1.22411749e+02] [-1.17798285e-01 9.93036699e-01 -1.29571479e-03 -1.00181673e+01] [-1.18026935e-02 -9.53766638e-05 9.99930341e-01 5.97675852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.472320588 meters 0.022693030891754777 Centerline is valid? [True, True] Translation: X:122.44, Y:-10.02, Z:0.60 [[ 9.92859991e-01 1.18877302e-01 9.86025857e-03 1.22443702e+02] [-1.18872334e-01 9.92908948e-01 -1.09043672e-03 -1.00219417e+01] [-9.91996714e-03 -8.94609597e-05 9.99950792e-01 5.97644354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.502320588 meters 0.02267654086070391 Centerline is valid? [True, True] Translation: X:122.47, Y:-10.03, Z:0.59 [[ 9.92914384e-01 1.18524895e-01 8.53669088e-03 1.22474182e+02] [-1.18521155e-01 9.92951078e-01 -9.44390386e-04 -1.00309026e+01] [-8.58845018e-03 -7.40796687e-05 9.99963116e-01 5.94307095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.532320588 meters 0.022864533572695047 Centerline is valid? [True, True] Translation: X:122.51, Y:-10.04, Z:0.59 [[ 9.92961100e-01 1.18117383e-01 8.74853583e-03 1.22505142e+02] [-1.18113435e-01 9.92999637e-01 -9.68408155e-04 -1.00374420e+01] [-8.80167874e-03 -7.17279920e-05 9.99961262e-01 5.93951108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.562320588 meters 0.02287845200538317 Centerline is valid? [True, True] Translation: X:122.54, Y:-10.04, Z:0.60 [[ 9.92812536e-01 1.19370471e-01 8.59998755e-03 1.22536631e+02] [-1.19366698e-01 9.92849779e-01 -9.52540861e-04 -1.00412740e+01] [-8.65220099e-03 -8.08576070e-05 9.99962566e-01 5.96047067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59232058799999 meters 0.02310511353482273 Centerline is valid? [True, True] Translation: X:122.57, Y:-10.04, Z:0.60 [[ 9.92247975e-01 1.23833051e-01 1.04561370e-02 1.22567778e+02] [-1.23827725e-01 9.92303056e-01 -1.15772352e-03 -1.00395072e+01] [-1.05190211e-02 -1.46010834e-04 9.99944663e-01 6.00867160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.622320588 meters 0.023204654516971252 Centerline is valid? [True, True] Translation: X:122.60, Y:-10.04, Z:0.60 [[ 9.91893045e-01 1.26444850e-01 1.26446558e-02 1.22599563e+02] [-1.26437258e-01 9.91973617e-01 -1.40121372e-03 -1.00406217e+01] [-1.27203412e-02 -2.08901463e-04 9.99919071e-01 6.00530210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.652320588 meters 0.02356953524945607 Centerline is valid? [True, True] Translation: X:122.63, Y:-10.04, Z:0.60 [[ 9.91697048e-01 1.28004271e-01 1.23236017e-02 1.22631760e+02] [-1.27997156e-01 9.91773592e-01 -1.36763388e-03 -1.00436153e+01] [-1.23972857e-02 -2.21107493e-04 9.99923126e-01 6.01116661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.682320588 meters 0.02349288899876738 Centerline is valid? [True, True] Translation: X:122.66, Y:-10.05, Z:0.60 [[ 9.91464684e-01 1.29641233e-01 1.38177534e-02 1.22662642e+02] [-1.29632440e-01 9.91560930e-01 -1.53394580e-03 -1.00481643e+01] [-1.39000070e-02 -2.70375999e-04 9.99903354e-01 5.98865466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.712320588 meters 0.023744412835163466 Centerline is valid? [True, True] Translation: X:122.69, Y:-10.05, Z:0.60 [[ 9.91158740e-01 1.32020412e-01 1.32273293e-02 1.22694743e+02] [-1.32012537e-01 9.91246956e-01 -1.47052663e-03 -1.00538005e+01] [-1.33056895e-02 -2.88647979e-04 9.99911434e-01 5.98553350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.742320588 meters 0.023907956459384188 Centerline is valid? [True, True] Translation: X:122.73, Y:-10.06, Z:0.60 [[ 9.91197608e-01 1.31796396e-01 1.25304431e-02 1.22727051e+02] [-1.31789290e-01 9.91276772e-01 -1.39477533e-03 -1.00551168e+01] [-1.26049635e-02 -2.68880216e-04 9.99920518e-01 5.99414832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.772320588 meters 0.02381745243972146 Centerline is valid? [True, True] Translation: X:122.76, Y:-10.05, Z:0.60 [[ 9.91161555e-01 1.32050109e-01 1.27098612e-02 1.22759811e+02] [-1.32042797e-01 9.91243004e-01 -1.41643949e-03 -1.00548817e+01] [-1.27856020e-02 -2.74325256e-04 9.99918223e-01 5.99838256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.802320588 meters 0.023725168553645516 Centerline is valid? [True, True] Translation: X:122.79, Y:-10.05, Z:0.60 [[ 9.91259394e-01 1.31420245e-01 1.15556115e-02 1.22791967e+02] [-1.31414150e-01 9.91326718e-01 -1.28851957e-03 -1.00539726e+01] [-1.16247240e-02 -2.41313741e-04 9.99932401e-01 5.99540568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.832320588 meters 0.02359528919841508 Centerline is valid? [True, True] Translation: X:122.82, Y:-10.05, Z:0.60 [[ 9.91279090e-01 1.31322141e-01 1.09663791e-02 1.22823186e+02] [-1.31316650e-01 9.91339721e-01 -1.22243643e-03 -1.00514331e+01] [-1.10319401e-02 -2.28292491e-04 9.99939120e-01 5.98777763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.862320588 meters 0.023665957192168994 Centerline is valid? [True, True] Translation: X:122.85, Y:-10.05, Z:0.60 [[ 9.91316626e-01 1.31009004e-01 1.13131629e-02 1.22853486e+02] [-1.31003139e-01 9.91381151e-01 -1.26109287e-03 -1.00520287e+01] [-1.13808710e-02 -2.31917529e-04 9.99935209e-01 5.98441117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.892320588 meters 0.02352922031175715 Centerline is valid? [True, True] Translation: X:122.88, Y:-10.05, Z:0.60 [[ 9.91485455e-01 1.29482943e-01 1.38115668e-02 1.22884254e+02] [-1.29474054e-01 9.91581615e-01 -1.53959317e-03 -1.00517121e+01] [-1.38946467e-02 -2.61755298e-04 9.99903430e-01 5.98725958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.922320588 meters 0.023216098212529106 Centerline is valid? [True, True] Translation: X:122.92, Y:-10.05, Z:0.60 [[ 9.91807999e-01 1.26938001e-01 1.42701318e-02 1.22916042e+02] [-1.26928221e-01 9.91910626e-01 -1.59263118e-03 -1.00537042e+01] [-1.43568607e-02 -2.31698086e-04 9.99896908e-01 5.99550943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95232058799999 meters 0.023216098212529106 Centerline is valid? [True, True] Translation: X:122.95, Y:-10.06, Z:0.60 [[ 9.91799670e-01 1.27003074e-01 1.42700456e-02 1.22946704e+02] [-1.26993290e-01 9.91902296e-01 -1.59340296e-03 -1.00571094e+01] [-1.43568581e-02 -2.31863510e-04 9.99896908e-01 5.99706373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.982320588 meters 0.023136817111066875 Centerline is valid? [True, True] Translation: X:122.98, Y:-10.06, Z:0.60 [[ 9.92063758e-01 1.24996785e-01 1.36126597e-02 1.22977585e+02] [-1.24987680e-01 9.92157128e-01 -1.52092022e-03 -1.00593118e+01] [-1.36960075e-02 -1.92564924e-04 9.99906187e-01 5.99138305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.012320588 meters 0.022987894179757006 Centerline is valid? [True, True] Translation: X:123.01, Y:-10.06, Z:0.60 [[ 9.92494808e-01 1.21685625e-01 1.21105536e-02 1.23008652e+02] [-1.21678162e-01 9.92568684e-01 -1.35392824e-03 -1.00606431e+01] [-1.21853098e-02 -1.29823152e-04 9.99925748e-01 5.98569992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.042320588 meters 0.02271549749670748 Centerline is valid? [True, True] Translation: X:123.04, Y:-10.06, Z:0.60 [[ 9.92992976e-01 1.17719103e-01 1.03519703e-02 1.23039826e+02] [-1.17713437e-01 9.93046931e-01 -1.15704010e-03 -1.00585113e+01] [-1.04161981e-02 -6.96333128e-05 9.99945748e-01 5.98237406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.072320588 meters 0.022653902430289405 Centerline is valid? [True, True] Translation: X:123.07, Y:-10.06, Z:0.60 [[ 9.93184213e-01 1.16085783e-01 1.04503614e-02 1.23069999e+02] [-1.16079929e-01 9.93239190e-01 -1.16700305e-03 -1.00593256e+01] [-1.05151810e-02 -5.40282108e-05 9.99944712e-01 5.99337740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.102320588 meters 0.022470999419544776 Centerline is valid? [True, True] Translation: X:123.10, Y:-10.06, Z:0.60 [[ 9.93191637e-01 1.15971965e-01 1.09943196e-02 1.23099699e+02] [-1.15965487e-01 9.93252486e-01 -1.22703634e-03 -1.00606121e+01] [-1.10624371e-02 -5.62793927e-05 9.99938808e-01 6.00887197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.132320588 meters 0.022673518083985607 Centerline is valid? [True, True] Translation: X:123.13, Y:-10.06, Z:0.60 [[ 9.93092381e-01 1.16693607e-01 1.22525374e-02 1.23129492e+02] [-1.16685626e-01 9.93167960e-01 -1.36669750e-03 -1.00623839e+01] [-1.23283124e-02 -7.24381235e-05 9.99924001e-01 6.01208930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.162320588 meters 0.022717194759299373 Centerline is valid? [True, True] Translation: X:123.16, Y:-10.06, Z:0.60 [[ 9.93099652e-01 1.16670671e-01 1.18758229e-02 1.23160547e+02] [-1.16663167e-01 9.93170655e-01 -1.32499639e-03 -1.00635229e+01] [-1.19493071e-02 -6.96176597e-05 9.99928602e-01 5.98795067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.192320588 meters 0.022701886536959058 Centerline is valid? [True, True] Translation: X:123.19, Y:-10.07, Z:0.60 [[ 9.93249837e-01 1.15446261e-01 1.12660111e-02 1.23191070e+02] [-1.15439429e-01 9.93313726e-01 -1.25695913e-03 -1.00660259e+01] [-1.13357947e-02 -5.20674394e-05 9.99935746e-01 5.98206888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.222320588 meters 0.02271436270497838 Centerline is valid? [True, True] Translation: X:123.22, Y:-10.07, Z:0.60 [[ 9.93365585e-01 1.14465852e-01 1.10627321e-02 1.23220853e+02] [-1.14459216e-01 9.93427183e-01 -1.23322523e-03 -1.00688474e+01] [-1.11311809e-02 -4.11881361e-05 9.99938046e-01 5.98323725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.252320588 meters 0.022621348393833982 Centerline is valid? [True, True] Translation: X:123.25, Y:-10.07, Z:0.60 [[ 9.93593422e-01 1.12305528e-01 1.26325212e-02 1.23250835e+02] [-1.12296710e-01 9.93673723e-01 -1.40743162e-03 -1.00701184e+01] [-1.27106667e-02 -2.01757797e-05 9.99919216e-01 6.00712544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.282320588 meters 0.022655989719636005 Centerline is valid? [True, True] Translation: X:123.28, Y:-10.07, Z:0.60 [[ 9.93658370e-01 1.11741019e-01 1.25294902e-02 1.23280840e+02] [-1.11732296e-01 9.93737362e-01 -1.39627972e-03 -1.00719725e+01] [-1.26070442e-02 -1.25236627e-05 9.99920528e-01 6.01792394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.312320588 meters 0.022475092678507818 Centerline is valid? [True, True] Translation: X:123.31, Y:-10.07, Z:0.60 [[ 9.93847798e-01 1.10086538e-01 1.21452811e-02 1.23311650e+02] [-1.10078217e-01 9.93922006e-01 -1.35346367e-03 -1.00736233e+01] [-1.22204603e-02 8.20599664e-06 9.99925327e-01 6.02041555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34232058799999 meters 0.022565599781231974 Centerline is valid? [True, True] Translation: X:123.34, Y:-10.07, Z:0.60 [[ 9.94045338e-01 1.08250068e-01 1.24815121e-02 1.23340979e+02] [-1.08241150e-01 9.94123695e-01 -1.38977540e-03 -1.00748455e+01] [-1.25586102e-02 3.04865330e-05 9.99921137e-01 5.99988712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.372320588 meters 0.022681347412076888 Centerline is valid? [True, True] Translation: X:123.37, Y:-10.08, Z:0.60 [[ 9.94124896e-01 1.07361695e-01 1.37534420e-02 1.23371488e+02] [-1.07350777e-01 9.94220028e-01 -1.53176589e-03 -1.00780605e+01] [-1.38384005e-02 4.63239151e-05 9.99904244e-01 5.99234479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.402320588 meters 0.022674677909456747 Centerline is valid? [True, True] Translation: X:123.40, Y:-10.08, Z:0.60 [[ 9.94139984e-01 1.07261455e-01 1.34414361e-02 1.23401340e+02] [-1.07251018e-01 9.94230847e-01 -1.49701676e-03 -1.00814268e+01] [-1.35244626e-02 4.66365168e-05 9.99908539e-01 5.98940682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.432320588 meters 0.02267349034971128 Centerline is valid? [True, True] Translation: X:123.43, Y:-10.08, Z:0.60 [[ 9.94208033e-01 1.06797994e-01 1.20239174e-02 1.23431948e+02] [-1.06789609e-01 9.94280738e-01 -1.33914306e-03 -1.00849299e+01] [-1.20981672e-02 4.73573584e-05 9.99926813e-01 5.99849896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.462320588 meters 0.022651905385849245 Centerline is valid? [True, True] Translation: X:123.46, Y:-10.09, Z:0.60 [[ 9.94230477e-01 1.06705232e-01 1.09431495e-02 1.23461757e+02] [-1.06698281e-01 9.94290698e-01 -1.21877440e-03 -1.00888416e+01] [-1.10107213e-02 4.41274170e-05 9.99939379e-01 6.00463654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.492320588 meters 0.022508094079483183 Centerline is valid? [True, True] Translation: X:123.49, Y:-10.09, Z:0.60 [[ 9.94259258e-01 1.06565507e-01 9.60834305e-03 1.23491491e+02] [-1.06560150e-01 9.94305683e-01 -1.06916266e-03 -1.00921420e+01] [-9.66756596e-03 3.91583955e-05 9.99953267e-01 6.01108060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.522320588 meters 0.022647133320737742 Centerline is valid? [True, True] Translation: X:123.52, Y:-10.09, Z:0.60 [[ 9.94247162e-01 1.06661392e-01 9.79426477e-03 1.23519215e+02] [-1.06655904e-01 9.94295402e-01 -1.08239452e-03 -1.00940115e+01] [-9.85384213e-03 3.15515194e-05 9.99951449e-01 6.00770110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.552320588 meters 0.02255182232764955 Centerline is valid? [True, True] Translation: X:123.55, Y:-10.09, Z:0.60 [[ 9.94231429e-01 1.06756938e-01 1.03354483e-02 1.23547155e+02] [-1.06750888e-01 9.94285148e-01 -1.13694169e-03 -1.00944468e+01] [-1.03977592e-02 2.70648725e-05 9.99945941e-01 6.01965234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.582320588 meters 0.022549362619110672 Centerline is valid? [True, True] Translation: X:123.58, Y:-10.10, Z:0.60 [[ 9.94215659e-01 1.06779365e-01 1.15494996e-02 1.23576387e+02] [-1.06771864e-01 9.94282740e-01 -1.26587146e-03 -1.00956627e+01] [-1.16186371e-02 2.53876313e-05 9.99932501e-01 6.02835661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.612320588 meters 0.022677542244059254 Centerline is valid? [True, True] Translation: X:123.61, Y:-10.10, Z:0.60 [[ 9.94269610e-01 1.06060199e-01 1.33857246e-02 1.23605642e+02] [-1.06050039e-01 9.94359710e-01 -1.46857628e-03 -1.01024077e+01] [-1.34659827e-02 4.06041566e-05 9.99909329e-01 6.01905309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.642320588 meters 0.02281053373024792 Centerline is valid? [True, True] Translation: X:123.64, Y:-10.11, Z:0.60 [[ 9.94428249e-01 1.04603868e-01 1.30571354e-02 1.23635884e+02] [-1.04594071e-01 9.94513965e-01 -1.43284505e-03 -1.01095397e+01] [-1.31353846e-02 5.91626472e-05 9.99913725e-01 6.01452259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.672320588 meters 0.022838706525046812 Centerline is valid? [True, True] Translation: X:123.67, Y:-10.11, Z:0.60 [[ 9.94716411e-01 1.02207128e-01 9.64180802e-03 1.23666526e+02] [-1.02201673e-01 9.94763137e-01 -1.05805879e-03 -1.01139533e+01] [-9.69945634e-03 6.70595336e-05 9.99952957e-01 6.02528217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70232058799999 meters 0.023130444002732883 Centerline is valid? [True, True] Translation: X:123.70, Y:-10.11, Z:0.60 [[ 9.95299210e-01 9.65327872e-02 7.80401187e-03 1.23695815e+02] [-9.65290847e-02 9.95329801e-01 -8.50595220e-04 -1.01126105e+01] [-7.84967590e-03 9.32826285e-05 9.99969186e-01 6.03558015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.732320588 meters 0.02327983053573766 Centerline is valid? [True, True] Translation: X:123.72, Y:-10.12, Z:0.60 [[ 9.95536818e-01 9.40856169e-02 7.37157558e-03 1.23724374e+02] [-9.40822716e-02 9.95564104e-01 -8.00046415e-04 -1.01160466e+01] [-7.41414890e-03 1.02941087e-04 9.99972510e-01 6.03558999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.762320588 meters 0.023690639972895573 Centerline is valid? [True, True] Translation: X:123.75, Y:-10.12, Z:0.60 [[ 9.95746545e-01 9.16968015e-02 8.97298436e-03 1.23752822e+02] [-9.16917798e-02 9.95786963e-01 -9.70297800e-04 -1.01223126e+01] [-9.02415405e-03 1.43421776e-04 9.99959271e-01 6.01220150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.792320588 meters 0.023767088855107178 Centerline is valid? [True, True] Translation: X:123.78, Y:-10.13, Z:0.60 [[ 9.95956329e-01 8.94007989e-02 8.85938218e-03 1.23781266e+02] [-8.93958477e-02 9.95995719e-01 -9.54098727e-04 -1.01302638e+01] [-8.90920392e-03 1.58248684e-04 9.99960300e-01 6.00684793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.822320588 meters 0.023756393421453723 Centerline is valid? [True, True] Translation: X:123.81, Y:-10.14, Z:0.60 [[ 9.95835446e-01 9.07390249e-02 8.84271268e-03 1.23810478e+02] [-9.07341293e-02 9.95874695e-01 -9.54081640e-04 -1.01406392e+01] [-8.89280623e-03 1.47772480e-04 9.99960447e-01 6.00992910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.852320588 meters 0.02325646232445511 Centerline is valid? [True, True] Translation: X:123.84, Y:-10.15, Z:0.60 [[ 9.95725214e-01 9.20438596e-02 7.69587395e-03 1.23840267e+02] [-9.20402031e-02 9.95754947e-01 -8.28706130e-04 -1.01455830e+01] [-7.73948186e-03 1.16833788e-04 9.99970043e-01 6.03099561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.882320588 meters 0.023453724453361656 Centerline is valid? [True, True] Translation: X:123.87, Y:-10.15, Z:0.60 [[ 9.95649829e-01 9.27789964e-02 8.57180927e-03 1.23869194e+02] [-9.27745297e-02 9.95686720e-01 -9.18121216e-04 -1.01503420e+01] [-8.62001902e-03 1.18881658e-04 9.99962840e-01 6.04362907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.912320588 meters 0.023475999454912144 Centerline is valid? [True, True] Translation: X:123.90, Y:-10.16, Z:0.61 [[ 9.95565157e-01 9.35329059e-02 1.00803993e-02 1.23898404e+02] [-9.35267520e-02 9.95616180e-01 -1.08120345e-03 -1.01552624e+01] [-1.01373368e-02 1.33621472e-04 9.99948607e-01 6.05498136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.942320588 meters 0.023263956566361543 Centerline is valid? [True, True] Translation: X:123.93, Y:-10.16, Z:0.61 [[ 9.95499241e-01 9.41834422e-02 1.05233412e-02 1.23929402e+02] [-9.41767579e-02 9.95554851e-01 -1.13003787e-03 -1.01605465e+01] [-1.05829942e-02 1.33897689e-04 9.99943990e-01 6.06913086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.972320588 meters 0.022990831997730266 Centerline is valid? [True, True] Translation: X:123.96, Y:-10.17, Z:0.60 [[ 9.95242152e-01 9.70269209e-02 8.87891029e-03 1.23960068e+02] [-9.70222700e-02 9.95281754e-01 -9.54077205e-04 -1.01694030e+01] [-8.92958857e-03 8.80858199e-05 9.99960127e-01 6.04718623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.002320588 meters 0.023015305407374093 Centerline is valid? [True, True] Translation: X:123.99, Y:-10.18, Z:0.60 [[ 9.95195762e-01 9.76213402e-02 7.44777866e-03 1.23989712e+02] [-9.76180865e-02 9.95223628e-01 -8.00025392e-04 -1.01751644e+01] [-7.49030484e-03 6.91439784e-05 9.99971945e-01 6.03758913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.032320588 meters 0.02315679703930624 Centerline is valid? [True, True] Translation: X:124.02, Y:-10.18, Z:0.60 [[ 9.95093608e-01 9.86340687e-02 7.74797395e-03 1.24018995e+02] [-9.86305846e-02 9.95123769e-01 -8.31435852e-04 -1.01807499e+01] [-7.79220094e-03 6.31693017e-05 9.99969638e-01 6.02153156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.062320588 meters 0.023160961841931532 Centerline is valid? [True, True] Translation: X:124.05, Y:-10.19, Z:0.60 [[ 9.95100451e-01 9.85263890e-02 8.22455114e-03 1.24049320e+02] [-9.85224565e-02 9.95134436e-01 -8.82925861e-04 -1.01873967e+01] [-8.27152555e-03 6.82969404e-05 9.99965788e-01 6.02300943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09232058799999 meters 0.023094599657294643 Centerline is valid? [True, True] Translation: X:124.08, Y:-10.19, Z:0.60 [[ 9.95138541e-01 9.81193690e-02 8.47780426e-03 1.24079151e+02] [-9.81151758e-02 9.95174650e-01 -9.10113209e-04 -1.01921978e+01] [-8.52619562e-03 7.38874751e-05 9.99963649e-01 6.03941336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.122320588 meters 0.023095144893642065 Centerline is valid? [True, True] Translation: X:124.11, Y:-10.20, Z:0.61 [[ 9.94945270e-01 9.98662924e-02 1.05182641e-02 1.24110022e+02] [-9.98599246e-02 9.95000863e-01 -1.13018342e-03 -1.01979260e+01] [-1.05785491e-02 7.41175835e-05 9.99944043e-01 6.05416421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.152320588 meters 0.02319954285256156 Centerline is valid? [True, True] Translation: X:124.14, Y:-10.20, Z:0.61 [[ 9.94839541e-01 1.00713053e-01 1.22950292e-02 1.24140691e+02] [-1.00704407e-01 9.94915512e-01 -1.32183764e-03 -1.02027665e+01] [-1.23656416e-02 7.68527249e-05 9.99923540e-01 6.07239729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.182320588 meters 0.02298659183355931 Centerline is valid? [True, True] Translation: X:124.17, Y:-10.21, Z:0.61 [[ 9.94310975e-01 1.05799068e-01 1.23386124e-02 1.24172335e+02] [-1.05790729e-01 9.94387529e-01 -1.32847813e-03 -1.02074412e+01] [-1.24099140e-02 1.56095926e-05 9.99922994e-01 6.08097149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.212320588 meters 0.02302099391810466 Centerline is valid? [True, True] Translation: X:124.20, Y:-10.21, Z:0.61 [[ 9.93987715e-01 1.09106629e-01 9.17417653e-03 1.24203140e+02] [-1.09102155e-01 9.94030051e-01 -9.88214388e-04 -1.02102233e+01] [-9.22722791e-03 -1.86494704e-05 9.99957428e-01 6.05850544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.242320588 meters 0.023050352014049202 Centerline is valid? [True, True] Translation: X:124.23, Y:-10.21, Z:0.60 [[ 9.93538201e-01 1.13350097e-01 5.79643664e-03 1.24233957e+02] [-1.13348382e-01 9.93555109e-01 -6.24521853e-04 -1.02135184e+01] [-5.82986885e-03 -3.65303975e-05 9.99983006e-01 6.04354792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.272320588 meters 0.02304131055670482 Centerline is valid? [True, True] Translation: X:124.26, Y:-10.22, Z:0.60 [[ 9.93203513e-01 1.16276582e-01 5.15145595e-03 1.24262578e+02] [-1.16275292e-01 9.93216871e-01 -5.50172720e-04 -1.02160795e+01] [-5.18048517e-03 -5.25535686e-05 9.99986580e-01 6.03894019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.302320588 meters 0.023554487318618693 Centerline is valid? [True, True] Translation: X:124.29, Y:-10.22, Z:0.61 [[ 9.92464309e-01 1.22127190e-01 9.97721313e-03 1.24291003e+02] [-1.22122672e-01 9.92514445e-01 -1.06308919e-03 -1.02167751e+01] [-1.00323602e-02 -1.63365855e-04 9.99949661e-01 6.05292238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.332320588 meters 0.023665648545681792 Centerline is valid? [True, True] Translation: X:124.32, Y:-10.22, Z:0.61 [[ 9.92253439e-01 1.23835088e-01 9.89871063e-03 1.24321985e+02] [-1.23830703e-01 9.92302796e-01 -1.05703636e-03 -1.02178988e+01] [-9.95341643e-03 -1.76916325e-04 9.99950448e-01 6.07514428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.362320588 meters 0.023885550569352376 Centerline is valid? [True, True] Translation: X:124.35, Y:-10.22, Z:0.61 [[ 9.92106658e-01 1.24877429e-01 1.14021019e-02 1.24352742e+02] [-1.24871679e-01 9.92172153e-01 -1.21757638e-03 -1.02188356e+01] [-1.14648958e-02 -2.15833970e-04 9.99934253e-01 6.08535921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.392320588 meters 0.023778632359479714 Centerline is valid? [True, True] Translation: X:124.38, Y:-10.22, Z:0.61 [[ 9.92354956e-01 1.22832773e-01 1.19896645e-02 1.24383831e+02] [-1.22826267e-01 9.92427362e-01 -1.28031941e-03 -1.02169199e+01] [-1.20561363e-02 -2.02114419e-04 9.99927302e-01 6.09586499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.422320588 meters 0.023477371982340553 Centerline is valid? [True, True] Translation: X:124.41, Y:-10.22, Z:0.61 [[ 9.92749046e-01 1.19784083e-01 1.00551043e-02 1.24414230e+02] [-1.19779350e-01 9.92799957e-01 -1.07373691e-03 -1.02172292e+01] [-1.01113237e-02 -1.38442577e-04 9.99948870e-01 6.09182647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45232058799999 meters 0.023194000933370474 Centerline is valid? [True, True] Translation: X:124.44, Y:-10.22, Z:0.61 [[ 9.93210311e-01 1.16061157e-01 7.94272834e-03 1.24443678e+02] [-1.16058112e-01 9.93242066e-01 -8.44752661e-04 -1.02178014e+01] [-7.98709488e-03 -8.28010046e-05 9.99968099e-01 6.08377168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.482320588 meters 0.02304460518824602 Centerline is valid? [True, True] Translation: X:124.47, Y:-10.22, Z:0.61 [[ 9.93557457e-01 1.12973328e-01 8.97815387e-03 1.24471824e+02] [-1.12969365e-01 9.93598018e-01 -9.48919958e-04 -1.02185156e+01] [-9.02787854e-03 -7.14498442e-05 9.99959245e-01 6.07510819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.512320588 meters 0.02300300086678755 Centerline is valid? [True, True] Translation: X:124.50, Y:-10.21, Z:0.61 [[ 9.94312714e-01 1.05952556e-01 1.07834491e-02 1.24501482e+02] [-1.05946473e-01 9.94371186e-01 -1.13543920e-03 -1.02141217e+01] [-1.08430538e-02 -1.34867676e-05 9.99941212e-01 6.08514046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.542320588 meters 0.023024468699071633 Centerline is valid? [True, True] Translation: X:124.53, Y:-10.21, Z:0.61 [[ 9.94553945e-01 1.03486385e-01 1.23700349e-02 1.24531079e+02] [-1.03478169e-01 9.94630870e-01 -1.30407809e-03 -1.02120960e+01] [-1.24385729e-02 1.69474435e-05 9.99922638e-01 6.09270603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.572320588 meters 0.023039638312071585 Centerline is valid? [True, True] Translation: X:124.56, Y:-10.21, Z:0.61 [[ 9.94878310e-01 1.00386521e-01 1.18192769e-02 1.24561571e+02] [-1.00378799e-01 9.94948513e-01 -1.24633162e-03 -1.02112261e+01] [-1.18846869e-02 5.35434819e-05 9.99929373e-01 6.09247726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.602320588 meters 0.023186498372829954 Centerline is valid? [True, True] Translation: X:124.59, Y:-10.21, Z:0.61 [[ 9.95429178e-01 9.51737525e-02 7.91880534e-03 1.24591430e+02] [-9.51701209e-02 9.95460673e-01 -8.35030567e-04 -1.02148421e+01] [-7.96233228e-03 7.75801299e-05 9.99968297e-01 6.07909432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.632320588 meters 0.023567149384965097 Centerline is valid? [True, True] Translation: X:124.62, Y:-10.22, Z:0.61 [[ 9.95702077e-01 9.21717375e-02 9.04123048e-03 1.24619652e+02] [-9.21669371e-02 9.95743119e-01 -9.47065284e-04 -1.02217239e+01] [-9.09003569e-03 1.09692350e-04 9.99958679e-01 6.06471733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.662320588 meters 0.023772293725840443 Centerline is valid? [True, True] Translation: X:124.65, Y:-10.23, Z:0.61 [[ 9.95988104e-01 8.90094171e-02 9.22062200e-03 1.24648582e+02] [-8.90042758e-02 9.96030774e-01 -9.67253953e-04 -1.02278308e+01] [-9.27011798e-03 1.42698647e-04 9.99957021e-01 6.06783267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.692320588 meters 0.02484673351422748 Centerline is valid? [True, True] Translation: X:124.68, Y:-10.23, Z:0.61 [[ 9.96543278e-01 8.23609813e-02 1.08703500e-02 1.24677976e+02] [-8.23534593e-02 9.96602534e-01 -1.13855236e-03 -1.02270935e+01] [-1.09271906e-02 2.39405779e-04 9.99940268e-01 6.10246799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.722320588 meters 0.025457782380090242 Centerline is valid? [True, True] Translation: X:124.71, Y:-10.23, Z:0.61 [[ 9.96865685e-01 7.85313185e-02 9.57278409e-03 1.24708955e+02] [-7.85252985e-02 9.96911616e-01 -1.00369265e-03 -1.02267184e+01] [-9.62204096e-03 2.48841028e-04 9.99953676e-01 6.11634787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.752320588 meters 0.02599118566923607 Centerline is valid? [True, True] Translation: X:124.74, Y:-10.23, Z:0.61 [[ 9.97159889e-01 7.47568697e-02 9.14146797e-03 1.24739826e+02] [-7.47512229e-02 9.97201753e-01 -9.58321053e-04 -1.02286387e+01] [-9.18752896e-03 2.72263406e-04 9.99957757e-01 6.11851177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.782320588 meters 0.026310005650118366 Centerline is valid? [True, True] Translation: X:124.77, Y:-10.23, Z:0.61 [[ 9.97405108e-01 7.15291516e-02 8.16279585e-03 1.24769913e+02] [-7.15245411e-02 9.97438473e-01 -8.55724610e-04 -1.02343004e+01] [-8.20309588e-03 2.69663870e-04 9.99966318e-01 6.11670087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.812320588 meters 0.027940380366842342 Centerline is valid? [True, True] Translation: X:124.80, Y:-10.25, Z:0.61 [[ 9.97873236e-01 6.46392517e-02 8.41256004e-03 1.24799430e+02] [-6.46341101e-02 9.97908640e-01 -8.81907964e-04 -1.02472419e+01] [-8.45197222e-03 3.36294022e-04 9.99964225e-01 6.09165653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84232058799999 meters 0.027940380366842342 Centerline is valid? [True, True] Translation: X:124.83, Y:-10.25, Z:0.61 [[ 9.97869358e-01 6.46991089e-02 8.41247560e-03 1.24830132e+02] [-6.46939627e-02 9.97904761e-01 -8.82713201e-04 -1.02504438e+01] [-8.45196021e-03 3.36596073e-04 9.99964225e-01 6.09321218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.872320588 meters 0.02886994195023478 Centerline is valid? [True, True] Translation: X:124.86, Y:-10.26, Z:0.61 [[ 9.98073499e-01 6.14966851e-02 8.21267907e-03 1.24861195e+02] [-6.14916681e-02 9.98107224e-01 -8.62251617e-04 -1.02576190e+01] [-8.25015993e-03 3.55579153e-04 9.99965904e-01 6.08040303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.902320588 meters 0.02944122800968392 Centerline is valid? [True, True] Translation: X:124.89, Y:-10.26, Z:0.61 [[ 9.98210287e-01 5.93367530e-02 7.44123252e-03 1.24891854e+02] [-5.93325708e-02 9.98237965e-01 -7.81724398e-04 -1.02640247e+01] [-7.47450579e-03 3.38817881e-04 9.99972008e-01 6.08176114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.932320588 meters 0.02974334403456592 Centerline is valid? [True, True] Translation: X:124.92, Y:-10.27, Z:0.61 [[ 9.98337737e-01 5.73024388e-02 6.18008530e-03 1.24922446e+02] [-5.72995127e-02 9.98356822e-01 -6.49651239e-04 -1.02709960e+01] [-6.20715692e-03 2.94455472e-04 9.99980692e-01 6.09439973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.962320588 meters 0.03019900822053936 Centerline is valid? [True, True] Translation: X:124.95, Y:-10.28, Z:0.61 [[ 9.98465210e-01 5.52016290e-02 4.47267236e-03 1.24952466e+02] [-5.52000751e-02 9.98475203e-01 -4.70235803e-04 -1.02811849e+01] [-4.49181022e-03 2.22622240e-04 9.99989887e-01 6.10826540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.992320588 meters 0.029750366788583765 Centerline is valid? [True, True] Translation: X:124.98, Y:-10.29, Z:0.61 [[ 9.98443974e-01 5.55790787e-02 4.53828462e-03 1.24982002e+02] [-5.55774834e-02 9.98454263e-01 -4.76982450e-04 -1.02880397e+01] [-4.55777987e-03 2.24013815e-04 9.99989588e-01 6.12394123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.022320588 meters 0.030171554385284564 Centerline is valid? [True, True] Translation: X:125.01, Y:-10.29, Z:0.61 [[ 9.98399690e-01 5.62127312e-02 6.17968960e-03 1.25011958e+02] [-5.62097853e-02 9.98418769e-01 -6.49497274e-04 -1.02935799e+01] [-6.20642810e-03 3.01098851e-04 9.99980695e-01 6.12607169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.052320588 meters 0.02962054474109257 Centerline is valid? [True, True] Translation: X:125.04, Y:-10.30, Z:0.61 [[ 9.98291813e-01 5.78672474e-02 8.05217201e-03 1.25042326e+02] [-5.78622963e-02 9.98324215e-01 -8.46686319e-04 -1.03016713e+01] [-8.08767370e-03 3.79322858e-04 9.99967222e-01 6.12431895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.082320588 meters 0.028373637948051384 Centerline is valid? [True, True] Translation: X:125.07, Y:-10.32, Z:0.61 [[ 9.97995711e-01 6.26435252e-02 8.96381744e-03 1.25072663e+02] [-6.26375718e-02 9.98035893e-01 -9.43648617e-04 -1.03159052e+01] [-9.00532502e-03 3.80285514e-04 9.99959379e-01 6.11240655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.112320588 meters 0.027906600903495386 Centerline is valid? [True, True] Translation: X:125.10, Y:-10.33, Z:0.61 [[ 9.97886604e-01 6.43934292e-02 8.70698950e-03 1.25104161e+02] [-6.43878678e-02 9.97924526e-01 -9.17830849e-04 -1.03255029e+01] [-8.74802065e-03 3.55266620e-04 9.99961672e-01 6.09988189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.142320588 meters 0.02745396647416742 Centerline is valid? [True, True] Translation: X:125.14, Y:-10.33, Z:0.61 [[ 9.97778064e-01 6.60637996e-02 8.63184760e-03 1.25135533e+02] [-6.60583870e-02 9.97815343e-01 -9.10975272e-04 -1.03346563e+01] [-8.67317246e-03 3.38745214e-04 9.99962330e-01 6.09636535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.172320588 meters 0.026697296270394587 Centerline is valid? [True, True] Translation: X:125.17, Y:-10.34, Z:0.61 [[ 9.97521648e-01 6.97808209e-02 9.01101323e-03 1.25167305e+02] [-6.97750600e-02 9.97562296e-01 -9.52509925e-04 -1.03436563e+01] [-9.05551396e-03 3.21405282e-04 9.99958946e-01 6.12026477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20232058799999 meters 0.02634829383784666 Centerline is valid? [True, True] Translation: X:125.20, Y:-10.35, Z:0.61 [[ 9.97375591e-01 7.18104941e-02 9.22947205e-03 1.25199182e+02] [-7.18045281e-02 9.97418245e-01 -9.76578264e-04 -1.03473901e+01] [-9.27577238e-03 3.11297438e-04 9.99956931e-01 6.14940283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.232320588 meters 0.025844707087819684 Centerline is valid? [True, True] Translation: X:125.23, Y:-10.35, Z:0.62 [[ 9.97232969e-01 7.35400742e-02 1.08748428e-02 1.25231221e+02] [-7.35318805e-02 9.97292202e-01 -1.15191743e-03 -1.03521882e+01] [-1.09301080e-02 3.49082398e-04 9.99940204e-01 6.15157209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.262320588 meters 0.02539542858014543 Centerline is valid? [True, True] Translation: X:125.26, Y:-10.36, Z:0.62 [[ 9.97119290e-01 7.52009613e-02 9.89626000e-03 1.25262937e+02] [-7.51942448e-02 9.97168353e-01 -1.04955348e-03 -1.03595503e+01] [-9.94716471e-03 3.02388224e-04 9.99950480e-01 6.15151009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.292320588 meters 0.024745065474856113 Centerline is valid? [True, True] Translation: X:125.29, Y:-10.37, Z:0.61 [[ 9.96832145e-01 7.89112544e-02 9.93425912e-03 1.25293568e+02] [-7.89046577e-02 9.96881609e-01 -1.05484210e-03 -1.03748532e+01] [-9.98651913e-03 2.67641195e-04 9.99950098e-01 6.11456599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.322320588 meters 0.024405026810846754 Centerline is valid? [True, True] Translation: X:125.33, Y:-10.38, Z:0.61 [[ 9.96613025e-01 8.14924661e-02 1.10206880e-02 1.25325521e+02] [-8.14844904e-02 9.96673921e-01 -1.17154407e-03 -1.03824343e+01] [-1.10795044e-02 2.69560931e-04 9.99938584e-01 6.10706078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.352320588 meters 0.024061627346761892 Centerline is valid? [True, True] Translation: X:125.36, Y:-10.39, Z:0.61 [[ 9.96367184e-01 8.43629094e-02 1.16333021e-02 1.25357371e+02] [-8.43542009e-02 9.96435064e-01 -1.23811205e-03 -1.03887988e+01] [-1.16962809e-02 2.52296315e-04 9.99931564e-01 6.10750577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.382320588 meters 0.02377665903473749 Centerline is valid? [True, True] Translation: X:125.39, Y:-10.39, Z:0.61 [[ 9.96247278e-01 8.59966107e-02 9.79510693e-03 1.25389174e+02] [-8.59905025e-02 9.96295410e-01 -1.04384234e-03 -1.03944007e+01] [-9.84858697e-03 1.97638923e-04 9.99951482e-01 6.13081145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.412320588 meters 0.02339893670238391 Centerline is valid? [True, True] Translation: X:125.42, Y:-10.40, Z:0.62 [[ 9.95924480e-01 8.97821516e-02 8.57880594e-03 1.25420608e+02] [-8.97775962e-02 9.95961418e-01 -9.15419571e-04 -1.04006618e+01] [-8.62634806e-03 1.41504184e-04 9.99962782e-01 6.15415476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.442320588 meters 0.023331457496853034 Centerline is valid? [True, True] Translation: X:125.45, Y:-10.41, Z:0.62 [[ 9.95846087e-01 9.07030892e-02 7.96993781e-03 1.25452789e+02] [-9.06991782e-02 9.95877971e-01 -8.51538352e-04 -1.04059771e+01] [-8.01432266e-03 1.25134326e-04 9.99967877e-01 6.15485659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.472320588 meters 0.023011203112973246 Centerline is valid? [True, True] Translation: X:125.48, Y:-10.41, Z:0.62 [[ 9.95721229e-01 9.21262690e-02 7.21004308e-03 1.25484388e+02] [-9.21230982e-02 9.95747327e-01 -7.71352946e-04 -1.04139986e+01] [-7.25044299e-03 1.03840996e-04 9.99973710e-01 6.16007342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.502320588 meters 0.023025466058061005 Centerline is valid? [True, True] Translation: X:125.52, Y:-10.42, Z:0.62 [[ 9.95616110e-01 9.31370611e-02 8.60524642e-03 1.25515862e+02] [-9.31325736e-02 9.95653290e-01 -9.21624991e-04 -1.04231395e+01] [-8.65367936e-03 1.16155943e-04 9.99962549e-01 6.15532828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.532320588 meters 0.022998219081755252 Centerline is valid? [True, True] Translation: X:125.55, Y:-10.43, Z:0.62 [[ 9.95540244e-01 9.37724271e-02 1.03128051e-02 1.25546921e+02] [-9.37660031e-02 9.95593649e-01 -1.10574002e-03 -1.04321926e+01] [-1.03710512e-02 1.33818180e-04 9.99946210e-01 6.16158713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.562320588 meters 0.023010801647484192 Centerline is valid? [True, True] Translation: X:125.58, Y:-10.44, Z:0.62 [[ 9.95331309e-01 9.58077975e-02 1.16812381e-02 1.25579403e+02] [-9.57996652e-02 9.95399844e-01 -1.25504972e-03 -1.04397303e+01] [-1.17477462e-02 1.30131576e-04 9.99930984e-01 6.16296956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59232058799999 meters 0.0229987498301336 Centerline is valid? [True, True] Translation: X:125.61, Y:-10.44, Z:0.62 [[ 9.95261166e-01 9.66760922e-02 1.04376095e-02 1.25611171e+02] [-9.66696351e-02 9.95315890e-01 -1.12258156e-03 -1.04419842e+01] [-1.04972454e-02 1.08261927e-04 9.99944897e-01 6.15350405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.622320588 meters 0.02288173462579382 Centerline is valid? [True, True] Translation: X:125.64, Y:-10.45, Z:0.61 [[ 9.95185021e-01 9.76398293e-02 8.55791540e-03 1.25643026e+02] [-9.76355131e-02 9.95221813e-01 -9.21685894e-04 -1.04452532e+01] [-8.60701734e-03 8.16915342e-05 9.99962956e-01 6.14202248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.652320588 meters 0.02297177852323687 Centerline is valid? [True, True] Translation: X:125.68, Y:-10.46, Z:0.61 [[ 9.94852593e-01 1.00823614e-01 1.01448436e-02 1.25675231e+02] [-1.00817691e-01 9.94904314e-01 -1.09487461e-03 -1.04559091e+01] [-1.02035379e-02 6.64591350e-05 9.99947940e-01 6.13534326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.682320588 meters 0.02276211105462966 Centerline is valid? [True, True] Translation: X:125.71, Y:-10.46, Z:0.62 [[ 9.94721097e-01 1.02097403e-01 1.02985552e-02 1.25707354e+02] [-1.02091346e-01 9.94774405e-01 -1.11354827e-03 -1.04640997e+01] [-1.03584295e-02 5.62765916e-05 9.99946348e-01 6.15838649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.712320588 meters 0.022667706222129675 Centerline is valid? [True, True] Translation: X:125.74, Y:-10.47, Z:0.62 [[ 9.94564066e-01 1.03539609e-01 1.10393465e-02 1.25739668e+02] [-1.03532713e-01 9.94625330e-01 -1.19583980e-03 -1.04705569e+01] [-1.11038304e-02 4.64058039e-05 9.99938349e-01 6.17745914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.742320588 meters 0.022627505176504012 Centerline is valid? [True, True] Translation: X:125.77, Y:-10.47, Z:0.62 [[ 9.94669478e-01 1.02874040e-01 7.04002279e-03 1.25771602e+02] [-1.02871212e-01 9.94694391e-01 -7.63589483e-04 -1.04746915e+01] [-7.08122471e-03 3.53034719e-05 9.99974927e-01 6.16118814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.772320588 meters 0.022815491089999407 Centerline is valid? [True, True] Translation: X:125.80, Y:-10.48, Z:0.61 [[ 9.94754438e-01 1.02124849e-01 5.84158769e-03 1.25803603e+02] [-1.02122884e-01 9.94771589e-01 -6.34509795e-04 -1.04790843e+01] [-5.87584468e-03 3.46216555e-05 9.99982736e-01 6.14674907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.802320588 meters 0.02290885841087179 Centerline is valid? [True, True] Translation: X:125.84, Y:-10.48, Z:0.61 [[ 9.94851973e-01 1.01100541e-01 6.94502811e-03 1.25835840e+02] [-1.01097732e-01 9.94876213e-01 -7.55184656e-04 -1.04840247e+01] [-6.98579284e-03 4.91703518e-05 9.99975598e-01 6.13593049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.832320588 meters 0.02297859301202966 Centerline is valid? [True, True] Translation: X:125.87, Y:-10.49, Z:0.62 [[ 9.94932412e-01 1.00258693e-01 7.59537418e-03 1.25867433e+02] [-1.00255302e-01 9.94961402e-01 -8.26842401e-04 -1.04895031e+01] [-7.64000228e-03 6.11757737e-05 9.99970813e-01 6.15583479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.862320588 meters 0.023035853444165477 Centerline is valid? [True, True] Translation: X:125.90, Y:-10.49, Z:0.62 [[ 9.94972017e-01 9.97113951e-02 9.39805736e-03 1.25899211e+02] [-9.97061687e-02 9.95016397e-01 -1.02418692e-03 -1.04936694e+01] [-9.45334428e-03 8.19930279e-05 9.99955313e-01 6.17727681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.892320588 meters 0.02289468921736019 Centerline is valid? [True, True] Translation: X:125.93, Y:-10.50, Z:0.62 [[ 9.94912869e-01 1.00341416e-01 8.94331850e-03 1.25930880e+02] [-1.00336698e-01 9.94953062e-01 -9.75880640e-04 -1.04989327e+01] [-8.99610337e-03 7.35731635e-05 9.99959532e-01 6.21359609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.922320588 meters 0.022739958126497595 Centerline is valid? [True, True] Translation: X:125.96, Y:-10.50, Z:0.62 [[ 9.94878439e-01 1.00750125e-01 8.14268850e-03 1.25962688e+02] [-1.00746217e-01 9.94911759e-01 -8.89671238e-04 -1.05042028e+01] [-8.19089103e-03 6.47696668e-05 9.99966452e-01 6.21844482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95232058799999 meters 0.02279839910235452 Centerline is valid? [True, True] Translation: X:126.00, Y:-10.51, Z:0.62 [[ 9.94846627e-01 1.01047870e-01 8.33770072e-03 1.25995306e+02] [-1.01043766e-01 9.94881563e-01 -9.13001000e-04 -1.05098335e+01] [-8.38728153e-03 6.58232815e-05 9.99964824e-01 6.19761258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.982320588 meters 0.022961679063986145 Centerline is valid? [True, True] Translation: X:126.03, Y:-10.51, Z:0.62 [[ 9.94867792e-01 1.00858845e-01 8.09754693e-03 1.26028335e+02] [-1.00854955e-01 9.94900743e-01 -8.88399919e-04 -1.05139925e+01] [-8.14585845e-03 6.71627349e-05 9.99966820e-01 6.17718499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.012320588 meters 0.023078285610977273 Centerline is valid? [True, True] Translation: X:126.06, Y:-10.52, Z:0.62 [[ 9.94939069e-01 1.00187097e-01 7.66772298e-03 1.26060776e+02] [-1.00183576e-01 9.94968613e-01 -8.42844751e-04 -1.05170836e+01] [-7.71358586e-03 7.03992633e-05 9.99970247e-01 6.16563584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.042320588 meters 0.023225683189879182 Centerline is valid? [True, True] Translation: X:126.09, Y:-10.52, Z:0.62 [[ 9.95269998e-01 9.68345281e-02 7.79137492e-03 1.26092908e+02] [-9.68307849e-02 9.95300490e-01 -8.57116243e-04 -1.05228805e+01] [-7.83775771e-03 9.86171327e-05 9.99969279e-01 6.17761012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.072320588 meters 0.023283846148000716 Centerline is valid? [True, True] Translation: X:126.12, Y:-10.53, Z:0.62 [[ 9.95373449e-01 9.57871271e-02 7.51818575e-03 1.26124527e+02] [-9.57836042e-02 9.95401836e-01 -8.28091462e-04 -1.05296062e+01] [-7.56293640e-03 1.04141326e-04 9.99971395e-01 6.20037374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.102320588 meters 0.023232378487300392 Centerline is valid? [True, True] Translation: X:126.16, Y:-10.54, Z:0.62 [[ 9.95454777e-01 9.50692078e-02 5.62427298e-03 1.26156436e+02] [-9.50672197e-02 9.95470662e-01 -6.20383717e-04 -1.05368173e+01] [-5.65777813e-03 8.28799396e-05 9.99983991e-01 6.22937001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.132320588 meters 0.023310037901098188 Centerline is valid? [True, True] Translation: X:126.19, Y:-10.54, Z:0.62 [[ 9.95414671e-01 9.55061623e-02 5.31089521e-03 1.26187755e+02] [-9.55043918e-02 9.95428836e-01 -5.86559754e-04 -1.05423350e+01] [-5.34263831e-03 7.66563672e-05 9.99985725e-01 6.24148984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.162320588 meters 0.023141035700863406 Centerline is valid? [True, True] Translation: X:126.22, Y:-10.55, Z:0.62 [[ 9.95200506e-01 9.76368413e-02 6.55748365e-03 1.26219899e+02] [-9.76341836e-02 9.95222106e-01 -7.24952181e-04 -1.05456502e+01] [-6.59693473e-03 8.12382145e-05 9.99978237e-01 6.22724607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.192320588 meters 0.02300796699009473 Centerline is valid? [True, True] Translation: X:126.25, Y:-10.55, Z:0.62 [[ 9.94987042e-01 9.96704957e-02 8.15953534e-03 1.26252507e+02] [-9.96664343e-02 9.95020495e-01 -9.03883397e-04 -1.05510189e+01] [-8.20899539e-03 8.61204758e-05 9.99966302e-01 6.21943718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.222320588 meters 0.022865800567727225 Centerline is valid? [True, True] Translation: X:126.28, Y:-10.56, Z:0.62 [[ 9.94777295e-01 1.01714305e-01 8.50489140e-03 1.26284105e+02] [-1.01709960e-01 9.94813648e-01 -9.42900990e-04 -1.05584879e+01] [-8.55668857e-03 7.29443301e-05 9.99963388e-01 6.20641167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.252320588 meters 0.022690101858107006 Centerline is valid? [True, True] Translation: X:126.31, Y:-10.57, Z:0.62 [[ 9.94369347e-01 1.05768475e-01 6.52933130e-03 1.26314932e+02] [-1.05765995e-01 9.94390783e-01 -7.24918109e-04 -1.05719885e+01] [-6.56938034e-03 3.02551236e-05 9.99978421e-01 6.22530336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.282320588 meters 0.02273959799402337 Centerline is valid? [True, True] Translation: X:126.35, Y:-10.58, Z:0.62 [[ 9.94149532e-01 1.07852879e-01 5.87059400e-03 1.26346784e+02] [-1.07850906e-01 9.94166865e-01 -6.52660831e-04 -1.05781577e+01] [-5.90674138e-03 1.56935806e-05 9.99982555e-01 6.23075112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.312320588 meters 0.022683007117922847 Centerline is valid? [True, True] Translation: X:126.38, Y:-10.58, Z:0.62 [[ 9.94020771e-01 1.09029021e-01 5.94803077e-03 1.26379188e+02] [-1.09027006e-01 9.94038567e-01 -6.62864048e-04 -1.05830650e+01] [-5.98484340e-03 1.04046450e-05 9.99982091e-01 6.23229963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34232058799999 meters 0.022729798051603953 Centerline is valid? [True, True] Translation: X:126.41, Y:-10.59, Z:0.62 [[ 9.93893741e-01 1.10143522e-01 6.60583624e-03 1.26411467e+02] [-1.10141053e-01 9.93915693e-01 -7.37420404e-04 -1.05887210e+01] [-6.64686639e-03 5.34376235e-06 9.99977909e-01 6.24631946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.372320588 meters 0.022849167859002803 Centerline is valid? [True, True] Translation: X:126.44, Y:-10.60, Z:0.63 [[ 9.93310826e-01 1.15108198e-01 9.14911963e-03 1.26443210e+02] [-1.15103669e-01 9.93352959e-01 -1.02183978e-03 -1.05958809e+01] [-9.20592719e-03 -3.80927195e-05 9.99957624e-01 6.26583963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.402320588 meters 0.02301200199878171 Centerline is valid? [True, True] Translation: X:126.48, Y:-10.60, Z:0.63 [[ 9.92815431e-01 1.19243264e-01 9.92791994e-03 1.26475152e+02] [-1.19238125e-01 9.92865065e-01 -1.11011163e-03 -1.05981368e+01] [-9.98945821e-03 -8.16505964e-05 9.99950101e-01 6.26286814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.432320588 meters 0.023179200811730177 Centerline is valid? [True, True] Translation: X:126.51, Y:-10.60, Z:0.62 [[ 9.92412290e-01 1.22625377e-01 8.99241425e-03 1.26507814e+02] [-1.22621288e-01 9.92453025e-01 -1.00677293e-03 -1.05991515e+01] [-9.04800463e-03 -1.03527592e-04 9.99959061e-01 6.24558207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.462320588 meters 0.02339094504649389 Centerline is valid? [True, True] Translation: X:126.54, Y:-10.60, Z:0.62 [[ 9.92002850e-01 1.25941830e-01 8.30672305e-03 1.26539572e+02] [-1.25938447e-01 9.92037621e-01 -9.31168269e-04 -1.06020028e+01] [-8.35785481e-03 -1.22414225e-04 9.99965065e-01 6.22479716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.492320588 meters 0.023626114335321524 Centerline is valid? [True, True] Translation: X:126.57, Y:-10.61, Z:0.62 [[ 9.91682432e-01 1.28454646e-01 8.08447874e-03 1.26570595e+02] [-1.28451517e-01 9.91715375e-01 -9.07340572e-04 -1.06106436e+01] [-8.13405398e-03 -1.38669849e-04 9.99966908e-01 6.22514379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.522320588 meters 0.02380775923032946 Centerline is valid? [True, True] Translation: X:126.60, Y:-10.62, Z:0.63 [[ 9.91575479e-01 1.29225057e-01 8.88561176e-03 1.26602241e+02] [-1.29221297e-01 9.91615278e-01 -9.98376312e-04 -1.06165113e+01] [-8.94012361e-03 -1.58244807e-04 9.99960024e-01 6.25166529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.552320588 meters 0.02370328563537575 Centerline is valid? [True, True] Translation: X:126.63, Y:-10.62, Z:0.63 [[ 9.91508582e-01 1.29602884e-01 1.06688157e-02 1.26634191e+02] [-1.29597472e-01 9.91565961e-01 -1.20001768e-03 -1.06183101e+01] [-1.07343603e-02 -1.92823719e-04 9.99942367e-01 6.26658440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.582320588 meters 0.023865447216004667 Centerline is valid? [True, True] Translation: X:126.67, Y:-10.62, Z:0.63 [[ 9.91433021e-01 1.30204102e-01 1.03661388e-02 1.26667339e+02] [-1.30199000e-01 9.91487194e-01 -1.16843295e-03 -1.06177823e+01] [-1.04300286e-02 -1.91237885e-04 9.99945587e-01 6.26997197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.612320588 meters 0.023843529326835873 Centerline is valid? [True, True] Translation: X:126.70, Y:-10.62, Z:0.63 [[ 9.91432390e-01 1.30143686e-01 1.11551301e-02 1.26701170e+02] [-1.30137750e-01 9.91495123e-01 -1.25950752e-03 -1.06164550e+01] [-1.12241740e-02 -2.02986972e-04 9.99936986e-01 6.25321281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.642320588 meters 0.02356636641088953 Centerline is valid? [True, True] Translation: X:126.73, Y:-10.62, Z:0.62 [[ 9.91763942e-01 1.27479162e-01 1.23833290e-02 1.26733752e+02] [-1.27471616e-01 9.91841231e-01 -1.39993798e-03 -1.06190348e+01] [-1.24607592e-02 -1.90114951e-04 9.99922344e-01 6.21422710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.672320588 meters 0.023614741483400984 Centerline is valid? [True, True] Translation: X:126.77, Y:-10.63, Z:0.62 [[ 9.91862361e-01 1.26776526e-01 1.16948532e-02 1.26765682e+02] [-1.26769731e-01 9.91931290e-01 -1.32356065e-03 -1.06259753e+01] [-1.17682872e-02 -1.69763397e-04 9.99930737e-01 6.21378541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70232058799999 meters 0.023418763050725308 Centerline is valid? [True, True] Translation: X:126.80, Y:-10.63, Z:0.62 [[ 9.91926677e-01 1.26453144e-01 9.54310489e-03 1.26797363e+02] [-1.26448591e-01 9.91972572e-01 -1.08142973e-03 -1.06314298e+01] [-9.60324850e-03 -1.34013163e-04 9.99953879e-01 6.22658517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.732320588 meters 0.023418763050725308 Centerline is valid? [True, True] Translation: X:126.83, Y:-10.64, Z:0.62 [[ 9.91901316e-01 1.26651937e-01 9.54284898e-03 1.26829664e+02] [-1.26647371e-01 9.91947211e-01 -1.08368680e-03 -1.06350375e+01] [-9.60325346e-03 -1.33666371e-04 9.99953879e-01 6.22822350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.762320588 meters 0.02340282143863841 Centerline is valid? [True, True] Translation: X:126.86, Y:-10.64, Z:0.63 [[ 9.91808255e-01 1.27558591e-01 6.72243849e-03 1.26862457e+02] [-1.27556341e-01 9.91831032e-01 -7.64261176e-04 -1.06350203e+01] [-6.76501118e-03 -9.94891095e-05 9.99977112e-01 6.25301115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.792320588 meters 0.02354057030334147 Centerline is valid? [True, True] Translation: X:126.90, Y:-10.64, Z:0.63 [[ 9.91711769e-01 1.28309019e-01 6.67553149e-03 1.26895904e+02] [-1.28306805e-01 9.91734231e-01 -7.60645692e-04 -1.06368900e+01] [-6.71795079e-03 -1.02174833e-04 9.99977429e-01 6.26562562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.822320588 meters 0.02347639475761939 Centerline is valid? [True, True] Translation: X:126.93, Y:-10.64, Z:0.63 [[ 9.91625086e-01 1.28913581e-01 7.80875565e-03 1.26928070e+02] [-1.28910567e-01 9.91655824e-01 -8.90282206e-04 -1.06400369e+01] [-7.85836749e-03 -1.23804947e-04 9.99969115e-01 6.26834195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.852320588 meters 0.023671704410964698 Centerline is valid? [True, True] Translation: X:126.96, Y:-10.64, Z:0.63 [[ 9.91509508e-01 1.29667215e-01 9.76261192e-03 1.26959937e+02] [-1.29662528e-01 9.91557556e-01 -1.11417738e-03 -1.06436515e+01] [-9.82466389e-03 -1.61127476e-04 9.99951724e-01 6.26781471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.882320588 meters 0.02399364304125317 Centerline is valid? [True, True] Translation: X:126.99, Y:-10.65, Z:0.63 [[ 9.91282119e-01 1.31351256e-01 1.03251213e-02 1.26991434e+02] [-1.31346072e-01 9.91335873e-01 -1.18157997e-03 -1.06470032e+01] [-1.03908652e-02 -1.84885026e-04 9.99945996e-01 6.25402133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.912320588 meters 0.023989064025112295 Centerline is valid? [True, True] Translation: X:127.02, Y:-10.65, Z:0.62 [[ 9.90984963e-01 1.33793170e-01 6.94198759e-03 1.27024657e+02] [-1.33790876e-01 9.91009267e-01 -7.95931695e-04 -1.06510665e+01] [-6.98606427e-03 -1.40018258e-04 9.99975587e-01 6.22364030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.942320588 meters 0.02414436938389125 Centerline is valid? [True, True] Translation: X:127.06, Y:-10.66, Z:0.62 [[ 9.90779643e-01 1.35252402e-01 7.90484194e-03 1.27056419e+02] [-1.35249469e-01 9.90811162e-01 -9.06901703e-04 -1.06553047e+01] [-7.95486626e-03 -1.70585931e-04 9.99968345e-01 6.21530634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.972320588 meters 0.02448555403329581 Centerline is valid? [True, True] Translation: X:127.09, Y:-10.66, Z:0.62 [[ 9.90474138e-01 1.37450180e-01 8.27220108e-03 1.27088108e+02] [-1.37447036e-01 9.90508662e-01 -9.50110460e-04 -1.06597020e+01] [-8.32427967e-03 -1.95929682e-04 9.99965333e-01 6.23044798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.002320588 meters 0.02464626098668995 Centerline is valid? [True, True] Translation: X:127.12, Y:-10.66, Z:0.62 [[ 9.90175459e-01 1.39495057e-01 9.67933815e-03 1.27119780e+02] [-1.39490823e-01 9.90222737e-01 -1.11455262e-03 -1.06617273e+01] [-9.74017530e-03 -2.46576188e-04 9.99952533e-01 6.24500312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.032320588 meters 0.024770684028725606 Centerline is valid? [True, True] Translation: X:127.15, Y:-10.66, Z:0.63 [[ 9.89919259e-01 1.41363998e-01 8.72239759e-03 1.27152169e+02] [-1.41360626e-01 9.89957657e-01 -1.00504343e-03 -1.06601560e+01] [-8.77688125e-03 -2.38091740e-04 9.99961454e-01 6.27569911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.062320588 meters 0.02492849877772405 Centerline is valid? [True, True] Translation: X:127.18, Y:-10.66, Z:0.63 [[ 9.89698518e-01 1.42944261e-01 7.98633579e-03 1.27183996e+02] [-1.42941476e-01 9.89730714e-01 -9.21326481e-04 -1.06618224e+01] [-8.03602015e-03 -2.29743176e-04 9.99967684e-01 6.27550516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09232058799999 meters 0.02521050995587831 Centerline is valid? [True, True] Translation: X:127.22, Y:-10.66, Z:0.63 [[ 9.89454753e-01 1.44601614e-01 8.34658820e-03 1.27216040e+02] [-1.44598623e-01 9.89489924e-01 -9.63931686e-04 -1.06636282e+01] [-8.39825100e-03 -2.53138368e-04 9.99964702e-01 6.25910465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.122320588 meters 0.025473246580198727 Centerline is valid? [True, True] Translation: X:127.25, Y:-10.67, Z:0.62 [[ 9.89183357e-01 1.46430226e-01 8.62995178e-03 1.27248185e+02] [-1.46427088e-01 9.89220962e-01 -9.97745071e-04 -1.06659400e+01] [-8.68302924e-03 -2.76705889e-04 9.99962264e-01 6.24790220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.152320588 meters 0.025868540421601697 Centerline is valid? [True, True] Translation: X:127.28, Y:-10.67, Z:0.62 [[ 9.88938282e-01 1.47918446e-01 1.10094340e-02 1.27280191e+02] [-1.47913418e-01 9.88999493e-01 -1.27409331e-03 -1.06658313e+01] [-1.10767865e-02 -3.68443363e-04 9.99938583e-01 6.23086179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.182320588 meters 0.02562394503927794 Centerline is valid? [True, True] Translation: X:127.31, Y:-10.67, Z:0.62 [[ 9.88989297e-01 1.47552583e-01 1.13315884e-02 1.27312289e+02] [-1.47547216e-01 9.89054142e-01 -1.31281254e-03 -1.06658581e+01] [-1.14012633e-02 -3.73586767e-04 9.99934934e-01 6.23878406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.212320588 meters 0.025504008144147574 Centerline is valid? [True, True] Translation: X:127.34, Y:-10.67, Z:0.63 [[ 9.89043423e-01 1.47211363e-01 1.10418217e-02 1.27344553e+02] [-1.47206229e-01 9.89104992e-01 -1.28068077e-03 -1.06650987e+01] [-1.11100517e-02 -3.58776045e-04 9.99938217e-01 6.25353047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.242320588 meters 0.02522996540664634 Centerline is valid? [True, True] Translation: X:127.38, Y:-10.66, Z:0.63 [[ 9.89245881e-01 1.45848877e-01 1.09860173e-02 1.27376597e+02] [-1.45843696e-01 9.89306823e-01 -1.27563155e-03 -1.06640161e+01] [-1.10545913e-02 -3.40328108e-04 9.99938838e-01 6.27132195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.272320588 meters 0.024302048425688706 Centerline is valid? [True, True] Translation: X:127.41, Y:-10.66, Z:0.63 [[ 9.89790825e-01 1.42116278e-01 1.08206587e-02 1.27409260e+02] [-1.42111007e-01 9.89849927e-01 -1.25838900e-03 -1.06628327e+01] [-1.08896658e-02 -2.92192816e-04 9.99940663e-01 6.27922082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.302320588 meters 0.024344855242518202 Centerline is valid? [True, True] Translation: X:127.44, Y:-10.67, Z:0.63 [[ 9.90168780e-01 1.39389369e-01 1.16786259e-02 1.27441143e+02] [-1.39383024e-01 9.90237610e-01 -1.35951477e-03 -1.06674280e+01] [-1.17541165e-02 -2.81653109e-04 9.99930878e-01 6.26129289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.332320588 meters 0.024166542213500005 Centerline is valid? [True, True] Translation: X:127.47, Y:-10.67, Z:0.63 [[ 9.90444561e-01 1.37326489e-01 1.26888433e-02 1.27472790e+02] [-1.37318809e-01 9.90525799e-01 -1.47871474e-03 -1.06714231e+01] [-1.27716933e-02 -2.77831870e-04 9.99918400e-01 6.25160897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.362320588 meters 0.023767857470265837 Centerline is valid? [True, True] Translation: X:127.51, Y:-10.67, Z:0.63 [[ 9.90821688e-01 1.34547010e-01 1.30186222e-02 1.27505422e+02] [-1.34538663e-01 9.90907181e-01 -1.51885619e-03 -1.06726628e+01] [-1.31046038e-02 -2.46592372e-04 9.99914101e-01 6.25708204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.392320588 meters 0.02346782785488762 Centerline is valid? [True, True] Translation: X:127.54, Y:-10.67, Z:0.63 [[ 9.91084706e-01 1.32602534e-01 1.29488678e-02 1.27538241e+02] [-1.32594088e-01 9.91169269e-01 -1.51245136e-03 -1.06723577e+01] [-1.30350748e-02 -2.17975908e-04 9.99915016e-01 6.26702771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.422320588 meters 0.023384544726436026 Centerline is valid? [True, True] Translation: X:127.57, Y:-10.67, Z:0.63 [[ 9.91248540e-01 1.31376006e-01 1.29103336e-02 1.27570950e+02] [-1.31367483e-01 9.91332591e-01 -1.50967694e-03 -1.06719543e+01] [-1.29967698e-02 -1.99532960e-04 9.99915519e-01 6.26718558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45232058799999 meters 0.022869564633118962 Centerline is valid? [True, True] Translation: X:127.60, Y:-10.67, Z:0.63 [[ 9.91591951e-01 1.29079156e-01 9.16376573e-03 1.27602821e+02] [-1.29074751e-01 9.91634286e-01 -1.07301121e-03 -1.06732030e+01] [-9.22560767e-03 -1.18821497e-04 9.99957436e-01 6.28014721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.482320588 meters 0.022805909576806557 Centerline is valid? [True, True] Translation: X:127.63, Y:-10.68, Z:0.63 [[ 9.91693609e-01 1.28358675e-01 8.23634771e-03 1.27634877e+02] [-1.28355081e-01 9.91727806e-01 -9.65628795e-04 -1.06769279e+01] [-8.29216187e-03 -9.95691747e-05 9.99965614e-01 6.28142150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.512320588 meters 0.02270528865181398 Centerline is valid? [True, True] Translation: X:127.67, Y:-10.68, Z:0.63 [[ 9.91814294e-01 1.27369825e-01 9.01857833e-03 1.27667851e+02] [-1.27365457e-01 9.91855291e-01 -1.05947762e-03 -1.06807551e+01] [-9.08007011e-03 -9.78503020e-05 9.99958771e-01 6.28701751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.542320588 meters 0.022728697969546626 Centerline is valid? [True, True] Translation: X:127.70, Y:-10.68, Z:0.63 [[ 9.91841256e-01 1.27064834e-01 1.02688796e-02 1.27699935e+02] [-1.27059144e-01 9.91894408e-01 -1.20727214e-03 -1.06844497e+01] [-1.03390461e-02 -1.07332739e-04 9.99946545e-01 6.28595890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.572320588 meters 0.02279513874115438 Centerline is valid? [True, True] Translation: X:127.73, Y:-10.69, Z:0.63 [[ 9.92133478e-01 1.24541750e-01 1.26694130e-02 1.27732492e+02] [-1.24532862e-01 9.92214363e-01 -1.49108661e-03 -1.06858953e+01] [-1.27564761e-02 -9.84013247e-05 9.99918628e-01 6.28980285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.602320588 meters 0.02261363660126836 Centerline is valid? [True, True] Translation: X:127.76, Y:-10.69, Z:0.63 [[ 9.92328575e-01 1.23012284e-01 1.23278989e-02 1.27764198e+02] [-1.23003730e-01 9.92405145e-01 -1.45259773e-03 -1.06877065e+01] [-1.24129576e-02 -7.49233122e-05 9.99922953e-01 6.29080187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.632320588 meters 0.022556269059950465 Centerline is valid? [True, True] Translation: X:127.80, Y:-10.69, Z:0.63 [[ 9.92631519e-01 1.20661102e-01 1.11160609e-02 1.27796159e+02] [-1.20653982e-01 9.92693758e-01 -1.31140338e-03 -1.06905124e+01] [-1.11930796e-02 -3.94566729e-05 9.99937355e-01 6.28519716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.662320588 meters 0.022519026803416376 Centerline is valid? [True, True] Translation: X:127.83, Y:-10.70, Z:0.63 [[ 9.93086251e-01 1.17055968e-01 8.80895057e-03 1.27828262e+02] [-1.17051343e-01 9.93125320e-01 -1.04056364e-03 -1.06965728e+01] [-8.87019603e-03 2.26994948e-06 9.99960659e-01 6.29329055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.692320588 meters 0.022496001090454833 Centerline is valid? [True, True] Translation: X:127.86, Y:-10.70, Z:0.63 [[ 9.93146034e-01 1.16474118e-01 9.73323988e-03 1.27859936e+02] [-1.16468431e-01 9.93193727e-01 -1.15099342e-03 -1.07014803e+01] [-9.80105373e-03 9.48937368e-06 9.99951968e-01 6.31158256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.722320588 meters 0.022416814745444078 Centerline is valid? [True, True] Translation: X:127.89, Y:-10.71, Z:0.63 [[ 9.93141471e-01 1.16418308e-01 1.08072287e-02 1.27892263e+02] [-1.16411279e-01 9.93200271e-01 -1.27938239e-03 -1.07052245e+01] [-1.08826860e-02 1.25244006e-05 9.99940782e-01 6.32940328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.752320588 meters 0.022421129053039297 Centerline is valid? [True, True] Translation: X:127.92, Y:-10.71, Z:0.63 [[ 9.93114007e-01 1.16403988e-01 1.32166487e-02 1.27923796e+02] [-1.16393460e-01 9.93201949e-01 -1.56564718e-03 -1.07083079e+01] [-1.33090489e-02 1.65346684e-05 9.99911431e-01 6.33248364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.782320588 meters 0.022432139376641107 Centerline is valid? [True, True] Translation: X:127.96, Y:-10.71, Z:0.63 [[ 9.92960778e-01 1.17747806e-01 1.28198155e-02 1.27955642e+02] [-1.17737988e-01 9.93043531e-01 -1.52055098e-03 -1.07122951e+01] [-1.29096764e-02 4.68201690e-07 9.99916667e-01 6.34667927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.812320588 meters 0.022438495505485965 Centerline is valid? [True, True] Translation: X:127.99, Y:-10.72, Z:0.63 [[ 9.92809410e-01 1.19133331e-01 1.16929344e-02 1.27986579e+02] [-1.19125240e-01 9.92878265e-01 -1.38855503e-03 -1.07218696e+01] [-1.17750836e-02 -1.43531159e-05 9.99930671e-01 6.32789256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84232058799999 meters 0.022491625926078545 Centerline is valid? [True, True] Translation: X:128.02, Y:-10.73, Z:0.63 [[ 9.92730420e-01 1.19932731e-01 1.01219503e-02 1.28018349e+02] [-1.19926694e-01 9.92782020e-01 -1.20348954e-03 -1.07288867e+01] [-1.01932281e-02 -1.91513608e-05 9.99948048e-01 6.32306215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.872320588 meters 0.022513275582444304 Centerline is valid? [True, True] Translation: X:128.05, Y:-10.73, Z:0.63 [[ 9.92597782e-01 1.20997862e-01 1.04479521e-02 1.28051341e+02] [-1.20991463e-01 9.92652767e-01 -1.24472137e-03 -1.07345684e+01] [-1.05217972e-02 -2.86053417e-05 9.99944644e-01 6.32707576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.902320588 meters 0.02249049759858481 Centerline is valid? [True, True] Translation: X:128.08, Y:-10.74, Z:0.63 [[ 9.92394390e-01 1.22603354e-01 1.10359494e-02 1.28082922e+02] [-1.22596301e-01 9.92455750e-01 -1.31586315e-03 -1.07383887e+01] [-1.11140206e-02 -4.71113640e-05 9.99938236e-01 6.32938630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.932320588 meters 0.02236552042804518 Centerline is valid? [True, True] Translation: X:128.12, Y:-10.74, Z:0.64 [[ 9.92357635e-01 1.22892875e-01 1.11205369e-02 1.28115572e+02] [-1.22885703e-01 9.92419941e-01 -1.32860433e-03 -1.07424714e+01] [-1.11995186e-02 -4.81043427e-05 9.99937282e-01 6.36020923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.962320588 meters 0.02232590744617965 Centerline is valid? [True, True] Translation: X:128.15, Y:-10.75, Z:0.64 [[ 9.92497346e-01 1.21695491e-01 1.17993937e-02 1.28147741e+02] [-1.21687303e-01 9.92567482e-01 -1.41211444e-03 -1.07483915e+01] [-1.18835425e-02 -3.43165693e-05 9.99929388e-01 6.36332325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.992320588 meters 0.022497156166772687 Centerline is valid? [True, True] Translation: X:128.18, Y:-10.76, Z:0.64 [[ 9.92630614e-01 1.20497924e-01 1.28340873e-02 1.28179468e+02] [-1.20488119e-01 9.92713579e-01 -1.53725461e-03 -1.07555650e+01] [-1.29258087e-02 -2.04290555e-05 9.99916458e-01 6.36602709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.022320588 meters 0.022475377119546426 Centerline is valid? [True, True] Translation: X:128.21, Y:-10.76, Z:0.64 [[ 9.92680487e-01 1.20208616e-01 1.16335367e-02 1.28211012e+02] [-1.20200521e-01 9.92748653e-01 -1.39511316e-03 -1.07634390e+01] [-1.17168825e-02 -1.34555466e-05 9.99931355e-01 6.36841989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.052320588 meters 0.022316642468452687 Centerline is valid? [True, True] Translation: X:128.24, Y:-10.77, Z:0.64 [[ 9.92643598e-01 1.20608292e-01 1.05984954e-02 1.28242243e+02] [-1.20601574e-01 9.92700176e-01 -1.27300916e-03 -1.07716603e+01] [-1.06746638e-02 -1.45508451e-05 9.99943024e-01 6.37320870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.082320588 meters 0.022228713376678616 Centerline is valid? [True, True] Translation: X:128.27, Y:-10.78, Z:0.64 [[ 9.92572428e-01 1.21255068e-01 9.85814160e-03 1.28274216e+02] [-1.21249276e-01 9.92621382e-01 -1.18534168e-03 -1.07757739e+01] [-9.92913083e-03 -1.87550612e-05 9.99950705e-01 6.37517121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.112320588 meters 0.02230039733501768 Centerline is valid? [True, True] Translation: X:128.31, Y:-10.78, Z:0.64 [[ 9.92553783e-01 1.21466446e-01 9.10446570e-03 1.28306435e+02] [-1.21461502e-01 9.92595538e-01 -1.09601851e-03 -1.07806256e+01] [-9.17018151e-03 -1.79847668e-05 9.99957953e-01 6.37701334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.142320588 meters 0.022188717626993332 Centerline is valid? [True, True] Translation: X:128.34, Y:-10.79, Z:0.64 [[ 9.92455285e-01 1.22281788e-01 8.92587130e-03 1.28338599e+02] [-1.22277050e-01 9.92495423e-01 -1.07672491e-03 -1.07874329e+01] [-8.99055025e-03 -2.28278807e-05 9.99959584e-01 6.37724836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.172320588 meters 0.022234726205730103 Centerline is valid? [True, True] Translation: X:128.37, Y:-10.80, Z:0.64 [[ 9.92259867e-01 1.23909421e-01 8.17378010e-03 1.28370971e+02] [-1.23905488e-01 9.92293532e-01 -9.87784113e-04 -1.07978896e+01] [-8.23318488e-03 -3.26376824e-05 9.99966106e-01 6.40008927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20232058799999 meters 0.022372045967825417 Centerline is valid? [True, True] Translation: X:128.40, Y:-10.80, Z:0.64 [[ 9.92086281e-01 1.25200058e-01 9.47401560e-03 1.28403190e+02] [-1.25194826e-01 9.92131515e-01 -1.14571068e-03 -1.08029568e+01] [-9.54291249e-03 -4.94538854e-05 9.99954464e-01 6.40319228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.232320588 meters 0.022297326346562275 Centerline is valid? [True, True] Translation: X:128.44, Y:-10.81, Z:0.64 [[ 9.91902587e-01 1.26699250e-01 8.74970678e-03 1.28436115e+02] [-1.26694826e-01 9.91941176e-01 -1.06035597e-03 -1.08072227e+01] [-8.81354074e-03 -5.67727398e-05 9.99961158e-01 6.40260132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.262320588 meters 0.022529524291752017 Centerline is valid? [True, True] Translation: X:128.47, Y:-10.81, Z:0.64 [[ 9.91657838e-01 1.28521418e-01 9.84776596e-03 1.28467867e+02] [-1.28515894e-01 9.91706730e-01 -1.19428921e-03 -1.08118661e+01] [-9.91958752e-03 -8.12681952e-05 9.99950796e-01 6.39629649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.292320588 meters 0.022552458781487057 Centerline is valid? [True, True] Translation: X:128.50, Y:-10.82, Z:0.64 [[ 9.91455767e-01 1.30110169e-01 9.31700075e-03 1.28500462e+02] [-1.30105274e-01 9.91499539e-01 -1.13220580e-03 -1.08180513e+01] [-9.38511344e-03 -8.96589639e-05 9.99955955e-01 6.39796195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.322320588 meters 0.02250582035050213 Centerline is valid? [True, True] Translation: X:128.53, Y:-10.82, Z:0.64 [[ 9.91322361e-01 1.31168704e-01 8.64565949e-03 1.28533395e+02] [-1.31164513e-01 9.91360057e-01 -1.05245743e-03 -1.08235251e+01] [-8.70901097e-03 -9.06791303e-05 9.99962072e-01 6.40555826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.352320588 meters 0.02249121271313109 Centerline is valid? [True, True] Translation: X:128.57, Y:-10.83, Z:0.64 [[ 9.91166785e-01 1.32432779e-01 7.06849085e-03 1.28565396e+02] [-1.32430004e-01 9.91191986e-01 -8.61261394e-04 -1.08296454e+01] [-7.12029072e-03 -8.24265859e-05 9.99974647e-01 6.42114733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.382320588 meters 0.022571521316239823 Centerline is valid? [True, True] Translation: X:128.60, Y:-10.84, Z:0.64 [[ 9.90960738e-01 1.33914620e-01 7.98066221e-03 1.28596598e+02] [-1.33911122e-01 9.90992868e-01 -9.73405233e-04 -1.08358105e+01] [-8.03913252e-03 -1.04093064e-04 9.99967680e-01 6.42391769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.412320588 meters 0.02281047391051334 Centerline is valid? [True, True] Translation: X:128.63, Y:-10.84, Z:0.64 [[ 9.90764797e-01 1.35210001e-01 1.01672728e-02 1.28628354e+02] [-1.35204380e-01 9.90816953e-01 -1.24129791e-03 -1.08417973e+01] [-1.02417421e-02 -1.44825545e-04 9.99947541e-01 6.42440626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.442320588 meters 0.022986335241268262 Centerline is valid? [True, True] Translation: X:128.66, Y:-10.85, Z:0.64 [[ 9.90577042e-01 1.36264965e-01 1.37470999e-02 1.28659998e+02] [-1.36254769e-01 9.90672406e-01 -1.67993496e-03 -1.08456587e+01] [-1.38477888e-02 -2.09002917e-04 9.99904093e-01 6.41576442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.472320588 meters 0.023125531579659797 Centerline is valid? [True, True] Translation: X:128.69, Y:-10.85, Z:0.64 [[ 9.90560270e-01 1.36286229e-01 1.47110635e-02 1.28693309e+02] [-1.36274410e-01 9.90669480e-01 -1.80756738e-03 -1.08488987e+01] [-1.48201481e-02 -2.14237065e-04 9.99890153e-01 6.40901215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.502320588 meters 0.02291261534691827 Centerline is valid? [True, True] Translation: X:128.73, Y:-10.85, Z:0.64 [[ 9.90628276e-01 1.35849198e-01 1.41638006e-02 1.28725497e+02] [-1.35838108e-01 9.90729508e-01 -1.74664330e-03 -1.08528571e+01] [-1.42697752e-02 -1.93709621e-04 9.99898163e-01 6.40609500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.532320588 meters 0.022730699790401168 Centerline is valid? [True, True] Translation: X:128.76, Y:-10.86, Z:0.64 [[ 9.90734035e-01 1.35245115e-01 1.24430639e-02 1.28757018e+02] [-1.35236433e-01 9.90812159e-01 -1.54044789e-03 -1.08570334e+01] [-1.25370770e-02 -1.56581420e-04 9.99921396e-01 6.40469948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.562320588 meters 0.022672987468191755 Centerline is valid? [True, True] Translation: X:128.79, Y:-10.86, Z:0.64 [[ 9.91004382e-01 1.33297979e-01 1.19148637e-02 1.28788475e+02] [-1.33289876e-01 9.91075998e-01 -1.47512036e-03 -1.08623469e+01] [-1.20051660e-02 -1.26279968e-04 9.99927927e-01 6.40256577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59232058799999 meters 0.022549753869092307 Centerline is valid? [True, True] Translation: X:128.82, Y:-10.87, Z:0.64 [[ 9.91026516e-01 1.33264493e-01 1.03450560e-02 1.28820369e+02] [-1.33258368e-01 9.91080503e-01 -1.28225841e-03 -1.08668717e+01] [-1.04236629e-02 -1.07813205e-04 9.99945666e-01 6.40996641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.622320588 meters 0.022549753869092307 Centerline is valid? [True, True] Translation: X:128.85, Y:-10.87, Z:0.64 [[ 9.90999743e-01 1.33463461e-01 1.03447564e-02 1.28852629e+02] [-1.33457322e-01 9.91053729e-01 -1.28467455e-03 -1.08708162e+01] [-1.04236665e-02 -1.07471330e-04 9.99945666e-01 6.41160470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.652320588 meters 0.02257694912530006 Centerline is valid? [True, True] Translation: X:128.88, Y:-10.87, Z:0.64 [[ 9.91006419e-01 1.33288107e-01 1.18557026e-02 1.28884571e+02] [-1.33279992e-01 9.91077326e-01 -1.47548416e-03 -1.08744356e+01] [-1.19465826e-02 -1.17913679e-04 9.99928630e-01 6.40494120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.682320588 meters 0.022633483381124114 Centerline is valid? [True, True] Translation: X:128.92, Y:-10.88, Z:0.64 [[ 9.90975199e-01 1.33458758e-01 1.25265729e-02 1.28916378e+02] [-1.33449699e-01 9.91054360e-01 -1.56002229e-03 -1.08779217e+01] [-1.26227133e-02 -1.25723993e-04 9.99920322e-01 6.40091786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.712320588 meters 0.022733877770576012 Centerline is valid? [True, True] Translation: X:128.95, Y:-10.88, Z:0.64 [[ 9.90719656e-01 1.35199283e-01 1.39898814e-02 1.28948381e+02] [-1.35188132e-01 9.90818413e-01 -1.74404802e-03 -1.08834952e+01] [-1.40972262e-02 -1.63403285e-04 9.99900616e-01 6.39940055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.742320588 meters 0.02284785142989571 Centerline is valid? [True, True] Translation: X:128.98, Y:-10.89, Z:0.64 [[ 9.90642784e-01 1.35634316e-01 1.51725885e-02 1.28980950e+02] [-1.35621097e-01 9.90758953e-01 -1.90155328e-03 -1.08891420e+01] [-1.52902938e-02 -1.73963074e-04 9.99883081e-01 6.39669969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.772320588 meters 0.022853083167882718 Centerline is valid? [True, True] Translation: X:129.01, Y:-10.89, Z:0.64 [[ 9.90473686e-01 1.36846801e-01 1.53241610e-02 1.29013958e+02] [-1.36833336e-01 9.90592206e-01 -1.92870278e-03 -1.08942809e+01] [-1.54439312e-02 -1.86526708e-04 9.99880718e-01 6.38912866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.802320588 meters 0.022768222121521374 Centerline is valid? [True, True] Translation: X:129.05, Y:-10.90, Z:0.64 [[ 9.90587156e-01 1.36329911e-01 1.22980633e-02 1.29046647e+02] [-1.36321190e-01 9.90663482e-01 -1.54859108e-03 -1.08962191e+01] [-1.23943615e-02 -1.42472186e-04 9.99923177e-01 6.37223910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.832320588 meters 0.022556935710616722 Centerline is valid? [True, True] Translation: X:129.08, Y:-10.90, Z:0.64 [[ 9.90641451e-01 1.36098901e-01 1.03250068e-02 1.29079165e+02] [-1.36092721e-01 9.90695249e-01 -1.30203293e-03 -1.08992868e+01] [-1.04061404e-02 -1.15310477e-04 9.99945848e-01 6.37370529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.862320588 meters 0.02256959302638525 Centerline is valid? [True, True] Translation: X:129.11, Y:-10.90, Z:0.64 [[ 9.90606238e-01 1.36419832e-01 9.42923862e-03 1.29111017e+02] [-1.36414681e-01 9.90651108e-01 -1.19026087e-03 -1.09030672e+01] [-9.50346088e-03 -1.07206740e-04 9.99954835e-01 6.38916241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.892320588 meters 0.02280155115012582 Centerline is valid? [True, True] Translation: X:129.14, Y:-10.91, Z:0.64 [[ 9.90456038e-01 1.37362022e-01 1.13363141e-02 1.29142608e+02] [-1.37354623e-01 9.90520901e-01 -1.43239825e-03 -1.09078181e+01] [-1.14256131e-02 -1.38367646e-04 9.99934716e-01 6.39403512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.922320588 meters 0.0228137158869825 Centerline is valid? [True, True] Translation: X:129.17, Y:-10.91, Z:0.64 [[ 9.90349490e-01 1.38079957e-01 1.19085106e-02 1.29174531e+02] [-1.38071825e-01 9.90421073e-01 -1.50626268e-03 -1.09127824e+01] [-1.20024245e-02 -1.52503319e-04 9.99927957e-01 6.40962975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95232058799999 meters 0.02288659133160109 Centerline is valid? [True, True] Translation: X:129.21, Y:-10.92, Z:0.64 [[ 9.90227089e-01 1.38989425e-01 1.15000888e-02 1.29207141e+02] [-1.38981872e-01 9.90293853e-01 -1.45730644e-03 -1.09180006e+01] [-1.15910174e-02 -1.55239551e-04 9.99932810e-01 6.40661829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.982320588 meters 0.023012848535499678 Centerline is valid? [True, True] Translation: X:129.24, Y:-10.92, Z:0.64 [[ 9.90108608e-01 1.39760734e-01 1.23240454e-02 1.29238944e+02] [-1.39752104e-01 9.90185289e-01 -1.56296920e-03 -1.09221729e+01] [-1.24215302e-02 -1.74802007e-04 9.99922835e-01 6.38830355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.012320588 meters 0.023035354316132524 Centerline is valid? [True, True] Translation: X:129.27, Y:-10.93, Z:0.64 [[ 9.89917827e-01 1.41191402e-01 1.12997187e-02 1.29271744e+02] [-1.41184146e-01 9.89982303e-01 -1.44124959e-03 -1.09262414e+01] [-1.13900136e-02 -1.68622479e-04 9.99935117e-01 6.39122967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.042320588 meters 0.023254830864482344 Centerline is valid? [True, True] Translation: X:129.30, Y:-10.93, Z:0.64 [[ 9.89526074e-01 1.43900080e-01 1.14418789e-02 1.29303461e+02] [-1.43892828e-01 9.89592202e-01 -1.45884280e-03 -1.09300131e+01] [-1.15327217e-02 -2.02841328e-04 9.99933475e-01 6.40025453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.072320588 meters 0.02369969137388457 Centerline is valid? [True, True] Translation: X:129.34, Y:-10.93, Z:0.64 [[ 9.88714634e-01 1.49182294e-01 1.37118974e-02 1.29335915e+02] [-1.49172363e-01 9.88809660e-01 -1.74995572e-03 -1.09308244e+01] [-1.38195190e-02 -3.15229301e-04 9.99904456e-01 6.43522635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.102320588 meters 0.023982305695795778 Centerline is valid? [True, True] Translation: X:129.37, Y:-10.93, Z:0.65 [[ 9.88352010e-01 1.51576597e-01 1.35955416e-02 1.29368422e+02] [-1.51566952e-01 9.88445457e-01 -1.74294350e-03 -1.09326378e+01] [-1.37026408e-02 -3.37993093e-04 9.99906057e-01 6.45136337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.132320588 meters 0.024054899896749134 Centerline is valid? [True, True] Translation: X:129.40, Y:-10.93, Z:0.65 [[ 9.88145287e-01 1.52952866e-01 1.32027717e-02 1.29401297e+02] [-1.52943797e-01 9.88233427e-01 -1.69983946e-03 -1.09342977e+01] [-1.33074156e-02 -3.39593686e-04 9.99911395e-01 6.46105882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.162320588 meters 0.024297374756013138 Centerline is valid? [True, True] Translation: X:129.43, Y:-10.93, Z:0.64 [[ 9.87946873e-01 1.54168977e-01 1.38889530e-02 1.29433588e+02] [-1.54158978e-01 9.88044427e-01 -1.79410613e-03 -1.09349400e+01] [-1.39994981e-02 -3.68625270e-04 9.99901934e-01 6.44812477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.192320588 meters 0.024421989436535313 Centerline is valid? [True, True] Translation: X:129.47, Y:-10.94, Z:0.64 [[ 9.87860879e-01 1.54599056e-01 1.51662695e-02 1.29465372e+02] [-1.54587082e-01 9.87977211e-01 -1.96577361e-03 -1.09372817e+01] [-1.52878354e-02 -4.02598497e-04 9.99883053e-01 6.42696123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.222320588 meters 0.024257381190202536 Centerline is valid? [True, True] Translation: X:129.50, Y:-10.94, Z:0.64 [[ 9.87974306e-01 1.53922524e-01 1.46501519e-02 1.29497889e+02] [-1.53911178e-01 9.88082850e-01 -1.90558644e-03 -1.09397829e+01] [-1.47688766e-02 -3.72151700e-04 9.99890865e-01 6.42781535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.252320588 meters 0.023962121340818883 Centerline is valid? [True, True] Translation: X:129.53, Y:-10.94, Z:0.64 [[ 9.88119440e-01 1.52988917e-01 1.46411617e-02 1.29529989e+02] [-1.52977443e-01 9.88227841e-01 -1.90706561e-03 -1.09423147e+01] [-1.47605635e-02 -3.55358873e-04 9.99890994e-01 6.44222714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.282320588 meters 0.023751130027691594 Centerline is valid? [True, True] Translation: X:129.56, Y:-10.94, Z:0.65 [[ 9.88710296e-01 1.49051705e-01 1.53473331e-02 1.29562003e+02] [-1.49038496e-01 9.88829357e-01 -2.00724055e-03 -1.09425982e+01] [-1.54750762e-02 -3.02764044e-04 9.99880208e-01 6.47501590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.312320588 meters 0.02333435742419059 Centerline is valid? [True, True] Translation: X:129.59, Y:-10.94, Z:0.65 [[ 9.89115541e-01 1.46342839e-01 1.53042489e-02 1.29594198e+02] [-1.46329272e-01 9.89233900e-01 -2.00861048e-03 -1.09422490e+01] [-1.54334276e-02 -2.52711762e-04 9.99880866e-01 6.49636402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34232058799999 meters 0.023120350028222072 Centerline is valid? [True, True] Translation: X:129.63, Y:-10.94, Z:0.65 [[ 9.89361438e-01 1.44538043e-01 1.65135732e-02 1.29627339e+02] [-1.44521966e-01 9.89499215e-01 -2.16917331e-03 -1.09423135e+01] [-1.66536958e-02 -2.40477628e-04 9.99861289e-01 6.50199654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.372320588 meters 0.022875454919209528 Centerline is valid? [True, True] Translation: X:129.66, Y:-10.94, Z:0.65 [[ 9.89539677e-01 1.43478913e-01 1.50009774e-02 1.29659708e+02] [-1.43465397e-01 9.89653355e-01 -1.97889199e-03 -1.09427948e+01] [-1.51296968e-02 -1.93929023e-04 9.99885521e-01 6.51336837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.402320588 meters 0.022902533269870164 Centerline is valid? [True, True] Translation: X:129.69, Y:-10.94, Z:0.65 [[ 9.89917781e-01 1.40576285e-01 1.73520878e-02 1.29691642e+02] [-1.40557748e-01 9.90069835e-01 -2.28938795e-03 -1.09445097e+01] [-1.75016123e-02 -1.72664538e-04 9.99846820e-01 6.49512031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.432320588 meters 0.022790616475021015 Centerline is valid? [True, True] Translation: X:129.72, Y:-10.95, Z:0.65 [[ 9.90060069e-01 1.39568977e-01 1.73654656e-02 1.29724266e+02] [-1.39550057e-01 9.90212341e-01 -2.30254723e-03 -1.09486263e+01] [-1.75168625e-02 -1.43691640e-04 9.99846558e-01 6.49267565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.462320588 meters 0.02280868413775759 Centerline is valid? [True, True] Translation: X:129.76, Y:-10.95, Z:0.65 [[ 9.90286169e-01 1.38201137e-01 1.52888329e-02 1.29756189e+02] [-1.38186196e-01 9.90404178e-01 -2.03447524e-03 -1.09532545e+01] [-1.54232908e-02 -9.79929676e-05 9.99881049e-01 6.49099165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.492320588 meters 0.022656423665573827 Centerline is valid? [True, True] Translation: X:129.79, Y:-10.96, Z:0.65 [[ 9.90477447e-01 1.36732435e-01 1.60831928e-02 1.29788444e+02] [-1.36715678e-01 9.90608013e-01 -2.14203913e-03 -1.09584315e+01] [-1.62250259e-02 -7.71831566e-05 9.99868363e-01 6.48663669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.522320588 meters 0.02275484132615424 Centerline is valid? [True, True] Translation: X:129.82, Y:-10.97, Z:0.65 [[ 9.90817583e-01 1.34116417e-01 1.71261216e-02 1.29819406e+02] [-1.34096991e-01 9.90965582e-01 -2.28288279e-03 -1.09661723e+01] [-1.72775691e-02 -3.46409763e-05 9.99850731e-01 6.48765051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.552320588 meters 0.02258146230332081 Centerline is valid? [True, True] Translation: X:129.85, Y:-10.97, Z:0.65 [[ 9.90832004e-01 1.34190159e-01 1.56505662e-02 1.29851089e+02] [-1.34173800e-01 9.90955600e-01 -2.09542002e-03 -1.09711957e+01] [-1.57902010e-02 -2.36867249e-05 9.99875327e-01 6.50531613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.582320588 meters 0.022669700773757465 Centerline is valid? [True, True] Translation: X:129.88, Y:-10.98, Z:0.65 [[ 9.90825726e-01 1.34467532e-01 1.35227214e-02 1.29883167e+02] [-1.34455338e-01 9.90918000e-01 -1.81102258e-03 -1.09756349e+01] [-1.36434318e-02 -2.37943227e-05 9.99906924e-01 6.51604981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.612320588 meters 0.022631870828688082 Centerline is valid? [True, True] Translation: X:129.91, Y:-10.98, Z:0.65 [[ 9.90780167e-01 1.34967594e-01 1.17647578e-02 1.29914723e+02] [-1.34958379e-01 9.90850013e-01 -1.57729515e-03 -1.09800735e+01] [-1.18699942e-02 -2.49998994e-05 9.99929549e-01 6.51847589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.642320588 meters 0.022642502335100047 Centerline is valid? [True, True] Translation: X:129.95, Y:-10.99, Z:0.65 [[ 9.90673515e-01 1.35702242e-01 1.22836612e-02 1.29946403e+02] [-1.35692233e-01 9.90749666e-01 -1.64852629e-03 -1.09857553e+01] [-1.23937419e-02 -3.36460805e-05 9.99923194e-01 6.50907510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.672320588 meters 0.022856215783074122 Centerline is valid? [True, True] Translation: X:129.98, Y:-11.00, Z:0.65 [[ 9.90509200e-01 1.36648648e-01 1.47875371e-02 1.29977147e+02] [-1.36634219e-01 9.90619576e-01 -1.98646260e-03 -1.09958844e+01] [-1.49202711e-02 -5.28740965e-05 9.99888685e-01 6.48793270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70232058799999 meters 0.023048458702747337 Centerline is valid? [True, True] Translation: X:130.01, Y:-11.00, Z:0.65 [[ 9.90282270e-01 1.38307180e-01 1.45653600e-02 1.30009913e+02] [-1.38293213e-01 9.90389378e-01 -1.96665061e-03 -1.10030943e+01] [-1.46973798e-02 -6.67512176e-05 9.99891985e-01 6.48161665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.732320588 meters 0.022973546556751386 Centerline is valid? [True, True] Translation: X:130.04, Y:-11.01, Z:0.65 [[ 9.90190100e-01 1.38984940e-01 1.43788741e-02 1.30042636e+02] [-1.38971285e-01 9.90294492e-01 -1.94939038e-03 -1.10091454e+01] [-1.45102557e-02 -6.79835647e-05 9.99894718e-01 6.48519858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.762320588 meters 0.02299453416759248 Centerline is valid? [True, True] Translation: X:130.07, Y:-11.02, Z:0.65 [[ 9.89791444e-01 1.41882627e-01 1.34988118e-02 1.30074793e+02] [-1.41870760e-01 9.89883483e-01 -1.83760390e-03 -1.10158022e+01] [-1.36229749e-02 -9.62420640e-05 9.99907198e-01 6.48953036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.792320588 meters 0.023201770327839814 Centerline is valid? [True, True] Translation: X:130.11, Y:-11.02, Z:0.65 [[ 9.89449286e-01 1.44290140e-01 1.30562439e-02 1.30106117e+02] [-1.44279250e-01 9.89535416e-01 -1.77717786e-03 -1.10207678e+01] [-1.31760450e-02 -1.25317713e-04 9.99913184e-01 6.48879173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.822320588 meters 0.023351809864053878 Centerline is valid? [True, True] Translation: X:130.14, Y:-11.02, Z:0.65 [[ 9.89037280e-01 1.46983268e-01 1.41836981e-02 1.30137601e+02] [-1.46970583e-01 9.89138964e-01 -1.93824432e-03 -1.10244591e+01] [-1.43145379e-02 -1.67590486e-04 9.99897528e-01 6.48929650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.852320588 meters 0.02369668427444988 Centerline is valid? [True, True] Translation: X:130.17, Y:-11.03, Z:0.65 [[ 9.88459788e-01 1.50726756e-01 1.51225471e-02 1.30169956e+02] [-1.50712769e-01 9.88575434e-01 -2.06691065e-03 -1.10275897e+01] [-1.52613173e-02 -2.36102873e-04 9.99883511e-01 6.47836095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.882320588 meters 0.02422615345326158 Centerline is valid? [True, True] Translation: X:130.20, Y:-11.03, Z:0.65 [[ 9.87630920e-01 1.56231649e-01 1.32980280e-02 1.30202327e+02] [-1.56221225e-01 9.87720404e-01 -1.82545967e-03 -1.10311812e+01] [-1.34199282e-02 -2.74553818e-04 9.99909911e-01 6.47257923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.912320588 meters 0.024285925614444887 Centerline is valid? [True, True] Translation: X:130.23, Y:-11.04, Z:0.65 [[ 9.87235491e-01 1.58728107e-01 1.30948172e-02 1.30234201e+02] [-1.58718217e-01 9.87322286e-01 -1.79765924e-03 -1.10376305e+01] [-1.32141439e-02 -3.03673037e-04 9.99912643e-01 6.47681771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.942320588 meters 0.02459195675587352 Centerline is valid? [True, True] Translation: X:130.27, Y:-11.05, Z:0.65 [[ 9.86975715e-01 1.60293693e-01 1.35966660e-02 1.30265645e+02] [-1.60283071e-01 9.87069310e-01 -1.87445222e-03 -1.10451597e+01] [-1.37213146e-02 -3.29276569e-04 9.99905804e-01 6.47268411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.972320588 meters 0.024973306130014028 Centerline is valid? [True, True] Translation: X:130.30, Y:-11.05, Z:0.65 [[ 9.86683740e-01 1.61977187e-01 1.47847602e-02 1.30297008e+02] [-1.61964719e-01 9.86794431e-01 -2.04472850e-03 -1.10518228e+01] [-1.49207184e-02 -3.77109174e-04 9.99888609e-01 6.47456265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.002320588 meters 0.02512980252477041 Centerline is valid? [True, True] Translation: X:130.33, Y:-11.05, Z:0.65 [[ 9.86306175e-01 1.64130596e-01 1.61640739e-02 1.30329318e+02] [-1.64115867e-01 9.86438520e-01 -2.24258182e-03 -1.10519853e+01] [-1.63129414e-02 -4.40908704e-04 9.99866838e-01 6.47489551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.032320588 meters 0.025303446648282175 Centerline is valid? [True, True] Translation: X:130.36, Y:-11.05, Z:0.65 [[ 9.86038086e-01 1.65798988e-01 1.54786499e-02 1.30362843e+02] [-1.65785556e-01 9.86159471e-01 -2.15588268e-03 -1.10522409e+01] [-1.56218603e-02 -4.40354138e-04 9.99877874e-01 6.47781426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.062320588 meters 0.02535212187812451 Centerline is valid? [True, True] Translation: X:130.40, Y:-11.05, Z:0.65 [[ 9.85707365e-01 1.67823211e-01 1.47091714e-02 1.30395027e+02] [-1.67811211e-01 9.85817008e-01 -2.05511702e-03 -1.10537529e+01] [-1.48454477e-02 -4.42619881e-04 9.99889702e-01 6.47535016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09232058799999 meters 0.02574619862432761 Centerline is valid? [True, True] Translation: X:130.43, Y:-11.06, Z:0.65 [[ 9.85148943e-01 1.71236527e-01 1.26337188e-02 1.30426470e+02] [-1.71227886e-01 9.85229860e-01 -1.77053747e-03 -1.10573697e+01] [-1.27502977e-02 -4.19001862e-04 9.99918624e-01 6.48183997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.122320588 meters 0.02629134396413881 Centerline is valid? [True, True] Translation: X:130.46, Y:-11.06, Z:0.65 [[ 9.84670466e-01 1.73961068e-01 1.27129952e-02 1.30457875e+02] [-1.73952476e-01 9.84752427e-01 -1.78698842e-03 -1.10616847e+01] [-1.28300193e-02 -4.51862280e-04 9.99917590e-01 6.48960608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.152320588 meters 0.026458571721068636 Centerline is valid? [True, True] Translation: X:130.49, Y:-11.06, Z:0.65 [[ 9.84366302e-01 1.75618348e-01 1.34602727e-02 1.30489539e+02] [-1.75608798e-01 9.84458201e-01 -1.89743031e-03 -1.10641336e+01] [-1.35842994e-02 -4.95975853e-04 9.99907606e-01 6.49458222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.182320588 meters 0.02686770803680633 Centerline is valid? [True, True] Translation: X:130.52, Y:-11.06, Z:0.65 [[ 9.83752645e-01 1.78909253e-01 1.49067784e-02 1.30522296e+02] [-1.78897913e-01 9.83865397e-01 -2.10157778e-03 -1.10624474e+01] [-1.50422551e-02 -5.99358836e-04 9.99886679e-01 6.50599808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.212320588 meters 0.027463786172466347 Centerline is valid? [True, True] Translation: X:130.55, Y:-11.06, Z:0.65 [[ 9.83329347e-01 1.81332353e-01 1.34897747e-02 1.30554692e+02] [-1.81323191e-01 9.83421708e-01 -1.90939719e-03 -1.10634843e+01] [-1.36123727e-02 -5.68442695e-04 9.99907186e-01 6.51173865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.242320588 meters 0.027751685847557286 Centerline is valid? [True, True] Translation: X:130.59, Y:-11.06, Z:0.65 [[ 9.82976581e-01 1.83274721e-01 1.29390219e-02 1.30587565e+02] [-1.83266458e-01 9.83061570e-01 -1.83157387e-03 -1.10623219e+01] [-1.30555364e-02 -5.70894484e-04 9.99914610e-01 6.51720125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.272320588 meters 0.02775370261333425 Centerline is valid? [True, True] Translation: X:130.62, Y:-11.06, Z:0.65 [[ 9.82837135e-01 1.84037354e-01 1.27050750e-02 1.30620898e+02] [-1.84029430e-01 9.82919086e-01 -1.80007149e-03 -1.10596301e+01] [-1.28193411e-02 -5.68930597e-04 9.99917667e-01 6.51780880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.302320588 meters 0.02768701172508507 Centerline is valid? [True, True] Translation: X:130.65, Y:-11.05, Z:0.65 [[ 9.82798467e-01 1.84074641e-01 1.49566025e-02 1.30654497e+02] [-1.84063637e-01 9.82912041e-01 -2.12083798e-03 -1.10517690e+01] [-1.50914172e-02 -6.68610345e-04 9.99885895e-01 6.51989944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.332320588 meters 0.02715421886197267 Centerline is valid? [True, True] Translation: X:130.69, Y:-11.05, Z:0.65 [[ 9.82981443e-01 1.83091936e-01 1.49941743e-02 1.30686984e+02] [-1.83080734e-01 9.83095578e-01 -2.12806086e-03 -1.10533894e+01] [-1.51303373e-02 -6.53300101e-04 9.99885316e-01 6.53504881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.362320588 meters 0.026685337561998933 Centerline is valid? [True, True] Translation: X:130.72, Y:-11.06, Z:0.65 [[ 9.83536553e-01 1.80053056e-01 1.53865765e-02 1.30719249e+02] [-1.80040858e-01 9.83656704e-01 -2.18572058e-03 -1.10560238e+01] [-1.55286548e-02 -6.20476352e-04 9.99879231e-01 6.53829236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.392320588 meters 0.026159952476266537 Centerline is valid? [True, True] Translation: X:130.75, Y:-11.06, Z:0.65 [[ 9.84143421e-01 1.76860326e-01 1.34963657e-02 1.30751150e+02] [-1.76850624e-01 9.84235834e-01 -1.91844152e-03 -1.10578612e+01] [-1.36229029e-02 -4.98819088e-04 9.99907080e-01 6.54737947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.422320588 meters 0.024888226046168832 Centerline is valid? [True, True] Translation: X:130.78, Y:-11.05, Z:0.65 [[ 9.85154736e-01 1.71224448e-01 1.23423808e-02 1.30783450e+02] [-1.71215867e-01 9.85231974e-01 -1.75639667e-03 -1.10512196e+01] [-1.24608462e-02 -3.82888930e-04 9.99922287e-01 6.54775216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45232058799999 meters 0.024792242473532067 Centerline is valid? [True, True] Translation: X:130.82, Y:-11.05, Z:0.65 [[ 9.85418439e-01 1.69605498e-01 1.35821447e-02 1.30815646e+02] [-1.69594930e-01 9.85511957e-01 -1.93451663e-03 -1.10509153e+01] [-1.37134706e-02 -3.97154522e-04 9.99905887e-01 6.54720619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.482320588 meters 0.02447057891902138 Centerline is valid? [True, True] Translation: X:130.85, Y:-11.05, Z:0.66 [[ 9.85686149e-01 1.68029818e-01 1.37403314e-02 1.30848489e+02] [-1.68018825e-01 9.85781841e-01 -1.95884627e-03 -1.10510381e+01] [-1.38741138e-02 -3.77826710e-04 9.99903678e-01 6.56587269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.512320588 meters 0.024070623213157075 Centerline is valid? [True, True] Translation: X:130.88, Y:-11.05, Z:0.66 [[ 9.85981599e-01 1.66395964e-01 1.23559340e-02 1.30880428e+02] [-1.66386924e-01 9.86058965e-01 -1.76319828e-03 -1.10520605e+01] [-1.24770685e-02 -3.17384785e-04 9.99922108e-01 6.57514026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.542320588 meters 0.024070623213157075 Centerline is valid? [True, True] Translation: X:130.91, Y:-11.06, Z:0.66 [[ 9.85948714e-01 1.66590739e-01 1.23555376e-02 1.30912634e+02] [-1.66581680e-01 9.86026077e-01 -1.76597448e-03 -1.10566077e+01] [-1.24770773e-02 -3.17045943e-04 9.99922108e-01 6.57677929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.572320588 meters 0.023257000472773265 Centerline is valid? [True, True] Translation: X:130.94, Y:-11.06, Z:0.66 [[ 9.86867367e-01 1.61412671e-01 6.22492213e-03 1.30944155e+02] [-1.61410267e-01 9.86886991e-01 -8.89977646e-04 -1.10563599e+01] [-6.28694835e-03 -1.26476449e-04 9.99980229e-01 6.58301310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.602320588 meters 0.022916979123676674 Centerline is valid? [True, True] Translation: X:130.98, Y:-11.06, Z:0.66 [[ 9.87228885e-01 1.59196116e-01 5.97707385e-03 1.30976137e+02] [-1.59193852e-01 9.87246973e-01 -8.55710381e-04 -1.10609310e+01] [-6.03707383e-03 -1.06731406e-04 9.99981771e-01 6.56380168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.632320588 meters 0.022828033937907315 Centerline is valid? [True, True] Translation: X:131.01, Y:-11.07, Z:0.65 [[ 9.87708294e-01 1.56112476e-01 7.82435396e-03 1.31007535e+02] [-1.56108492e-01 9.87739278e-01 -1.12105525e-03 -1.10666846e+01] [-7.90343244e-03 -1.14172530e-04 9.99968761e-01 6.54421716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.662320588 meters 0.022737207347988987 Centerline is valid? [True, True] Translation: X:131.04, Y:-11.07, Z:0.66 [[ 9.88098187e-01 1.53554979e-01 9.10174152e-03 1.31039831e+02] [-1.53549470e-01 9.88140100e-01 -1.30520583e-03 -1.10712877e+01] [-9.19421662e-03 -1.07896070e-04 9.99957726e-01 6.55787115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.692320588 meters 0.02262663446109638 Centerline is valid? [True, True] Translation: X:131.07, Y:-11.07, Z:0.66 [[ 9.88505054e-01 1.50804937e-01 1.07530842e-02 1.31072192e+02] [-1.50797070e-01 9.88563535e-01 -1.54336494e-03 -1.10730070e+01] [-1.08628540e-02 -9.59095517e-05 9.99940993e-01 6.57363666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.722320588 meters 0.022119192205334332 Centerline is valid? [True, True] Translation: X:131.11, Y:-11.07, Z:0.66 [[ 9.88971099e-01 1.47800160e-01 9.55398421e-03 1.31105245e+02] [-1.47793796e-01 9.89017244e-01 -1.37263895e-03 -1.10720118e+01] [-9.65193139e-03 -5.45193477e-05 9.99953418e-01 6.59715387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.752320588 meters 0.022304809359996583 Centerline is valid? [True, True] Translation: X:131.14, Y:-11.08, Z:0.66 [[ 9.88927178e-01 1.48163132e-01 8.40971694e-03 1.31136477e+02] [-1.48158204e-01 9.88962934e-01 -1.20946058e-03 -1.10782683e+01] [-8.49609580e-03 -4.99001134e-05 9.99963906e-01 6.58740800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.782320588 meters 0.02226281166538639 Centerline is valid? [True, True] Translation: X:131.17, Y:-11.09, Z:0.66 [[ 9.88848923e-01 1.48765399e-01 6.83102993e-03 1.31168290e+02] [-1.48762154e-01 9.88872517e-01 -9.83479633e-04 -1.10861056e+01] [-6.90132550e-03 -4.36859541e-05 9.99976185e-01 6.59053624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.812320588 meters 0.02237832234228913 Centerline is valid? [True, True] Translation: X:131.20, Y:-11.09, Z:0.66 [[ 9.88591818e-01 1.50463806e-01 6.84541339e-03 1.31200252e+02] [-1.50460582e-01 9.88615517e-01 -9.86487910e-04 -1.10925141e+01] [-6.91591263e-03 -5.47310064e-05 9.99976083e-01 6.58639400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84232058799999 meters 0.02257795849923322 Centerline is valid? [True, True] Translation: X:131.23, Y:-11.09, Z:0.66 [[ 9.88009653e-01 1.54112455e-01 9.28847554e-03 1.31232311e+02] [-1.54106671e-01 9.88053308e-01 -1.33959997e-03 -1.10943259e+01] [-9.38395803e-03 -1.07878341e-04 9.99955964e-01 6.57305458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.872320588 meters 0.02270490548919769 Centerline is valid? [True, True] Translation: X:131.26, Y:-11.10, Z:0.66 [[ 9.87906610e-01 1.54726344e-01 1.00143766e-02 1.31264556e+02] [-1.54719638e-01 9.87957359e-01 -1.44559612e-03 -1.10975873e+01] [-1.01174489e-02 -1.21306764e-04 9.99948810e-01 6.55934652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.902320588 meters 0.02268715966033865 Centerline is valid? [True, True] Translation: X:131.30, Y:-11.10, Z:0.66 [[ 9.87901473e-01 1.54748280e-01 1.01808060e-02 1.31296549e+02] [-1.54741336e-01 9.87953924e-01 -1.47099514e-03 -1.11028131e+01] [-1.02858012e-02 -1.22193259e-04 9.99947092e-01 6.55515193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.932320588 meters 0.022678893095732334 Centerline is valid? [True, True] Translation: X:131.33, Y:-11.11, Z:0.66 [[ 9.87937953e-01 1.54576859e-01 9.19757415e-03 1.31328059e+02] [-1.54571172e-01 9.87980761e-01 -1.33025611e-03 -1.11070500e+01] [-9.29265311e-03 -1.07469324e-04 9.99956817e-01 6.57978704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.962320588 meters 0.022753611036139695 Centerline is valid? [True, True] Translation: X:131.36, Y:-11.11, Z:0.66 [[ 9.87887213e-01 1.54778053e-01 1.10728630e-02 1.31360416e+02] [-1.54769809e-01 9.87949258e-01 -1.60285490e-03 -1.11089207e+01] [-1.11875136e-02 -1.30305027e-04 9.99937409e-01 6.58336116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.992320588 meters 0.02255852143082521 Centerline is valid? [True, True] Translation: X:131.39, Y:-11.11, Z:0.66 [[ 9.87992800e-01 1.54221815e-01 9.26594927e-03 1.31392524e+02] [-1.54216005e-01 9.88036245e-01 -1.34266319e-03 -1.11119350e+01] [-9.36216167e-03 -1.02416115e-04 9.99956169e-01 6.59717844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.022320588 meters 0.022655274340060164 Centerline is valid? [True, True] Translation: X:131.42, Y:-11.12, Z:0.66 [[ 9.88108936e-01 1.53414093e-01 1.02394369e-02 1.31423238e+02] [-1.53406940e-01 9.88161983e-01 -1.48505539e-03 -1.11236947e+01] [-1.03460507e-02 -1.03404188e-04 9.99946473e-01 6.55969806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.052320588 meters 0.022647564633321154 Centerline is valid? [True, True] Translation: X:131.45, Y:-11.13, Z:0.66 [[ 9.88064896e-01 1.53703329e-01 1.01512344e-02 1.31453878e+02] [-1.53696300e-01 9.88117035e-01 -1.47366799e-03 -1.11331867e+01] [-1.02571154e-02 -1.04127560e-04 9.99947389e-01 6.56647820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.082320588 meters 0.022578236782455026 Centerline is valid? [True, True] Translation: X:131.49, Y:-11.14, Z:0.66 [[ 9.87987545e-01 1.54294346e-01 8.59448095e-03 1.31485176e+02] [-1.54289319e-01 9.88024922e-01 -1.24894265e-03 -1.11397684e+01] [-8.68426616e-03 -9.20968331e-05 9.99962287e-01 6.58558439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.112320588 meters 0.022505832673905213 Centerline is valid? [True, True] Translation: X:131.52, Y:-11.14, Z:0.66 [[ 9.87931324e-01 1.54671749e-01 8.26729883e-03 1.31517388e+02] [-1.54667101e-01 9.87965911e-01 -1.20256332e-03 -1.11428322e+01] [-8.35381199e-03 -9.06291628e-05 9.99965102e-01 6.59108982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.142320588 meters 0.022518392877839633 Centerline is valid? [True, True] Translation: X:131.55, Y:-11.14, Z:0.66 [[ 9.87768633e-01 1.55672344e-01 8.90224868e-03 1.31549159e+02] [-1.55666988e-01 9.87808742e-01 -1.29562141e-03 -1.11445676e+01] [-8.99541149e-03 -1.06012050e-04 9.99959535e-01 6.58622190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.172320588 meters 0.02267664976964427 Centerline is valid? [True, True] Translation: X:131.58, Y:-11.15, Z:0.66 [[ 9.87315377e-01 1.58570684e-01 7.98024319e-03 1.31580850e+02] [-1.58566464e-01 9.87347621e-01 -1.16275004e-03 -1.11476378e+01] [-8.06365219e-03 -1.17397953e-04 9.99967481e-01 6.59836099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20232058799999 meters 0.022777091501286307 Centerline is valid? [True, True] Translation: X:131.61, Y:-11.15, Z:0.66 [[ 9.87014852e-01 1.60320339e-01 9.95342409e-03 1.31612670e+02] [-1.60313851e-01 9.87065024e-01 -1.45145555e-03 -1.11543027e+01] [-1.00573746e-02 -1.63063562e-04 9.99949410e-01 6.61194590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.232320588 meters 0.02317133735045076 Centerline is valid? [True, True] Translation: X:131.64, Y:-11.16, Z:0.66 [[ 9.86429242e-01 1.63970010e-01 8.43725589e-03 1.31644348e+02] [-1.63965471e-01 9.86465310e-01 -1.23160647e-03 -1.11611799e+01] [-8.52500677e-03 -1.68526000e-04 9.99963647e-01 6.61794308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.262320588 meters 0.023236029898536834 Centerline is valid? [True, True] Translation: X:131.68, Y:-11.16, Z:0.66 [[ 9.86217195e-01 1.65330904e-01 6.42935733e-03 1.31676972e+02] [-1.65328290e-01 9.86238142e-01 -9.39543306e-04 -1.11638995e+01] [-6.49621298e-03 -1.36360892e-04 9.99978890e-01 6.60706401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.292320588 meters 0.023424839934756737 Centerline is valid? [True, True] Translation: X:131.71, Y:-11.17, Z:0.66 [[ 9.85983714e-01 1.66702882e-01 6.80178071e-03 1.31709656e+02] [-1.66699984e-01 9.86007163e-01 -9.94853574e-04 -1.11654750e+01] [-6.87244946e-03 -1.52947311e-04 9.99976373e-01 6.59376330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.322320588 meters 0.023630969024476103 Centerline is valid? [True, True] Translation: X:131.74, Y:-11.17, Z:0.66 [[ 9.85874201e-01 1.67290082e-01 8.12951814e-03 1.31742099e+02] [-1.67285954e-01 9.85907700e-01 -1.19000782e-03 -1.11663143e+01] [-8.21403104e-03 -1.86756181e-04 9.99966247e-01 6.59209414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.352320588 meters 0.023562933018908966 Centerline is valid? [True, True] Translation: X:131.77, Y:-11.17, Z:0.66 [[ 9.85609377e-01 1.68594488e-01 1.22496475e-02 1.31774272e+02] [-1.68585199e-01 9.85685452e-01 -1.79442792e-03 -1.11688073e+01] [-1.23768300e-02 -2.96504278e-04 9.99923360e-01 6.61107745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.382320588 meters 0.02369591301870289 Centerline is valid? [True, True] Translation: X:131.81, Y:-11.17, Z:0.66 [[ 9.85502508e-01 1.69159764e-01 1.30300064e-02 1.31806375e+02] [-1.69149280e-01 9.85588591e-01 -1.91045605e-03 -1.11738015e+01] [-1.31653979e-02 -3.21256974e-04 9.99913281e-01 6.61496982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.412320588 meters 0.023631114593137614 Centerline is valid? [True, True] Translation: X:131.84, Y:-11.18, Z:0.66 [[ 9.85536948e-01 1.69125732e-01 1.06494459e-02 1.31837855e+02] [-1.69118711e-01 9.85594449e-01 -1.56297423e-03 -1.11783928e+01] [-1.07603739e-02 -2.60651716e-04 9.99942072e-01 6.61424378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.442320588 meters 0.02351093170145117 Centerline is valid? [True, True] Translation: X:131.87, Y:-11.18, Z:0.66 [[ 9.85566250e-01 1.69071605e-01 8.59998984e-03 1.31869552e+02] [-1.69067013e-01 9.85603748e-01 -1.26347618e-03 -1.11823015e+01] [-8.68980017e-03 -2.08735114e-04 9.99962221e-01 6.61284958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.472320588 meters 0.023553289798246627 Centerline is valid? [True, True] Translation: X:131.90, Y:-11.18, Z:0.66 [[ 9.85809105e-01 1.67682459e-01 7.93730391e-03 1.31901557e+02] [-1.67678493e-01 9.85841042e-01 -1.16724618e-03 -1.11840557e+01] [-8.02064666e-03 -1.80233246e-04 9.99967818e-01 6.59948452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.502320588 meters 0.02337372347820312 Centerline is valid? [True, True] Translation: X:131.93, Y:-11.19, Z:0.66 [[ 9.85819735e-01 1.67634879e-01 7.61560153e-03 1.31932483e+02] [-1.67631225e-01 9.85849135e-01 -1.12013464e-03 -1.11859983e+01] [-7.69560782e-03 -1.72361783e-04 9.99970374e-01 6.60646962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.532320588 meters 0.023632228877531625 Centerline is valid? [True, True] Translation: X:131.96, Y:-11.19, Z:0.66 [[ 9.85638495e-01 1.68539723e-01 1.05413242e-02 1.31963767e+02] [-1.68532768e-01 9.85694831e-01 -1.55105043e-03 -1.11875532e+01] [-1.06519424e-02 -2.47783530e-04 9.99943236e-01 6.61701242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.562320588 meters 0.023768394667680572 Centerline is valid? [True, True] Translation: X:132.00, Y:-11.19, Z:0.66 [[ 9.85467889e-01 1.69391908e-01 1.26261752e-02 1.31995761e+02] [-1.69381974e-01 9.85548724e-01 -1.85980222e-03 -1.11891651e+01] [-1.27587463e-02 -3.05871117e-04 9.99918557e-01 6.63230002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59232058799999 meters 0.02333495835279358 Centerline is valid? [True, True] Translation: X:132.03, Y:-11.19, Z:0.66 [[ 9.85745464e-01 1.67889910e-01 1.09022466e-02 1.32027792e+02] [-1.67882394e-01 9.85805720e-01 -1.60743601e-03 -1.11911319e+01] [-1.10173693e-02 -2.45772502e-04 9.99939277e-01 6.62251120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.622320588 meters 0.023306315245584474 Centerline is valid? [True, True] Translation: X:132.06, Y:-11.20, Z:0.66 [[ 9.86085616e-01 1.66013974e-01 8.63244669e-03 1.32059403e+02] [-1.66009179e-01 9.86123384e-01 -1.27409485e-03 -1.11962273e+01] [-8.72417509e-03 -1.76698785e-04 9.99961928e-01 6.60602331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.652320588 meters 0.022976414364433765 Centerline is valid? [True, True] Translation: X:132.09, Y:-11.20, Z:0.66 [[ 9.86522851e-01 1.63480767e-01 6.83404111e-03 1.32090376e+02] [-1.63477699e-01 9.86546514e-01 -1.00892862e-03 -1.12000549e+01] [-6.90703985e-03 -1.21882179e-04 9.99976139e-01 6.59728090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.682320588 meters 0.022710136526209835 Centerline is valid? [True, True] Translation: X:132.12, Y:-11.20, Z:0.66 [[ 9.87558550e-01 1.56830537e-01 1.15019030e-02 1.32121029e+02] [-1.56821402e-01 9.87625519e-01 -1.69748713e-03 -1.12002544e+01] [-1.16257907e-02 -1.27376625e-04 9.99932410e-01 6.62150869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.712320588 meters 0.022544005957816568 Centerline is valid? [True, True] Translation: X:132.15, Y:-11.20, Z:0.66 [[ 9.88078240e-01 1.53418894e-01 1.28076029e-02 1.32153578e+02] [-1.53407249e-01 9.88161239e-01 -1.89262097e-03 -1.12033593e+01] [-1.29463405e-02 -9.47215307e-05 9.99916188e-01 6.63826321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.742320588 meters 0.02242206637109186 Centerline is valid? [True, True] Translation: X:132.19, Y:-11.21, Z:0.66 [[ 9.88443458e-01 1.51137217e-01 1.17077808e-02 1.32185267e+02] [-1.51127306e-01 9.88512791e-01 -1.73172156e-03 -1.12061650e+01] [-1.18350186e-02 -5.76565240e-05 9.99929962e-01 6.64324509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.772320588 meters 0.022210732581259295 Centerline is valid? [True, True] Translation: X:132.22, Y:-11.21, Z:0.66 [[ 9.88581486e-01 1.50395396e-01 9.37390016e-03 1.32217430e+02] [-1.50388997e-01 9.88625927e-01 -1.38790381e-03 -1.12089335e+01] [-9.47601508e-03 -3.76754272e-05 9.99955101e-01 6.64297536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.802320588 meters 0.022302231681917632 Centerline is valid? [True, True] Translation: X:132.25, Y:-11.21, Z:0.66 [[ 9.88630829e-01 1.50169043e-01 7.63824956e-03 1.32248935e+02] [-1.50164785e-01 9.88660335e-01 -1.13122391e-03 -1.12121384e+01] [-7.72150917e-03 -2.86332715e-05 9.99970188e-01 6.62434784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.832320588 meters 0.02231355978610013 Centerline is valid? [True, True] Translation: X:132.28, Y:-11.22, Z:0.66 [[ 9.88457763e-01 1.51302439e-01 7.66961291e-03 1.32278698e+02] [-1.51298182e-01 9.88487517e-01 -1.13553299e-03 -1.12192067e+01] [-7.75312553e-03 -3.79720889e-05 9.99969943e-01 6.61577423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.862320588 meters 0.022536733299552456 Centerline is valid? [True, True] Translation: X:132.31, Y:-11.23, Z:0.66 [[ 9.88335296e-01 1.52035096e-01 8.86978104e-03 1.32309034e+02] [-1.52029424e-01 9.88375094e-01 -1.31416419e-03 -1.12256425e+01] [-8.96646975e-03 -4.96328561e-05 9.99959799e-01 6.62179219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.892320588 meters 0.022533269003309774 Centerline is valid? [True, True] Translation: X:132.34, Y:-11.23, Z:0.66 [[ 9.88241354e-01 1.52534577e-01 1.05938409e-02 1.32340256e+02] [-1.52526508e-01 9.88298133e-01 -1.57025211e-03 -1.12307804e+01] [-1.07093909e-02 -6.40534851e-05 9.99942651e-01 6.63159174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.922320588 meters 0.022634013236768207 Centerline is valid? [True, True] Translation: X:132.37, Y:-11.23, Z:0.66 [[ 9.88293440e-01 1.51957231e-01 1.36042845e-02 1.32371781e+02] [-1.51943858e-01 9.88387067e-01 -2.01728566e-03 -1.12347936e+01] [-1.37528400e-02 -7.34172814e-05 9.99905423e-01 6.63530112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95232058799999 meters 0.02264693674207754 Centerline is valid? [True, True] Translation: X:132.40, Y:-11.24, Z:0.66 [[ 9.88624826e-01 1.49835710e-01 1.30466100e-02 1.32403353e+02] [-1.49823198e-01 9.88710907e-01 -1.93671416e-03 -1.12388119e+01] [-1.31895145e-02 -4.00011282e-05 9.99913014e-01 6.62867969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.982320588 meters 0.022395806387312957 Centerline is valid? [True, True] Translation: X:132.43, Y:-11.24, Z:0.66 [[ 9.88847205e-01 1.48564302e-01 1.04811356e-02 1.32434919e+02] [-1.48556140e-01 9.88902749e-01 -1.55742125e-03 -1.12448642e+01] [-1.05962010e-02 -1.69853886e-05 9.99943859e-01 6.62389920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.012320588 meters 0.022603896431062857 Centerline is valid? [True, True] Translation: X:132.47, Y:-11.25, Z:0.66 [[ 9.88932055e-01 1.48037133e-01 9.91951843e-03 1.32466309e+02] [-1.48029782e-01 9.88981803e-01 -1.47535781e-03 -1.12515457e+01] [-1.00286310e-02 -9.35552162e-06 9.99949712e-01 6.61201760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.042320588 meters 0.0227062996219899 Centerline is valid? [True, True] Translation: X:132.50, Y:-11.26, Z:0.66 [[ 9.88900138e-01 1.48158838e-01 1.12016428e-02 1.32497001e+02] [-1.48149467e-01 9.88963578e-01 -1.66637427e-03 -1.12577179e+01] [-1.13249048e-02 -1.16396673e-05 9.99935871e-01 6.60776691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.072320588 meters 0.022646266482816577 Centerline is valid? [True, True] Translation: X:132.53, Y:-11.26, Z:0.66 [[ 9.88646999e-01 1.49559882e-01 1.44552225e-02 1.32528448e+02] [-1.49544404e-01 9.88752669e-01 -2.15191907e-03 -1.12611545e+01] [-1.46144806e-02 -3.42093042e-05 9.99893202e-01 6.64253187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.102320588 meters 0.02273532902309742 Centerline is valid? [True, True] Translation: X:132.56, Y:-11.26, Z:0.66 [[ 9.88549438e-01 1.50225045e-01 1.42283274e-02 1.32560221e+02] [-1.50210088e-01 9.88651826e-01 -2.12025302e-03 -1.12640032e+01] [-1.43853770e-02 -4.12633733e-05 9.99896524e-01 6.64395457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.132320588 meters 0.02261038011290239 Centerline is valid? [True, True] Translation: X:132.59, Y:-11.27, Z:0.66 [[ 9.88331883e-01 1.51669290e-01 1.40183967e-02 1.32592366e+02] [-1.51654889e-01 9.88431294e-01 -2.09088262e-03 -1.12690725e+01] [-1.41733447e-02 -5.94724470e-05 9.99899551e-01 6.62958453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.162320588 meters 0.0227757520031487 Centerline is valid? [True, True] Translation: X:132.62, Y:-11.28, Z:0.66 [[ 9.88314385e-01 1.51954041e-01 1.20269124e-02 1.32623875e+02] [-1.51943441e-01 9.88387559e-01 -1.79555274e-03 -1.12759426e+01] [-1.21600921e-02 -5.28398517e-05 9.99926062e-01 6.60996457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.192320588 meters 0.02276028385011609 Centerline is valid? [True, True] Translation: X:132.66, Y:-11.28, Z:0.66 [[ 9.88449446e-01 1.50889562e-01 1.41432935e-02 1.32655293e+02] [-1.50874778e-01 9.88550625e-01 -2.11268382e-03 -1.12802409e+01] [-1.43001436e-02 -4.55851162e-05 9.99897747e-01 6.60602976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.222320588 meters 0.02284557947207573 Centerline is valid? [True, True] Translation: X:132.69, Y:-11.28, Z:0.66 [[ 9.88695156e-01 1.49214656e-01 1.47266512e-02 1.32686904e+02] [-1.49198409e-01 9.88804827e-01 -2.20198585e-03 -1.12844053e+01] [-1.48903523e-02 -2.01001796e-05 9.99889132e-01 6.61098839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.252320588 meters 0.022699923777017607 Centerline is valid? [True, True] Translation: X:132.72, Y:-11.29, Z:0.66 [[ 9.88965496e-01 1.47420157e-01 1.46473578e-02 1.32718711e+02] [-1.47403859e-01 9.89073959e-01 -2.19209347e-03 -1.12886200e+01] [-1.48104790e-02 8.82774765e-06 9.99890319e-01 6.62281105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.282320588 meters 0.022821311466585028 Centerline is valid? [True, True] Translation: X:132.75, Y:-11.29, Z:0.66 [[ 9.89791764e-01 1.41932282e-01 1.29418037e-02 1.32751106e+02] [-1.41919065e-01 9.89876366e-01 -1.93866662e-03 -1.12917650e+01] [-1.30859449e-02 8.21875777e-05 9.99914372e-01 6.62838510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.312320588 meters 0.023052181319496646 Centerline is valid? [True, True] Translation: X:132.78, Y:-11.30, Z:0.66 [[ 9.89975168e-01 1.40516872e-01 1.42890094e-02 1.32783456e+02] [-1.40500586e-01 9.90078278e-01 -2.14231690e-03 -1.12954101e+01] [-1.44482695e-02 1.13226335e-04 9.99895612e-01 6.62962792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.342320588 meters 0.023121403232473567 Centerline is valid? [True, True] Translation: X:132.82, Y:-11.30, Z:0.66 [[ 9.89913441e-01 1.40623865e-01 1.72135841e-02 1.32815398e+02] [-1.40600209e-01 9.90063084e-01 -2.58293137e-03 -1.12993184e+01] [-1.74057559e-02 1.36644965e-04 9.99848499e-01 6.63103305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.372320588 meters 0.023192603987521473 Centerline is valid? [True, True] Translation: X:132.85, Y:-11.30, Z:0.66 [[ 9.89923173e-01 1.40354169e-01 1.87834865e-02 1.32847496e+02] [-1.40325904e-01 9.90101350e-01 -2.82095869e-03 -1.13042370e+01] [-1.89934886e-02 1.56722649e-04 9.99819595e-01 6.63878587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.402320588 meters 0.023309554812403578 Centerline is valid? [True, True] Translation: X:132.88, Y:-11.31, Z:0.66 [[ 9.90170865e-01 1.38672830e-01 1.82072507e-02 1.32879903e+02] [-1.38645917e-01 9.90338231e-01 -2.73837105e-03 -1.13110233e+01] [-1.84110741e-02 1.87094269e-04 9.99830484e-01 6.63152738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.432320588 meters 0.023245909304229817 Centerline is valid? [True, True] Translation: X:132.91, Y:-11.31, Z:0.66 [[ 9.90372241e-01 1.37557530e-01 1.55161571e-02 1.32911511e+02] [-1.37537819e-01 9.90493763e-01 -2.33547443e-03 -1.13146307e+01] [-1.56899189e-02 1.78930640e-04 9.99876890e-01 6.62930718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.462320588 meters 0.023245909304229817 Centerline is valid? [True, True] Translation: X:132.94, Y:-11.32, Z:0.66 [[ 9.90354582e-01 1.37684640e-01 1.55158572e-02 1.32942849e+02] [-1.37664913e-01 9.90476102e-01 -2.33746658e-03 -1.13193102e+01] [-1.56899190e-02 1.78931606e-04 9.99876890e-01 6.63090367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.492320588 meters 0.023370980285136674 Centerline is valid? [True, True] Translation: X:132.97, Y:-11.32, Z:0.66 [[ 9.90475396e-01 1.37070774e-01 1.30419855e-02 1.32974910e+02] [-1.37056759e-01 9.90561244e-01 -1.96659209e-03 -1.13218616e+01] [-1.31884477e-02 1.60368814e-04 9.99913016e-01 6.63293239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52232058799999 meters 0.023359082908999705 Centerline is valid? [True, True] Translation: X:133.01, Y:-11.32, Z:0.66 [[ 9.90580343e-01 1.36373935e-01 1.23585774e-02 1.33006604e+02] [-1.36361276e-01 9.90657420e-01 -1.86518750e-03 -1.13249974e+01] [-1.24974794e-02 1.62386687e-04 9.99921890e-01 6.62940364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.552320588 meters 0.02351958762117136 Centerline is valid? [True, True] Translation: X:133.04, Y:-11.33, Z:0.66 [[ 9.90711585e-01 1.35370858e-01 1.28563304e-02 1.33038494e+02] [-1.35357052e-01 9.90794982e-01 -1.94198547e-03 -1.13297160e+01] [-1.30008759e-02 1.83752520e-04 9.99915468e-01 6.63416789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.582320588 meters 0.02365443944066234 Centerline is valid? [True, True] Translation: X:133.07, Y:-11.33, Z:0.66 [[ 9.90856055e-01 1.34271625e-01 1.32441775e-02 1.33070725e+02] [-1.34256853e-01 9.90944544e-01 -2.00228043e-03 -1.13341492e+01] [-1.33930949e-02 2.05850098e-04 9.99910287e-01 6.64179297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.612320588 meters 0.02399361557247037 Centerline is valid? [True, True] Translation: X:133.10, Y:-11.34, Z:0.66 [[ 9.91120342e-01 1.32140408e-01 1.48115123e-02 1.33102842e+02] [-1.32121667e-01 9.91230974e-01 -2.24106842e-03 -1.13374348e+01] [-1.49777655e-02 2.64246811e-04 9.99887792e-01 6.64957829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.642320588 meters 0.023888428182546245 Centerline is valid? [True, True] Translation: X:133.14, Y:-11.34, Z:0.67 [[ 9.91244234e-01 1.31131675e-01 1.54709894e-02 1.33135059e+02] [-1.31111074e-01 9.91364916e-01 -2.34281500e-03 -1.13417561e+01] [-1.56446134e-02 2.93883824e-04 9.99877572e-01 6.65560864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.672320588 meters 0.024278826628882248 Centerline is valid? [True, True] Translation: X:133.17, Y:-11.35, Z:0.66 [[ 9.91644528e-01 1.28355862e-01 1.28803202e-02 1.33166538e+02] [-1.28341326e-01 9.91728134e-01 -1.95228816e-03 -1.13487918e+01] [-1.30243636e-02 2.82898494e-04 9.99915139e-01 6.64636660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.702320588 meters 0.02443277860509892 Centerline is valid? [True, True] Translation: X:133.20, Y:-11.35, Z:0.66 [[ 9.91754242e-01 1.27718625e-01 1.05582653e-02 1.33198212e+02] [-1.27708805e-01 9.91810413e-01 -1.60180626e-03 -1.13545062e+01] [-1.06763779e-02 2.40214712e-04 9.99942977e-01 6.64205699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.732320588 meters 0.02461924275186567 Centerline is valid? [True, True] Translation: X:133.23, Y:-11.36, Z:0.66 [[ 9.91876251e-01 1.26856860e-01 9.42543596e-03 1.33230395e+02] [-1.26848984e-01 9.91921008e-01 -1.43122493e-03 -1.13571532e+01] [-9.53084865e-03 2.23991038e-04 9.99954555e-01 6.62460636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.762320588 meters 0.024698163106862094 Centerline is valid? [True, True] Translation: X:133.26, Y:-11.36, Z:0.66 [[ 9.91958682e-01 1.26311471e-01 7.96145117e-03 1.33261775e+02] [-1.26305832e-01 9.91990612e-01 -1.20920327e-03 -1.13587942e+01] [-8.05042106e-03 1.93901966e-04 9.99967576e-01 6.62890208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.792320588 meters 0.02421446411559775 Centerline is valid? [True, True] Translation: X:133.29, Y:-11.37, Z:0.66 [[ 9.91853553e-01 1.26942258e-01 1.05920928e-02 1.33291156e+02] [-1.26932317e-01 9.91910077e-01 -1.60833009e-03 -1.13661525e+01] [-1.07105687e-02 2.50749037e-04 9.99942609e-01 6.64958792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.822320588 meters 0.024496672833686423 Centerline is valid? [True, True] Translation: X:133.32, Y:-11.38, Z:0.67 [[ 9.91822016e-01 1.27059867e-01 1.20365466e-02 1.33322290e+02] [-1.27047012e-01 9.91895009e-01 -1.82985834e-03 -1.13761415e+01] [-1.21714920e-02 2.85686516e-04 9.99925884e-01 6.66620970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.852320588 meters 0.024495071990092394 Centerline is valid? [True, True] Translation: X:133.35, Y:-11.39, Z:0.67 [[ 9.91830698e-01 1.26918240e-01 1.27916400e-02 1.33353415e+02] [-1.26903688e-01 9.91913134e-01 -1.94623492e-03 -1.13852872e+01] [-1.29352084e-02 3.07029240e-04 9.99916290e-01 6.68946205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.882320588 meters 0.024695680673456177 Centerline is valid? [True, True] Translation: X:133.39, Y:-11.39, Z:0.67 [[ 9.91871561e-01 1.26726286e-01 1.14566272e-02 1.33385209e+02] [-1.26714582e-01 9.91937685e-01 -1.74465670e-03 -1.13909893e+01] [-1.15853541e-02 2.78753637e-04 9.99932849e-01 6.69478000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.912320588 meters 0.025014780756963964 Centerline is valid? [True, True] Translation: X:133.42, Y:-11.40, Z:0.66 [[ 9.92248379e-01 1.24025482e-01 7.79958972e-03 1.33416463e+02] [-1.24019965e-01 9.92279011e-01 -1.18894865e-03 -1.13970236e+01] [-7.88682910e-03 2.12427524e-04 9.99968876e-01 6.64092062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.942320588 meters 0.025131185120670037 Centerline is valid? [True, True] Translation: X:133.45, Y:-11.41, Z:0.66 [[ 9.92278448e-01 1.23772732e-01 7.98701128e-03 1.33447744e+02] [-1.23766930e-01 9.92310567e-01 -1.21853248e-03 -1.14060886e+01] [-8.07641679e-03 2.20595651e-04 9.99967361e-01 6.61681395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.972320588 meters 0.02480945249457096 Centerline is valid? [True, True] Translation: X:133.48, Y:-11.42, Z:0.66 [[ 9.92133761e-01 1.24890681e-01 8.53919627e-03 1.33478614e+02] [-1.24884081e-01 9.92170482e-01 -1.30382401e-03 -1.14151466e+01] [-8.63517396e-03 2.27158134e-04 9.99962690e-01 6.63510753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.002320588 meters 0.02388797081198624 Centerline is valid? [True, True] Translation: X:133.51, Y:-11.42, Z:0.67 [[ 9.91211864e-01 1.31722857e-01 1.21708419e-02 1.33511043e+02] [-1.31709941e-01 9.91286553e-01 -1.86020081e-03 -1.14195460e+01] [-1.23098229e-02 2.40832235e-04 9.99924202e-01 6.69661267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.032320588 meters 0.023392033921450173 Centerline is valid? [True, True] Translation: X:133.54, Y:-11.42, Z:0.67 [[ 9.90744422e-01 1.35231852e-01 1.17403971e-02 1.33543252e+02] [-1.35220064e-01 9.90813963e-01 -1.79581048e-03 -1.14218782e+01] [-1.18754002e-02 1.91651970e-04 9.99929467e-01 6.71121473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.062320588 meters 0.02312171808364425 Centerline is valid? [True, True] Translation: X:133.58, Y:-11.43, Z:0.67 [[ 9.90254059e-01 1.38822269e-01 1.11927195e-02 1.33575205e+02] [-1.38811767e-01 9.90317301e-01 -1.71354011e-03 -1.14272223e+01] [-1.13222213e-02 1.43158867e-04 9.99935891e-01 6.70321897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.092320588 meters 0.022870977738140216 Centerline is valid? [True, True] Translation: X:133.61, Y:-11.44, Z:0.67 [[ 9.89874528e-01 1.41494546e-01 1.13009403e-02 1.33606274e+02] [-1.41483997e-01 9.89939028e-01 -1.73161190e-03 -1.14357832e+01] [-1.14322555e-02 1.15176312e-04 9.99934643e-01 6.68325969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.122320588 meters 0.022718688355847335 Centerline is valid? [True, True] Translation: X:133.64, Y:-11.45, Z:0.67 [[ 9.89215323e-01 1.45998076e-01 1.17306160e-02 1.33636755e+02] [-1.45987007e-01 9.89284872e-01 -1.79900742e-03 -1.14474672e+01] [-1.18675725e-02 6.70881869e-05 9.99929576e-01 6.67870927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.152320588 meters 0.02268171201405578 Centerline is valid? [True, True] Translation: X:133.67, Y:-11.45, Z:0.67 [[ 9.89092566e-01 1.46816666e-01 1.18643287e-02 1.33668865e+02] [-1.46805383e-01 9.89163719e-01 -1.82110395e-03 -1.14520934e+01] [-1.20031320e-02 5.94930522e-05 9.99927958e-01 6.69373668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.182320588 meters 0.02250671275555316 Centerline is valid? [True, True] Translation: X:133.70, Y:-11.45, Z:0.67 [[ 9.88846279e-01 1.48587869e-01 1.02313768e-02 1.33701001e+02] [-1.48579557e-01 9.88899208e-01 -1.57192949e-03 -1.14541766e+01] [-1.03513701e-02 3.42231882e-05 9.99946423e-01 6.70816731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.212320588 meters 0.022527957625700167 Centerline is valid? [True, True] Translation: X:133.73, Y:-11.45, Z:0.67 [[ 9.88416175e-01 1.51536482e-01 8.37617977e-03 1.33734157e+02] [-1.51531006e-01 9.88451665e-01 -1.28817241e-03 -1.14519643e+01] [-8.47465395e-03 3.99949262e-06 9.99964089e-01 6.69465515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.242320588 meters 0.02252408984889418 Centerline is valid? [True, True] Translation: X:133.77, Y:-11.46, Z:0.67 [[ 9.88080501e-01 1.53770855e-01 7.17271181e-03 1.33765767e+02] [-1.53766897e-01 9.88106535e-01 -1.10332960e-03 -1.14553170e+01] [-7.25706335e-03 -1.27471716e-05 9.99973667e-01 6.69362828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27232058799999 meters 0.022566843524391044 Centerline is valid? [True, True] Translation: X:133.80, Y:-11.46, Z:0.67 [[ 9.87709302e-01 1.56095930e-01 8.02460430e-03 1.33796362e+02] [-1.56091049e-01 9.87741899e-01 -1.23487350e-03 -1.14601386e+01] [-8.11899662e-03 -3.28728614e-05 9.99967040e-01 6.69251614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.302320588 meters 0.02256427952224066 Centerline is valid? [True, True] Translation: X:133.83, Y:-11.47, Z:0.67 [[ 9.87448368e-01 1.57637605e-01 9.80342014e-03 1.33827036e+02] [-1.57630390e-01 9.87497029e-01 -1.50919646e-03 -1.14660694e+01] [-9.91875438e-03 -5.50633603e-05 9.99950806e-01 6.69241785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.332320588 meters 0.022918185255752857 Centerline is valid? [True, True] Translation: X:133.86, Y:-11.47, Z:0.67 [[ 9.87047349e-01 1.60121983e-01 9.92376921e-03 1.33858878e+02] [-1.60114698e-01 9.87097231e-01 -1.52940884e-03 -1.14707988e+01] [-1.00406171e-02 -7.93423681e-05 9.99949589e-01 6.70662264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.362320588 meters 0.02294716269507297 Centerline is valid? [True, True] Translation: X:133.89, Y:-11.47, Z:0.67 [[ 9.86919693e-01 1.60741629e-01 1.23145244e-02 1.33891065e+02] [-1.60730442e-01 9.86996513e-01 -1.89936319e-03 -1.14747917e+01] [-1.24596994e-02 -1.04800004e-04 9.99922369e-01 6.69342573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.392320588 meters 0.022995686114778487 Centerline is valid? [True, True] Translation: X:133.92, Y:-11.48, Z:0.67 [[ 9.86992661e-01 1.60345241e-01 1.16142383e-02 1.33922613e+02] [-1.60335242e-01 9.87060989e-01 -1.79297850e-03 -1.14785802e+01] [-1.17514571e-02 -9.25150884e-05 9.99930945e-01 6.70032122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.422320588 meters 0.02274039545771826 Centerline is valid? [True, True] Translation: X:133.95, Y:-11.48, Z:0.67 [[ 9.87174127e-01 1.59341070e-01 9.88265379e-03 1.33954407e+02] [-1.59333766e-01 9.87223591e-01 -1.52710412e-03 -1.14829337e+01] [-9.99971937e-03 -6.71227689e-05 9.99949999e-01 6.71045339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.452320588 meters 0.022664470559520204 Centerline is valid? [True, True] Translation: X:133.99, Y:-11.49, Z:0.67 [[ 9.87348784e-01 1.58326678e-01 8.66262003e-03 1.33986310e+02] [-1.58321016e-01 9.87386784e-01 -1.33984926e-03 -1.14860738e+01] [-8.76549041e-03 -4.85762708e-05 9.99961581e-01 6.70959557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.482320588 meters 0.02243923178605824 Centerline is valid? [True, True] Translation: X:134.02, Y:-11.49, Z:0.67 [[ 9.87384689e-01 1.58152410e-01 7.70013904e-03 1.34017727e+02] [-1.58147929e-01 9.87414712e-01 -1.19123655e-03 -1.14899122e+01] [-7.79162750e-03 -4.15523159e-05 9.99969644e-01 6.70998043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.512320588 meters 0.022574898880763042 Centerline is valid? [True, True] Translation: X:134.05, Y:-11.49, Z:0.67 [[ 9.87156493e-01 1.59554617e-01 8.02384426e-03 1.34048294e+02] [-1.59549793e-01 9.87189101e-01 -1.24184480e-03 -1.14949068e+01] [-8.11919368e-03 -5.43075328e-05 9.99967037e-01 6.71243820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.542320588 meters 0.02253871905972471 Centerline is valid? [True, True] Translation: X:134.08, Y:-11.50, Z:0.67 [[ 9.86934950e-01 1.60839049e-01 9.49761122e-03 1.34079119e+02] [-1.60832345e-01 9.86980645e-01 -1.47052052e-03 -1.15012293e+01] [-9.61047557e-03 -7.62149844e-05 9.99953815e-01 6.71054428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.572320588 meters 0.022732655657348756 Centerline is valid? [True, True] Translation: X:134.11, Y:-11.51, Z:0.67 [[ 9.86592506e-01 1.62827054e-01 1.10715148e-02 1.34110841e+02] [-1.62818048e-01 9.86654620e-01 -1.71600903e-03 -1.15094901e+01] [-1.12031739e-02 -1.09640777e-04 9.99937236e-01 6.71838136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.602320588 meters 0.022908190863984778 Centerline is valid? [True, True] Translation: X:134.14, Y:-11.51, Z:0.67 [[ 9.86560405e-01 1.63047389e-01 1.06825558e-02 1.34143257e+02] [-1.63039002e-01 9.86618233e-01 -1.65719447e-03 -1.15134643e+01] [-1.08098055e-02 -1.06750788e-04 9.99941567e-01 6.72103622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.632320588 meters 0.022776756214039854 Centerline is valid? [True, True] Translation: X:134.18, Y:-11.52, Z:0.67 [[ 9.86458575e-01 1.63637343e-01 1.10589534e-02 1.34175285e+02] [-1.63628375e-01 9.86520556e-01 -1.71707363e-03 -1.15165311e+01] [-1.11908622e-02 -1.15736573e-04 9.99937374e-01 6.72412081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.662320588 meters 0.02290398613911108 Centerline is valid? [True, True] Translation: X:134.21, Y:-11.52, Z:0.67 [[ 9.86141000e-01 1.65579223e-01 1.04618201e-02 1.34206564e+02] [-1.65571291e-01 9.86196484e-01 -1.62580953e-03 -1.15226288e+01] [-1.05866104e-02 -1.28899621e-04 9.99943952e-01 6.72537038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.692320588 meters 0.022950776595293137 Centerline is valid? [True, True] Translation: X:134.24, Y:-11.53, Z:0.67 [[ 9.85888949e-01 1.67185739e-01 8.47991543e-03 1.34238449e+02] [-1.67180576e-01 9.85925411e-01 -1.31910758e-03 -1.15287705e+01] [-8.58110007e-03 -1.17183560e-04 9.99963175e-01 6.72746951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.722320588 meters 0.02300691717252212 Centerline is valid? [True, True] Translation: X:134.27, Y:-11.53, Z:0.67 [[ 9.85537602e-01 1.69288724e-01 7.54734193e-03 1.34269472e+02] [-1.69284694e-01 9.85566494e-01 -1.17428133e-03 -1.15335487e+01] [-7.63719991e-03 -1.20351062e-04 9.99970829e-01 6.72685999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.752320588 meters 0.0231326667625296 Centerline is valid? [True, True] Translation: X:134.30, Y:-11.54, Z:0.67 [[ 9.85235567e-01 1.71005506e-01 8.24588301e-03 1.34300898e+02] [-1.71000751e-01 9.85270062e-01 -1.28349125e-03 -1.15359068e+01] [-8.34390573e-03 -1.45510958e-04 9.99965178e-01 6.73487253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.782320588 meters 0.023643900004091178 Centerline is valid? [True, True] Translation: X:134.33, Y:-11.54, Z:0.67 [[ 9.84388406e-01 1.75632894e-01 1.15131085e-02 1.34332520e+02] [-1.75623934e-01 9.84455697e-01 -1.79268885e-03 -1.15376250e+01] [-1.16490004e-02 -2.57275285e-04 9.99932115e-01 6.74128779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.812320588 meters 0.023841436442316406 Centerline is valid? [True, True] Translation: X:134.36, Y:-11.54, Z:0.67 [[ 9.84021999e-01 1.77579201e-01 1.28970032e-02 1.34363804e+02] [-1.77568104e-01 9.84106463e-01 -2.00961154e-03 -1.15430991e+01] [-1.30488894e-02 -3.12594441e-04 9.99914811e-01 6.73219966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.842320588 meters 0.02387471198133586 Centerline is valid? [True, True] Translation: X:134.40, Y:-11.55, Z:0.67 [[ 9.83981594e-01 1.77875153e-01 1.18597370e-02 1.34395385e+02] [-1.77865769e-01 9.84053020e-01 -1.84978294e-03 -1.15483797e+01] [-1.19996405e-02 -2.89288890e-04 9.99927960e-01 6.74021506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.872320588 meters 0.023912252042236133 Centerline is valid? [True, True] Translation: X:134.43, Y:-11.55, Z:0.67 [[ 9.83925369e-01 1.78202566e-01 1.16066028e-02 1.34426914e+02] [-1.78193583e-01 9.83993782e-01 -1.81189297e-03 -1.15530054e+01] [-1.17437089e-02 -2.85454670e-04 9.99931000e-01 6.72732465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.902320588 meters 0.024038348116666962 Centerline is valid? [True, True] Translation: X:134.46, Y:-11.56, Z:0.67 [[ 9.83697159e-01 1.79359471e-01 1.30414484e-02 1.34458427e+02] [-1.79348217e-01 9.83783547e-01 -2.03694910e-03 -1.15568375e+01] [-1.31953085e-02 -3.35219488e-04 9.99912882e-01 6.72050483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.932320588 meters 0.02463899549628808 Centerline is valid? [True, True] Translation: X:134.49, Y:-11.56, Z:0.67 [[ 9.83044408e-01 1.82933261e-01 1.26140409e-02 1.34490413e+02] [-1.82923003e-01 9.83125265e-01 -1.97207667e-03 -1.15589394e+01] [-1.27619407e-02 -3.68759295e-04 9.99918495e-01 6.73394994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.962320588 meters 0.02440991117795987 Centerline is valid? [True, True] Translation: X:134.52, Y:-11.56, Z:0.67 [[ 9.82946825e-01 1.83515436e-01 1.17312895e-02 1.34523124e+02] [-1.83506585e-01 9.83016767e-01 -1.83567514e-03 -1.15592863e+01] [-1.18689290e-02 -3.48397828e-04 9.99929501e-01 6.74867367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.992320588 meters 0.024467335741189568 Centerline is valid? [True, True] Translation: X:134.56, Y:-11.56, Z:0.68 [[ 9.82948340e-01 1.83570727e-01 1.06934379e-02 1.34555283e+02] [-1.83563372e-01 9.83006453e-01 -1.67371896e-03 -1.15584529e+01] [-1.08189643e-02 -3.17744237e-04 9.99941423e-01 6.75405536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02232058799999 meters 0.02432214904935012 Centerline is valid? [True, True] Translation: X:134.59, Y:-11.56, Z:0.68 [[ 9.83043229e-01 1.83031768e-01 1.11974350e-02 1.34587093e+02] [-1.83023660e-01 9.83106945e-01 -1.75333366e-03 -1.15583258e+01] [-1.13291919e-02 -3.25792750e-04 9.99935770e-01 6.75497133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.052320588 meters 0.024430574809001605 Centerline is valid? [True, True] Translation: X:134.62, Y:-11.56, Z:0.67 [[ 9.83173037e-01 1.82195796e-01 1.32465342e-02 1.34618574e+02] [-1.82184362e-01 9.83262199e-01 -2.07501968e-03 -1.15624969e+01] [-1.34028762e-02 -3.73207984e-04 9.99910108e-01 6.74289266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.082320588 meters 0.024304324590085837 Centerline is valid? [True, True] Translation: X:134.65, Y:-11.57, Z:0.67 [[ 9.83345087e-01 1.81287866e-01 1.29286232e-02 1.34649728e+02] [-1.81276884e-01 9.83430011e-01 -2.02609653e-03 -1.15669587e+01] [-1.30817028e-02 -3.51308472e-04 9.99914369e-01 6.74441167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.112320588 meters 0.02410266601355763 Centerline is valid? [True, True] Translation: X:134.68, Y:-11.57, Z:0.67 [[ 9.83557854e-01 1.80250579e-01 1.11209575e-02 1.34681698e+02] [-1.80242372e-01 9.83620682e-01 -1.74414474e-03 -1.15682967e+01] [-1.12531869e-02 -2.89000503e-04 9.99936639e-01 6.74267418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.142320588 meters 0.023642416035714868 Centerline is valid? [True, True] Translation: X:134.71, Y:-11.56, Z:0.67 [[ 9.84281832e-01 1.76406873e-01 8.36006112e-03 1.34712762e+02] [-1.76402107e-01 9.84317317e-01 -1.30985973e-03 -1.15593490e+01] [-8.46002119e-03 -1.85461260e-04 9.99964196e-01 6.73632597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.172320588 meters 0.023586430680330173 Centerline is valid? [True, True] Translation: X:134.74, Y:-11.56, Z:0.67 [[ 9.84737007e-01 1.73726904e-01 1.05825226e-02 1.34741521e+02] [-1.73719199e-01 9.84793845e-01 -1.65008385e-03 -1.15584068e+01] [-1.07082670e-02 -2.13488707e-04 9.99942642e-01 6.73143422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.202320588 meters 0.023432118804496752 Centerline is valid? [True, True] Translation: X:134.77, Y:-11.56, Z:0.67 [[ 9.85113643e-01 1.71514912e-01 1.15648220e-02 1.34769327e+02] [-1.71505627e-01 9.85181501e-01 -1.79728340e-03 -1.15592626e+01] [-1.17017096e-02 -2.12903654e-04 9.99931510e-01 6.74189301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.232320588 meters 0.023401293480716488 Centerline is valid? [True, True] Translation: X:134.80, Y:-11.56, Z:0.67 [[ 9.85484411e-01 1.69236405e-01 1.33982872e-02 1.34798564e+02] [-1.69223808e-01 9.85575462e-01 -2.07660825e-03 -1.15616474e+01] [-1.35564608e-02 -2.20844127e-04 9.99908083e-01 6.74726107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.262320588 meters 0.023275909489678726 Centerline is valid? [True, True] Translation: X:134.83, Y:-11.56, Z:0.67 [[ 9.86425656e-01 1.63481973e-01 1.54294754e-02 1.34828213e+02] [-1.63464671e-01 9.86546307e-01 -2.38449027e-03 -1.15607427e+01] [-1.56117132e-02 -1.70051751e-04 9.99878115e-01 6.74720125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.292320588 meters 0.023056142833787405 Centerline is valid? [True, True] Translation: X:134.86, Y:-11.56, Z:0.67 [[ 9.87093821e-01 1.59500234e-01 1.43340005e-02 1.34858408e+02] [-1.59484868e-01 9.87197886e-01 -2.21609258e-03 -1.15622792e+01] [-1.45039623e-02 -9.85648814e-05 9.99894807e-01 6.74207761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.322320588 meters 0.0229234124994308 Centerline is valid? [True, True] Translation: X:134.89, Y:-11.56, Z:0.67 [[ 9.87722396e-01 1.55724935e-01 1.24182603e-02 1.34887829e+02] [-1.55713115e-01 9.87800457e-01 -1.91904078e-03 -1.15634096e+01] [-1.25656057e-02 -3.82064354e-05 9.99921049e-01 6.72907524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.352320588 meters 0.0229234124994308 Centerline is valid? [True, True] Translation: X:134.92, Y:-11.57, Z:0.67 [[ 9.87793734e-01 1.55271688e-01 1.24194422e-02 1.34915727e+02] [-1.55259928e-01 9.87871804e-01 -1.91138168e-03 -1.15680185e+01] [-1.25656003e-02 -4.01908684e-05 9.99921049e-01 6.73050048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.382320588 meters 0.02293972686975771 Centerline is valid? [True, True] Translation: X:134.94, Y:-11.57, Z:0.67 [[ 9.88741955e-01 1.49184769e-01 1.15434293e-02 1.34944259e+02] [-1.49174273e-01 9.88809336e-01 -1.76984203e-03 -1.15655555e+01] [-1.16782841e-02 2.79343996e-05 9.99931806e-01 6.72990680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.412320588 meters 0.023107047711584734 Centerline is valid? [True, True] Translation: X:134.97, Y:-11.57, Z:0.67 [[ 9.89155623e-01 1.46326904e-01 1.26329355e-02 1.34973114e+02] [-1.46314167e-01 9.89236288e-01 -1.93162925e-03 -1.15665311e+01] [-1.27796076e-02 6.23044930e-05 9.99918336e-01 6.72816890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.442320588 meters 0.023111551437898968 Centerline is valid? [True, True] Translation: X:135.00, Y:-11.57, Z:0.67 [[ 9.89491407e-01 1.43927325e-01 1.38449056e-02 1.35002035e+02] [-1.43911878e-01 9.89588256e-01 -2.11084459e-03 -1.15692759e+01] [-1.40045642e-02 9.62162197e-05 9.99901927e-01 6.74216023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.472320588 meters 0.023462984314942443 Centerline is valid? [True, True] Translation: X:135.03, Y:-11.57, Z:0.68 [[ 9.89894734e-01 1.41160317e-01 1.34974380e-02 1.35030906e+02] [-1.41145462e-01 9.89986742e-01 -2.05168067e-03 -1.15729613e+01] [-1.36519006e-02 1.25845759e-04 9.99906801e-01 6.75470333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.502320588 meters 0.023806053367996793 Centerline is valid? [True, True] Translation: X:135.06, Y:-11.58, Z:0.68 [[ 9.90686720e-01 1.35596040e-01 1.23910147e-02 1.35059158e+02] [-1.35583158e-01 9.90764191e-01 -1.87774633e-03 -1.15773280e+01] [-1.25311887e-02 1.80245447e-04 9.99921465e-01 6.75436245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.532320588 meters 0.023874876824351687 Centerline is valid? [True, True] Translation: X:135.09, Y:-11.58, Z:0.67 [[ 9.91026694e-01 1.33202759e-01 1.10958080e-02 1.35087110e+02] [-1.33192286e-01 9.91088790e-01 -1.68091216e-03 -1.15818625e+01] [-1.12208330e-02 1.87952791e-04 9.99937027e-01 6.74334984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.562320588 meters 0.024355705880644517 Centerline is valid? [True, True] Translation: X:135.12, Y:-11.59, Z:0.67 [[ 9.91531199e-01 1.29427382e-01 1.06974223e-02 1.35115927e+02] [-1.29417496e-01 9.91588880e-01 -1.61423801e-03 -1.15857794e+01] [-1.08163716e-02 2.16133749e-04 9.99941478e-01 6.72558043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.592320588 meters 0.024812271252363686 Centerline is valid? [True, True] Translation: X:135.14, Y:-11.59, Z:0.67 [[ 9.92009653e-01 1.25863072e-01 8.67962584e-03 1.35144475e+02] [-1.25856464e-01 9.92047603e-01 -1.30552100e-03 -1.15904037e+01] [-8.77491889e-03 2.02702418e-04 9.99961479e-01 6.72360314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.622320588 meters 0.02640663881670884 Centerline is valid? [True, True] Translation: X:135.17, Y:-11.60, Z:0.67 [[ 9.92978484e-01 1.17850291e-01 1.02488410e-02 1.35173869e+02] [-1.17840634e-01 9.93031320e-01 -1.54320715e-03 -1.15956409e+01] [-1.03592876e-02 3.24641564e-04 9.99946288e-01 6.74394211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.652320588 meters 0.027239791168891043 Centerline is valid? [True, True] Translation: X:135.20, Y:-11.60, Z:0.68 [[ 9.93530050e-01 1.13139384e-01 9.87520877e-03 1.35203120e+02] [-1.13130192e-01 9.93579061e-01 -1.48633660e-03 -1.16004110e+01] [-9.97996387e-03 3.59535814e-04 9.99950134e-01 6.77511163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.682320588 meters 0.028234183933914202 Centerline is valid? [True, True] Translation: X:135.23, Y:-11.61, Z:0.68 [[ 9.94024378e-01 1.08779257e-01 9.08896345e-03 1.35231436e+02] [-1.08771341e-01 9.94065863e-01 -1.36225880e-03 -1.16050649e+01] [-9.18321380e-03 3.65499717e-04 9.99957767e-01 6.79666598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.712320588 meters 0.029542357296927464 Centerline is valid? [True, True] Translation: X:135.26, Y:-11.61, Z:0.68 [[ 9.94578456e-01 1.03712638e-01 7.57519395e-03 1.35260275e+02] [-1.03706988e-01 9.94607244e-01 -1.13601262e-03 -1.16087918e+01] [-7.65216164e-03 3.44253135e-04 9.99970663e-01 6.78895434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.742320588 meters 0.031521360050133534 Centerline is valid? [True, True] Translation: X:135.29, Y:-11.62, Z:0.67 [[ 9.95334429e-01 9.62493600e-02 6.74051591e-03 1.35289981e+02] [-9.62447126e-02 9.95357189e-01 -1.01124216e-03 -1.16167179e+01] [-6.80655237e-03 3.57785117e-04 9.99976771e-01 6.73025206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77232058799999 meters 0.032011310794024 Centerline is valid? [True, True] Translation: X:135.32, Y:-11.63, Z:0.67 [[ 9.95627583e-01 9.30891914e-02 7.75360018e-03 1.35317798e+02] [-9.30829522e-02 9.95657678e-01 -1.16248267e-03 -1.16270413e+01] [-7.82814613e-03 4.35671811e-04 9.99969265e-01 6.72111066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.802320588 meters 0.033042609548889344 Centerline is valid? [True, True] Translation: X:135.35, Y:-11.64, Z:0.67 [[ 9.95744050e-01 9.15537108e-02 1.05690253e-02 1.35345720e+02] [-9.15420421e-02 9.95799953e-01 -1.58360791e-03 -1.16375208e+01] [-1.06696201e-02 6.09358003e-04 9.99942892e-01 6.72227756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.832320588 meters 0.03301708793470818 Centerline is valid? [True, True] Translation: X:135.38, Y:-11.65, Z:0.68 [[ 9.95757689e-01 9.14239481e-02 1.04060413e-02 1.35375786e+02] [-9.14126154e-02 9.95811879e-01 -1.56052001e-03 -1.16482775e+01] [-1.05051284e-02 6.02656346e-04 9.99944638e-01 6.75883290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.862320588 meters 0.031949904624232514 Centerline is valid? [True, True] Translation: X:135.41, Y:-11.66, Z:0.68 [[ 9.95653768e-01 9.28560125e-02 7.16486991e-03 1.35405970e+02] [-9.28506733e-02 9.95679465e-01 -1.07497963e-03 -1.16592662e+01] [-7.23373216e-03 4.05044528e-04 9.99973754e-01 6.81819921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.892320588 meters 0.031822516722137144 Centerline is valid? [True, True] Translation: X:135.44, Y:-11.67, Z:0.68 [[ 9.95595751e-01 9.35344353e-02 6.35690491e-03 1.35435167e+02] [-9.35302521e-02 9.95615982e-01 -9.52828597e-04 -1.16657698e+01] [-6.41815841e-03 3.54069184e-04 9.99979341e-01 6.80088502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.922320588 meters 0.031004615212732456 Centerline is valid? [True, True] Translation: X:135.46, Y:-11.67, Z:0.68 [[ 9.95503498e-01 9.45875403e-02 5.09733322e-03 1.35463868e+02] [-9.45848662e-02 9.95516509e-01 -7.63673312e-04 -1.16749365e+01] [-5.14671335e-03 2.78108873e-04 9.99986717e-01 6.77822745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.952320588 meters 0.03095932514623945 Centerline is valid? [True, True] Translation: X:135.49, Y:-11.69, Z:0.67 [[ 9.95341828e-01 9.61158515e-02 7.50919484e-03 1.35491810e+02] [-9.61101106e-02 9.95370075e-01 -1.12250280e-03 -1.16861486e+01] [-7.58231815e-03 3.95564440e-04 9.99971176e-01 6.74355879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.982320588 meters 0.03035858319302757 Centerline is valid? [True, True] Translation: X:135.52, Y:-11.70, Z:0.68 [[ 9.95137079e-01 9.79231481e-02 1.06419162e-02 1.35520448e+02] [-9.79117057e-02 9.95193832e-01 -1.59220825e-03 -1.17037620e+01] [-1.07466834e-02 5.42497302e-04 9.99942106e-01 6.76065338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.012320588 meters 0.03025208254873726 Centerline is valid? [True, True] Translation: X:135.55, Y:-11.71, Z:0.68 [[ 9.94990725e-01 9.93434311e-02 1.11507692e-02 1.35551594e+02] [-9.93309342e-02 9.95053052e-01 -1.67038058e-03 -1.17126416e+01] [-1.12615483e-02 5.54396861e-04 9.99936433e-01 6.77682725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.042320588 meters 0.02963544683772272 Centerline is valid? [True, True] Translation: X:135.58, Y:-11.72, Z:0.68 [[ 9.94850571e-01 1.00921643e-01 9.33617029e-03 1.35582356e+02] [-1.00912940e-01 9.94894275e-01 -1.39977045e-03 -1.17217063e+01] [-9.42976951e-03 4.50422035e-04 9.99955437e-01 6.80594430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.072320588 meters 0.02899862641512871 Centerline is valid? [True, True] Translation: X:135.61, Y:-11.73, Z:0.68 [[ 9.94652313e-01 1.02948778e-01 8.26591049e-03 1.35612562e+02] [-1.02942024e-01 9.94686585e-01 -1.23957416e-03 -1.17308192e+01] [-8.34960292e-03 3.82035754e-04 9.99965068e-01 6.81189943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.102320588 meters 0.028065255076203492 Centerline is valid? [True, True] Translation: X:135.64, Y:-11.74, Z:0.68 [[ 9.94192802e-01 1.07268872e-01 8.60586595e-03 1.35641958e+02] [-1.07261708e-01 9.94229983e-01 -1.29107981e-03 -1.17444363e+01] [-8.69470263e-03 3.60502368e-04 9.99962135e-01 6.79077058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.132320588 meters 0.027293128343608586 Centerline is valid? [True, True] Translation: X:135.67, Y:-11.75, Z:0.68 [[ 9.93890397e-01 1.10098704e-01 7.75595376e-03 1.35672020e+02] [-1.10092967e-01 9.93920612e-01 -1.16407786e-03 -1.17541917e+01] [-7.83696577e-03 3.03089846e-04 9.99969245e-01 6.77754445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.162320588 meters 0.02688318948903708 Centerline is valid? [True, True] Translation: X:135.70, Y:-11.76, Z:0.68 [[ 9.93634181e-01 1.12408889e-01 7.44021393e-03 1.35702667e+02] [-1.12403664e-01 9.93661998e-01 -1.11794400e-03 -1.17643651e+01] [-7.51872468e-03 2.74520065e-04 9.99971696e-01 6.77962068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.192320588 meters 0.02616340335229621 Centerline is valid? [True, True] Translation: X:135.73, Y:-11.77, Z:0.68 [[ 9.93298180e-01 1.15323777e-01 7.69109089e-03 1.35734170e+02] [-1.15318271e-01 9.93327921e-01 -1.15698025e-03 -1.17746451e+01] [-7.77320265e-03 2.62303078e-04 9.99969754e-01 6.78410402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.222320588 meters 0.025011800224941004 Centerline is valid? [True, True] Translation: X:135.76, Y:-11.79, Z:0.68 [[ 9.92460699e-01 1.22351735e-01 7.19820399e-03 1.35764154e+02] [-1.22347092e-01 9.92486783e-01 -1.08351963e-03 -1.17879083e+01] [-7.27669283e-03 1.94671321e-04 9.99973506e-01 6.81643011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.252320588 meters 0.02428191708172053 Centerline is valid? [True, True] Translation: X:135.80, Y:-11.80, Z:0.68 [[ 9.91981316e-01 1.26217301e-01 6.50096542e-03 1.35795854e+02] [-1.26213588e-01 9.92002606e-01 -9.79877385e-04 -1.17963374e+01] [-6.57265212e-03 1.51509887e-04 9.99978388e-01 6.83078974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.282320588 meters 0.02360489252287831 Centerline is valid? [True, True] Translation: X:135.83, Y:-11.80, Z:0.68 [[ 9.91434513e-01 1.30371079e-01 7.80951565e-03 1.35827583e+02] [-1.30365844e-01 9.91465259e-01 -1.17782279e-03 -1.18042858e+01] [-7.89641748e-03 1.49640063e-04 9.99968812e-01 6.82072033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.312320588 meters 0.023002817222658088 Centerline is valid? [True, True] Translation: X:135.86, Y:-11.81, Z:0.68 [[ 9.90336165e-01 1.38244714e-01 1.10760470e-02 1.35858242e+02] [-1.38234663e-01 9.90398093e-01 -1.67168425e-03 -1.18142745e+01] [-1.12007974e-02 1.24435744e-04 9.99937261e-01 6.80075756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.342320588 meters 0.022813103290733622 Centerline is valid? [True, True] Translation: X:135.89, Y:-11.82, Z:0.68 [[ 9.89703290e-01 1.42665881e-01 1.15691283e-02 1.35889699e+02] [-1.42655199e-01 9.89770903e-01 -1.74764046e-03 -1.18214920e+01] [-1.17001152e-02 7.92492180e-05 9.99931548e-01 6.80280448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.372320588 meters 0.022740034920486835 Centerline is valid? [True, True] Translation: X:135.92, Y:-11.83, Z:0.68 [[ 9.89003691e-01 1.47278289e-01 1.34463845e-02 1.35921243e+02] [-1.47264261e-01 9.89095094e-01 -2.03291914e-03 -1.18288135e+01] [-1.35991578e-02 3.03926497e-05 9.99907527e-01 6.80027222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.402320588 meters 0.022651464171506003 Centerline is valid? [True, True] Translation: X:135.95, Y:-11.84, Z:0.68 [[ 9.87871312e-01 1.54651400e-01 1.39001981e-02 1.35952639e+02] [-1.54637112e-01 9.87969098e-01 -2.10337878e-03 -1.18364077e+01] [-1.40582566e-02 -7.16189336e-05 9.99901175e-01 6.80868677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.432320588 meters 0.02275242320384828 Centerline is valid? [True, True] Translation: X:135.98, Y:-11.84, Z:0.68 [[ 9.87496544e-01 1.57165297e-01 1.22329193e-02 1.35983970e+02] [-1.57154403e-01 9.87572307e-01 -1.85284070e-03 -1.18413038e+01] [-1.23720946e-02 -9.27833311e-05 9.99923458e-01 6.81528769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.462320588 meters 0.02280846102464381 Centerline is valid? [True, True] Translation: X:136.02, Y:-11.85, Z:0.68 [[ 9.87044087e-01 1.60091972e-01 1.07018809e-02 1.36016990e+02] [-1.60083777e-01 9.87102096e-01 -1.62358572e-03 -1.18464715e+01] [-1.08237721e-02 -1.10646835e-04 9.99941415e-01 6.81690609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.492320588 meters 0.022920034012005177 Centerline is valid? [True, True] Translation: X:136.05, Y:-11.85, Z:0.68 [[ 9.86711740e-01 1.62089953e-01 1.12600838e-02 1.36049124e+02] [-1.62080998e-01 9.86775977e-01 -1.70942831e-03 -1.18512108e+01] [-1.13882613e-02 -1.38332635e-04 9.99935142e-01 6.81006819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52232058799999 meters 0.02302193187185802 Centerline is valid? [True, True] Translation: X:136.08, Y:-11.86, Z:0.68 [[ 9.86465239e-01 1.63538187e-01 1.18993426e-02 1.36081051e+02] [-1.63528272e-01 9.86536991e-01 -1.80806188e-03 -1.18552280e+01] [-1.20348288e-02 -1.62288746e-04 9.99927566e-01 6.82013717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.552320588 meters 0.023124768621995945 Centerline is valid? [True, True] Translation: X:136.11, Y:-11.86, Z:0.68 [[ 9.86093036e-01 1.65604467e-01 1.39887373e-02 1.36112771e+02] [-1.65590946e-01 9.86192229e-01 -2.12736235e-03 -1.18580174e+01] [-1.41478847e-02 -2.18631046e-04 9.99899890e-01 6.82417674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.582320588 meters 0.023288360733596285 Centerline is valid? [True, True] Translation: X:136.14, Y:-11.86, Z:0.68 [[ 9.85857725e-01 1.66950672e-01 1.45608446e-02 1.36144362e+02] [-1.66936142e-01 9.85965219e-01 -2.21630839e-03 -1.18630464e+01] [-1.47265005e-02 -2.45766458e-04 9.99891529e-01 6.80974309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.612320588 meters 0.023382745130731644 Centerline is valid? [True, True] Translation: X:136.18, Y:-11.87, Z:0.68 [[ 9.85866777e-01 1.67095414e-01 1.20756413e-02 1.36175686e+02] [-1.67085409e-01 9.85940709e-01 -1.83978459e-03 -1.18694434e+01] [-1.22132859e-02 -2.03880968e-04 9.99925394e-01 6.80281887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.642320588 meters 0.023343706654358736 Centerline is valid? [True, True] Translation: X:136.21, Y:-11.87, Z:0.68 [[ 9.86003638e-01 1.66217815e-01 1.29793867e-02 1.36208766e+02] [-1.66206142e-01 9.86089041e-01 -1.98045478e-03 -1.18739175e+01] [-1.31280178e-02 -2.04518175e-04 9.99913803e-01 6.80951551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.672320588 meters 0.023233825102781186 Centerline is valid? [True, True] Translation: X:136.24, Y:-11.88, Z:0.68 [[ 9.86179432e-01 1.65233313e-01 1.21688019e-02 1.36241057e+02] [-1.65222961e-01 9.86254491e-01 -1.85814885e-03 -1.18764721e+01] [-1.23085636e-02 -1.78097302e-04 9.99924231e-01 6.82365791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.702320588 meters 0.023059447311209985 Centerline is valid? [True, True] Translation: X:136.27, Y:-11.88, Z:0.68 [[ 9.86546410e-01 1.63046499e-01 1.19172521e-02 1.36273497e+02] [-1.63036391e-01 9.86618375e-01 -1.82139000e-03 -1.18781751e+01] [-1.20547512e-02 -1.46060006e-04 9.99927328e-01 6.82907636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.732320588 meters 0.02278881112338122 Centerline is valid? [True, True] Translation: X:136.31, Y:-11.88, Z:0.68 [[ 9.87093313e-01 1.59859510e-01 9.57746518e-03 1.36305692e+02] [-1.59852817e-01 9.87139772e-01 -1.46523692e-03 -1.18805351e+01] [-9.68852886e-03 -8.46592246e-05 9.99953062e-01 6.82168668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.762320588 meters 0.022871291178319157 Centerline is valid? [True, True] Translation: X:136.34, Y:-11.89, Z:0.68 [[ 9.87296214e-01 1.58518671e-01 1.08635387e-02 1.36338452e+02] [-1.58509951e-01 9.87355977e-01 -1.66451526e-03 -1.18860140e+01] [-1.09900367e-02 -7.86093828e-05 9.99939605e-01 6.81484785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.792320588 meters 0.022790508715542574 Centerline is valid? [True, True] Translation: X:136.37, Y:-11.89, Z:0.68 [[ 9.87388395e-01 1.57816934e-01 1.25687030e-02 1.36370233e+02] [-1.57805189e-01 9.87468384e-01 -1.92703207e-03 -1.18918023e+01] [-1.27153151e-02 -8.06774493e-05 9.99919154e-01 6.81764069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.822320588 meters 0.023045259601527982 Centerline is valid? [True, True] Translation: X:136.40, Y:-11.90, Z:0.68 [[ 9.87405488e-01 1.57510536e-01 1.48604725e-02 1.36402357e+02] [-1.57494054e-01 9.87517303e-01 -2.28031234e-03 -1.18965995e+01] [-1.50341469e-02 -8.88431369e-05 9.99886977e-01 6.81999496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.852320588 meters 0.022939694195476784 Centerline is valid? [True, True] Translation: X:136.43, Y:-11.90, Z:0.68 [[ 9.87807213e-01 1.55127585e-01 1.31279533e-02 1.36434788e+02] [-1.55114478e-01 9.87894443e-01 -2.01696567e-03 -1.19006226e+01] [-1.32819191e-02 -4.39623821e-05 9.99911790e-01 6.83208304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.882320588 meters 0.022874348558824944 Centerline is valid? [True, True] Translation: X:136.47, Y:-11.91, Z:0.68 [[ 9.87962958e-01 1.54115999e-01 1.33211330e-02 1.36466900e+02] [-1.54102373e-01 9.88052761e-01 -2.04959322e-03 -1.19066551e+01] [-1.34778573e-02 -2.78960138e-05 9.99909169e-01 6.83022371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.912320588 meters 0.022804548265350427 Centerline is valid? [True, True] Translation: X:136.50, Y:-11.91, Z:0.68 [[ 9.88070084e-01 1.53451696e-01 1.30416893e-02 1.36499296e+02] [-1.53438541e-01 9.88156150e-01 -2.00932344e-03 -1.19126608e+01] [-1.31955596e-02 -1.57454039e-05 9.99912935e-01 6.83557825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.942320588 meters 0.022837600183867032 Centerline is valid? [True, True] Translation: X:136.53, Y:-11.92, Z:0.68 [[ 9.88102789e-01 1.53377876e-01 1.13183612e-02 1.36530816e+02] [-1.53367948e-01 9.88167611e-01 -1.74515467e-03 -1.19175127e+01] [-1.14521060e-02 -1.14816230e-05 9.99934422e-01 6.83368670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.972320588 meters 0.02295854634407197 Centerline is valid? [True, True] Translation: X:136.56, Y:-11.92, Z:0.68 [[ 9.88032388e-01 1.53863830e-01 1.08592353e-02 1.36563573e+02] [-1.53854698e-01 9.88092061e-01 -1.67639562e-03 -1.19194980e+01] [-1.09878609e-02 -1.44112066e-05 9.99939632e-01 6.83093872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.002320588 meters 0.02296677849711841 Centerline is valid? [True, True] Translation: X:136.60, Y:-11.92, Z:0.69 [[ 9.87526175e-01 1.57015505e-01 1.17552105e-02 1.36596875e+02] [-1.57005011e-01 9.87596136e-01 -1.81606769e-03 -1.19171795e+01] [-1.18945512e-02 -5.22125754e-05 9.99929256e-01 6.85008809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.032320588 meters 0.0229916419530451 Centerline is valid? [True, True] Translation: X:136.63, Y:-11.92, Z:0.69 [[ 9.87263298e-01 1.58543147e-01 1.32382246e-02 1.36628593e+02] [-1.58529952e-01 9.87352047e-01 -2.04691396e-03 -1.19207735e+01] [-1.33953123e-02 -7.78120811e-05 9.99910276e-01 6.85588627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.062320588 meters 0.023048471485231325 Centerline is valid? [True, True] Translation: X:136.66, Y:-11.93, Z:0.69 [[ 9.86996238e-01 1.60143337e-01 1.38757889e-02 1.36660223e+02] [-1.60128972e-01 9.87093765e-01 -2.14734421e-03 -1.19257508e+01] [-1.40405876e-02 -1.02495155e-04 9.99901421e-01 6.86087421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.092320588 meters 0.023158074586173468 Centerline is valid? [True, True] Translation: X:136.69, Y:-11.93, Z:0.69 [[ 9.86763251e-01 1.61507576e-01 1.46147252e-02 1.36691593e+02] [-1.61491761e-01 9.86871464e-01 -2.26366321e-03 -1.19309342e+01] [-1.47884540e-02 -1.26458036e-04 9.99890637e-01 6.85310639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.122320588 meters 0.023178082242298666 Centerline is valid? [True, True] Translation: X:136.72, Y:-11.93, Z:0.69 [[ 9.86600604e-01 1.62600268e-01 1.34313402e-02 1.36724380e+02] [-1.62586986e-01 9.86692017e-01 -2.08226280e-03 -1.19324171e+01] [-1.35911727e-02 -1.29399401e-04 9.99907627e-01 6.85498910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.152320588 meters 0.023108356244666044 Centerline is valid? [True, True] Translation: X:136.76, Y:-11.93, Z:0.68 [[ 9.86425621e-01 1.63598772e-01 1.41399062e-02 1.36756418e+02] [-1.63584127e-01 9.86526948e-01 -2.19401918e-03 -1.19345233e+01] [-1.43083374e-02 -1.48827484e-04 9.99897619e-01 6.84965865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.182320588 meters 0.023002681497900797 Centerline is valid? [True, True] Translation: X:136.79, Y:-11.94, Z:0.69 [[ 9.86460679e-01 1.63513019e-01 1.26024010e-02 1.36788307e+02] [-1.63501356e-01 9.86541168e-01 -1.95725643e-03 -1.19366802e+01] [-1.27528243e-02 -1.29753145e-04 9.99918671e-01 6.86233279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.212320588 meters 0.023238602525882147 Centerline is valid? [True, True] Translation: X:136.82, Y:-11.94, Z:0.69 [[ 9.86365613e-01 1.63972392e-01 1.39975705e-02 1.36820449e+02] [-1.63958024e-01 9.86464917e-01 -2.17575975e-03 -1.19386348e+01] [-1.41648767e-02 -1.48919403e-04 9.99899662e-01 6.86423809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.242320588 meters 0.023179113244717577 Centerline is valid? [True, True] Translation: X:136.85, Y:-11.94, Z:0.69 [[ 9.86431971e-01 1.63535492e-01 1.44259919e-02 1.36853346e+02] [-1.63520135e-01 9.86537441e-01 -2.24567258e-03 -1.19424080e+01] [-1.45990283e-02 -1.43736927e-04 9.99893418e-01 6.86871939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27232058799999 meters 0.023179113244717577 Centerline is valid? [True, True] Translation: X:136.89, Y:-11.95, Z:0.69 [[ 9.86399290e-01 1.63732541e-01 1.44255451e-02 1.36885488e+02] [-1.63717164e-01 9.86504756e-01 -2.24854200e-03 -1.19473567e+01] [-1.45990283e-02 -1.43749098e-04 9.99893418e-01 6.87035798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.302320588 meters 0.02309904591392777 Centerline is valid? [True, True] Translation: X:136.92, Y:-11.95, Z:0.69 [[ 9.86488968e-01 1.63248887e-01 1.37592262e-02 1.36917256e+02] [-1.63234829e-01 9.86584910e-01 -2.14625402e-03 -1.19515185e+01] [-1.39250186e-02 -1.28729025e-04 9.99903034e-01 6.87712189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.332320588 meters 0.023139556430859732 Centerline is valid? [True, True] Translation: X:136.95, Y:-11.96, Z:0.69 [[ 9.86596833e-01 1.62556482e-01 1.42154539e-02 1.36949786e+02] [-1.62541357e-01 9.86699233e-01 -2.22065516e-03 -1.19558107e+01] [-1.43873593e-02 -1.19707823e-04 9.99896489e-01 6.87546297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.362320588 meters 0.0230721001142136 Centerline is valid? [True, True] Translation: X:136.98, Y:-11.96, Z:0.69 [[ 9.86617090e-01 1.62462442e-01 1.38806762e-02 1.36982418e+02] [-1.62447991e-01 9.86714722e-01 -2.16991220e-03 -1.19577655e+01] [-1.40487967e-02 -1.14015490e-04 9.99901304e-01 6.87785417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.392320588 meters 0.02309953784413202 Centerline is valid? [True, True] Translation: X:137.01, Y:-11.96, Z:0.69 [[ 9.86589737e-01 1.62658880e-01 1.35195786e-02 1.37014882e+02] [-1.62645164e-01 9.86682358e-01 -2.11533022e-03 -1.19590137e+01] [-1.36836070e-02 -1.11930990e-04 9.99906369e-01 6.87587729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.422320588 meters 0.02304222146536699 Centerline is valid? [True, True] Translation: X:137.05, Y:-11.96, Z:0.69 [[ 9.86452862e-01 1.63446269e-01 1.40024633e-02 1.37046987e+02] [-1.63431607e-01 9.86552229e-01 -2.19276989e-03 -1.19596683e+01] [-1.41725615e-02 -1.25380952e-04 9.99899556e-01 6.87733973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.452320588 meters 0.023057547310340806 Centerline is valid? [True, True] Translation: X:137.08, Y:-11.96, Z:0.69 [[ 9.86189270e-01 1.65077123e-01 1.34263589e-02 1.37079623e+02] [-1.65063769e-01 9.86280652e-01 -2.10439909e-03 -1.19612691e+01] [-1.35895461e-02 -1.40869604e-04 9.99907648e-01 6.88015982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.482320588 meters 0.023119765074760264 Centerline is valid? [True, True] Translation: X:137.11, Y:-11.96, Z:0.69 [[ 9.86050092e-01 1.65854176e-01 1.40573567e-02 1.37111396e+02] [-1.65839589e-01 9.86150276e-01 -2.20520641e-03 -1.19637216e+01] [-1.42284089e-02 -1.56822286e-04 9.99898759e-01 6.87579630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.512320588 meters 0.023163828104878003 Centerline is valid? [True, True] Translation: X:137.14, Y:-11.97, Z:0.69 [[ 9.86169128e-01 1.65182988e-01 1.36026437e-02 1.37143691e+02] [-1.65169239e-01 9.86262927e-01 -2.13576049e-03 -1.19685264e+01] [-1.37685745e-02 -1.40517258e-04 9.99905199e-01 6.87795050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.542320588 meters 0.023039508097959977 Centerline is valid? [True, True] Translation: X:137.18, Y:-11.97, Z:0.69 [[ 9.87105967e-01 1.59501212e-01 1.34600883e-02 1.37175893e+02] [-1.59487196e-01 9.87197731e-01 -2.11522591e-03 -1.19703432e+01] [-1.36251497e-02 -5.87596260e-05 9.99907172e-01 6.85640198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.572320588 meters 0.0229240348580222 Centerline is valid? [True, True] Translation: X:137.21, Y:-11.97, Z:0.69 [[ 9.87683317e-01 1.56031887e-01 1.16497360e-02 1.37208246e+02] [-1.56021127e-01 9.87752019e-01 -1.83240201e-03 -1.19738448e+01] [-1.17929633e-02 -7.77203292e-06 9.99930461e-01 6.85469502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.602320588 meters 0.023191619859803277 Centerline is valid? [True, True] Translation: X:137.24, Y:-11.98, Z:0.69 [[ 9.88231554e-01 1.52459419e-01 1.24306614e-02 1.37239707e+02] [-1.52446872e-01 9.88309731e-01 -1.95628998e-03 -1.19778001e+01] [-1.25835985e-02 3.82520412e-05 9.99920823e-01 6.85832716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.632320588 meters 0.023242592940403574 Centerline is valid? [True, True] Translation: X:137.27, Y:-11.98, Z:0.69 [[ 9.88652800e-01 1.49500433e-01 1.46717977e-02 1.37271131e+02] [-1.49482608e-01 9.88761656e-01 -2.31037919e-03 -1.19822506e+01] [-1.48523137e-02 9.09842743e-05 9.99889694e-01 6.86799498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.662320588 meters 0.02362234527809902 Centerline is valid? [True, True] Translation: X:137.30, Y:-11.99, Z:0.69 [[ 9.89153689e-01 1.46114044e-01 1.50221805e-02 1.37302837e+02] [-1.46094933e-01 9.89267742e-01 -2.36770680e-03 -1.19858074e+01] [-1.52069138e-02 1.47361460e-04 9.99884357e-01 6.87658263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.692320588 meters 0.023782160241135383 Centerline is valid? [True, True] Translation: X:137.33, Y:-11.99, Z:0.69 [[ 9.89694671e-01 1.42507019e-01 1.40074248e-02 1.37334562e+02] [-1.42490015e-01 9.89793773e-01 -2.20964290e-03 -1.19889019e+01] [-1.41793515e-02 1.90953635e-04 9.99899450e-01 6.85590881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.722320588 meters 0.023787235666063028 Centerline is valid? [True, True] Translation: X:137.37, Y:-12.00, Z:0.68 [[ 9.89776262e-01 1.42028377e-01 1.30725469e-02 1.37365893e+02] [-1.42013502e-01 9.89862569e-01 -2.06392555e-03 -1.19960480e+01] [-1.32331609e-02 1.86346353e-04 9.99912421e-01 6.84273101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.752320588 meters 0.023767482893189345 Centerline is valid? [True, True] Translation: X:137.40, Y:-12.00, Z:0.68 [[ 9.89747648e-01 1.42159761e-01 1.37911582e-02 1.37397545e+02] [-1.42143194e-01 9.89843707e-01 -2.17918389e-03 -1.20046803e+01] [-1.39608835e-02 1.96522852e-04 9.99902523e-01 6.83795082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.782320588 meters 0.023860056404291598 Centerline is valid? [True, True] Translation: X:137.43, Y:-12.01, Z:0.69 [[ 9.89285391e-01 1.45021634e-01 1.68267888e-02 1.37428179e+02] [-1.44997360e-01 9.89428466e-01 -2.66020377e-03 -1.20135242e+01] [-1.70346909e-02 1.91860768e-04 9.99854881e-01 6.86515682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.812320588 meters 0.023564844687879914 Centerline is valid? [True, True] Translation: X:137.46, Y:-12.02, Z:0.69 [[ 9.88938487e-01 1.47447585e-01 1.61207207e-02 1.37459937e+02] [-1.47425590e-01 9.89069860e-01 -2.55091015e-03 -1.20164909e+01] [-1.63206445e-02 1.46086473e-04 9.99866799e-01 6.87865341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.842320588 meters 0.023403812715268302 Centerline is valid? [True, True] Translation: X:137.49, Y:-12.02, Z:0.69 [[ 9.88681900e-01 1.49475136e-01 1.28563014e-02 1.37492183e+02] [-1.49461295e-01 9.88765480e-01 -2.03619157e-03 -1.20183188e+01] [-1.30162271e-02 9.16262949e-05 9.99915281e-01 6.88893124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.872320588 meters 0.02308977059751653 Centerline is valid? [True, True] Translation: X:137.52, Y:-12.02, Z:0.69 [[ 9.88440737e-01 1.51367512e-01 8.53148685e-03 1.37524715e+02] [-1.51361475e-01 9.88477554e-01 -1.35258873e-03 -1.20202402e+01] [-8.63792124e-03 4.56153640e-05 9.99962691e-01 6.87411057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.902320588 meters 0.02329999129789369 Centerline is valid? [True, True] Translation: X:137.56, Y:-12.03, Z:0.69 [[ 9.88209110e-01 1.52734485e-01 1.07206264e-02 1.37555394e+02] [-1.52725032e-01 9.88267259e-01 -1.69986650e-03 -1.20273681e+01] [-1.08544723e-02 4.25155605e-05 9.99941088e-01 6.86594163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.932320588 meters 0.02332827029980073 Centerline is valid? [True, True] Translation: X:137.59, Y:-12.04, Z:0.69 [[ 9.88142711e-01 1.52927125e-01 1.36849042e-02 1.37586678e+02] [-1.52911710e-01 9.88237467e-01 -2.17197564e-03 -1.20352206e+01] [-1.38560890e-02 5.36398076e-05 9.99903998e-01 6.86640330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.962320588 meters 0.02341117306551768 Centerline is valid? [True, True] Translation: X:137.62, Y:-12.04, Z:0.69 [[ 9.88082342e-01 1.53129814e-01 1.56379422e-02 1.37617633e+02] [-1.53109652e-01 9.88206080e-01 -2.48556243e-03 -1.20421593e+01] [-1.58341233e-02 6.16204573e-05 9.99874631e-01 6.87920182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.992320588 meters 0.023362241888103014 Centerline is valid? [True, True] Translation: X:137.65, Y:-12.05, Z:0.69 [[ 9.88086486e-01 1.52946448e-01 1.71020629e-02 1.37649105e+02] [-1.52922275e-01 9.88234476e-01 -2.72009599e-03 -1.20467128e+01] [-1.73168772e-02 7.24037193e-05 9.99850049e-01 6.88280049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02232058799999 meters 0.02332351188805272 Centerline is valid? [True, True] Translation: X:137.68, Y:-12.05, Z:0.69 [[ 9.87955036e-01 1.53946958e-01 1.56582567e-02 1.37680973e+02] [-1.53926786e-01 9.88079112e-01 -2.49260428e-03 -1.20490770e+01] [-1.58553252e-02 5.23558213e-05 9.99874295e-01 6.87678726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.052320588 meters 0.023089334422126462 Centerline is valid? [True, True] Translation: X:137.71, Y:-12.06, Z:0.69 [[ 9.87799261e-01 1.55126426e-01 1.37262874e-02 1.37712703e+02] [-1.55111012e-01 9.87894625e-01 -2.18697469e-03 -1.20553098e+01] [-1.38993832e-02 3.11936391e-05 9.99903398e-01 6.87251247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.082320588 meters 0.023140983055626015 Centerline is valid? [True, True] Translation: X:137.74, Y:-12.06, Z:0.69 [[ 9.87706777e-01 1.55861306e-01 1.19404951e-02 1.37744350e+02] [-1.55849676e-01 9.87778949e-01 -1.90415098e-03 -1.20628386e+01] [-1.20913532e-02 1.98205332e-05 9.99926897e-01 6.86839701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.112320588 meters 0.022843748365037272 Centerline is valid? [True, True] Translation: X:137.78, Y:-12.07, Z:0.69 [[ 9.87465685e-01 1.57525501e-01 9.86087478e-03 1.37775864e+02] [-1.57517637e-01 9.87514920e-01 -1.57396181e-03 -1.20703829e+01] [-9.98570009e-03 9.71580873e-07 9.99950142e-01 6.87434073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.142320588 meters 0.02284707157586614 Centerline is valid? [True, True] Translation: X:137.81, Y:-12.08, Z:0.69 [[ 9.87465308e-01 1.57618106e-01 8.29446796e-03 1.37807309e+02] [-1.57612535e-01 9.87500143e-01 -1.32518519e-03 -1.20753543e+01] [-8.39966147e-03 1.26228038e-06 9.99964722e-01 6.88442382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.172320588 meters 0.022922512536672535 Centerline is valid? [True, True] Translation: X:137.84, Y:-12.08, Z:0.69 [[ 9.87757205e-01 1.55630693e-01 1.07141002e-02 1.37838256e+02] [-1.55621279e-01 9.87815310e-01 -1.71194450e-03 -1.20791257e+01] [-1.08499834e-02 2.36435316e-05 9.99941137e-01 6.89357158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.202320588 meters 0.023011402242590486 Centerline is valid? [True, True] Translation: X:137.87, Y:-12.09, Z:0.69 [[ 9.87929613e-01 1.54273621e-01 1.39545431e-02 1.37869750e+02] [-1.54257485e-01 9.88028161e-01 -2.23185463e-03 -1.20855221e+01] [-1.41317979e-02 5.23225470e-05 9.99900140e-01 6.90432859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.232320588 meters 0.023024892627470588 Centerline is valid? [True, True] Translation: X:137.90, Y:-12.09, Z:0.69 [[ 9.88146650e-01 1.52755392e-01 1.52311674e-02 1.37901087e+02] [-1.52735957e-01 9.88264025e-01 -2.43802469e-03 -1.20918863e+01] [-1.54248362e-02 8.27790029e-05 9.99881027e-01 6.91506332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.262320588 meters 0.023148987806653455 Centerline is valid? [True, True] Translation: X:137.93, Y:-12.10, Z:0.69 [[ 9.88369946e-01 1.51264122e-01 1.56209719e-02 1.37932349e+02] [-1.51243461e-01 9.88493375e-01 -2.50248009e-03 -1.20983095e+01] [-1.58197627e-02 1.10806254e-04 9.99874854e-01 6.91156740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.292320588 meters 0.022981817261319162 Centerline is valid? [True, True] Translation: X:137.96, Y:-12.11, Z:0.69 [[ 9.88362165e-01 1.51497055e-01 1.37431307e-02 1.37963657e+02] [-1.51481059e-01 9.88457704e-01 -2.20356053e-03 -1.21051147e+01] [-1.39183364e-02 9.60918577e-05 9.99903131e-01 6.89909888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.322320588 meters 0.022985845614776047 Centerline is valid? [True, True] Translation: X:137.99, Y:-12.11, Z:0.69 [[ 9.88252131e-01 1.52301290e-01 1.27295903e-02 1.37994436e+02] [-1.52287610e-01 9.88334109e-01 -2.04280968e-03 -1.21138356e+01] [-1.28922108e-02 8.02521442e-05 9.99916889e-01 6.88759131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.352320588 meters 0.02302204286486769 Centerline is valid? [True, True] Translation: X:138.03, Y:-12.12, Z:0.69 [[ 9.88183999e-01 1.52849576e-01 1.13750075e-02 1.38025385e+02] [-1.52838671e-01 9.88249464e-01 -1.82702809e-03 -1.21232272e+01] [-1.15206056e-02 6.68988982e-05 9.99933633e-01 6.89463095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.382320588 meters 0.0228251906917647 Centerline is valid? [True, True] Translation: X:138.06, Y:-12.13, Z:0.69 [[ 9.88199340e-01 1.52723246e-01 1.17334478e-02 1.38056516e+02] [-1.52711615e-01 9.88268994e-01 -1.88615528e-03 -1.21323207e+01] [-1.18838624e-02 7.20636466e-05 9.99929382e-01 6.93154334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.412320588 meters 0.022830645735147814 Centerline is valid? [True, True] Translation: X:138.09, Y:-12.14, Z:0.69 [[ 9.88086725e-01 1.53513474e-01 1.08737189e-02 1.38088516e+02] [-1.53503517e-01 9.88146553e-01 -1.74948998e-03 -1.21357552e+01] [-1.10133981e-02 5.94937327e-05 9.99939349e-01 6.93846167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.442320588 meters 0.022731646203298376 Centerline is valid? [True, True] Translation: X:138.12, Y:-12.14, Z:0.69 [[ 9.87960646e-01 1.54475136e-01 8.43772384e-03 1.38120757e+02] [-1.54469164e-01 9.87996676e-01 -1.35883984e-03 -1.21383741e+01] [-8.54635008e-03 3.91121412e-05 9.99963479e-01 6.93108093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.472320588 meters 0.02279745807499547 Centerline is valid? [True, True] Translation: X:138.15, Y:-12.14, Z:0.69 [[ 9.87595864e-01 1.56797499e-01 8.30380082e-03 1.38152300e+02] [-1.56791788e-01 9.87630773e-01 -1.33841302e-03 -1.21427156e+01] [-8.41094903e-03 1.98433857e-05 9.99964627e-01 6.91369295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.502320588 meters 0.022714254816113555 Centerline is valid? [True, True] Translation: X:138.18, Y:-12.15, Z:0.69 [[ 9.87084929e-01 1.59770165e-01 1.16977403e-02 1.38183528e+02] [-1.59759024e-01 9.87154240e-01 -1.88677450e-03 -1.21516319e+01] [-1.18489242e-02 -6.41289107e-06 9.99929799e-01 6.89951237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.532320588 meters 0.02259722251086758 Centerline is valid? [True, True] Translation: X:138.21, Y:-12.16, Z:0.69 [[ 9.86924889e-01 1.60728916e-01 1.20614429e-02 1.38214575e+02] [-1.60717123e-01 9.86998589e-01 -1.94706497e-03 -1.21596124e+01] [-1.22175768e-02 -1.68735251e-05 9.99925362e-01 6.91019457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.562320588 meters 0.022663940816738705 Centerline is valid? [True, True] Translation: X:138.25, Y:-12.17, Z:0.69 [[ 9.86707250e-01 1.62200548e-01 9.98928932e-03 1.38245902e+02] [-1.62192519e-01 9.86757813e-01 -1.61404446e-03 -1.21674774e+01] [-1.01188082e-02 -2.75986273e-05 9.99948803e-01 6.91843087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.592320588 meters 0.02265408800604287 Centerline is valid? [True, True] Translation: X:138.28, Y:-12.17, Z:0.69 [[ 9.86689001e-01 1.62353245e-01 9.28646725e-03 1.38277553e+02] [-1.62346301e-01 9.86732701e-01 -1.50180100e-03 -1.21738119e+01] [-9.40708318e-03 -2.58130824e-05 9.99955752e-01 6.93435880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.622320588 meters 0.022659488946409276 Centerline is valid? [True, True] Translation: X:138.31, Y:-12.18, Z:0.69 [[ 9.86782647e-01 1.61814254e-01 8.72668017e-03 1.38309919e+02] [-1.61808090e-01 9.86821233e-01 -1.41252934e-03 -1.21773770e+01] [-8.84024067e-03 -1.81880106e-05 9.99960924e-01 6.93900584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.652320588 meters 0.022575464392639147 Centerline is valid? [True, True] Translation: X:138.34, Y:-12.18, Z:0.69 [[ 9.86644053e-01 1.62634846e-01 9.13340018e-03 1.38342218e+02] [-1.62628117e-01 9.86686326e-01 -1.47957916e-03 -1.21803206e+01] [-9.25243220e-03 -2.55296918e-05 9.99957195e-01 6.93860511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.682320588 meters 0.022614131822893725 Centerline is valid? [True, True] Translation: X:138.37, Y:-12.18, Z:0.69 [[ 9.86604264e-01 1.62793921e-01 1.04959430e-02 1.38374416e+02] [-1.62785030e-01 9.86660093e-01 -1.70164080e-03 -1.21829987e+01] [-1.06329449e-02 -2.97363255e-05 9.99943468e-01 6.94701152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.712320588 meters 0.02254925425823942 Centerline is valid? [True, True] Translation: X:138.41, Y:-12.19, Z:0.69 [[ 9.86652825e-01 1.62298574e-01 1.32429847e-02 1.38405722e+02] [-1.62284334e-01 9.86741695e-01 -2.15002629e-03 -1.21879237e+01] [-1.34163514e-02 -2.77994433e-05 9.99909996e-01 6.94279152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.742320588 meters 0.0225188286285549 Centerline is valid? [True, True] Translation: X:138.44, Y:-12.20, Z:0.69 [[ 9.86909236e-01 1.60908690e-01 1.08881939e-02 1.38437223e+02] [-1.60898966e-01 9.86969297e-01 -1.76903467e-03 -1.21957105e+01] [-1.10309661e-02 -6.02248466e-06 9.99939157e-01 6.94722874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77232058799999 meters 0.02247751838239313 Centerline is valid? [True, True] Translation: X:138.47, Y:-12.20, Z:0.69 [[ 9.87463374e-01 1.57545975e-01 9.76478680e-03 1.38468074e+02] [-1.57537975e-01 9.87511653e-01 -1.58790621e-03 -1.22034903e+01] [-9.89300899e-03 2.96744789e-05 9.99951063e-01 6.93570871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.802320588 meters 0.022467302587196192 Centerline is valid? [True, True] Translation: X:138.50, Y:-12.21, Z:0.69 [[ 9.87995121e-01 1.54379801e-01 5.70238004e-03 1.38499470e+02] [-1.54377014e-01 9.88011577e-01 -9.28357475e-04 -1.22102779e+01] [-5.77733713e-03 3.68962556e-05 9.99983310e-01 6.94710578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.832320588 meters 0.023075892941905433 Centerline is valid? [True, True] Translation: X:138.53, Y:-12.22, Z:0.69 [[ 9.89187931e-01 1.46415450e-01 8.35182700e-03 1.38531505e+02] [-1.46409181e-01 9.89223180e-01 -1.36049275e-03 -1.22151780e+01] [-8.46101802e-03 1.22998858e-04 9.99964197e-01 6.94530524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.862320588 meters 0.02356717671697526 Centerline is valid? [True, True] Translation: X:138.56, Y:-12.22, Z:0.69 [[ 9.89551752e-01 1.43831942e-01 9.98512852e-03 1.38563024e+02] [-1.43822837e-01 9.89602113e-01 -1.62774455e-03 -1.22205509e+01] [-1.01154259e-02 1.74647956e-04 9.99948823e-01 6.94420431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.892320588 meters 0.023359253799941422 Centerline is valid? [True, True] Translation: X:138.59, Y:-12.23, Z:0.70 [[ 9.89648975e-01 1.43126425e-01 1.04753370e-02 1.38593983e+02] [-1.43116351e-01 9.89704395e-01 -1.70898127e-03 -1.22278048e+01] [-1.06120874e-02 1.92099557e-04 9.99943672e-01 6.95634596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.922320588 meters 0.02324162495811827 Centerline is valid? [True, True] Translation: X:138.62, Y:-12.24, Z:0.70 [[ 9.89627289e-01 1.43334492e-01 9.64641825e-03 1.38624677e+02] [-1.43325946e-01 9.89674286e-01 -1.57506862e-03 -1.22365844e+01] [-9.77257376e-03 1.76148875e-04 9.99952232e-01 6.95940187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.952320588 meters 0.022888084019102996 Centerline is valid? [True, True] Translation: X:138.65, Y:-12.25, Z:0.69 [[ 9.89632555e-01 1.43408640e-01 7.83377212e-03 1.38654964e+02] [-1.43402997e-01 9.89663550e-01 -1.28025973e-03 -1.22507024e+01] [-7.93639903e-03 1.43600307e-04 9.99968496e-01 6.94984434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.982320588 meters 0.02310061384106224 Centerline is valid? [True, True] Translation: X:138.69, Y:-12.26, Z:0.69 [[ 9.89555272e-01 1.43816100e-01 9.86369858e-03 1.38686053e+02] [-1.43807163e-01 9.89604415e-01 -1.61315486e-03 -1.22601204e+01] [-9.99315730e-03 1.77835384e-04 9.99950051e-01 6.93706593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.012320588 meters 0.02338032826997312 Centerline is valid? [True, True] Translation: X:138.72, Y:-12.27, Z:0.69 [[ 9.89810208e-01 1.41878719e-01 1.20905372e-02 1.38716178e+02] [-1.41865128e-01 9.89884018e-01 -1.97878893e-03 -1.22729205e+01] [-1.22489776e-02 2.43399866e-04 9.99924949e-01 6.92501468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.042320588 meters 0.023466823786694797 Centerline is valid? [True, True] Translation: X:138.75, Y:-12.28, Z:0.69 [[ 9.89883116e-01 1.41375525e-01 1.20157443e-02 1.38747314e+02] [-1.41362045e-01 9.89956008e-01 -1.96814200e-03 -1.22834322e+01] [-1.21733054e-02 2.49660342e-04 9.99925871e-01 6.92918588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.072320588 meters 0.023466296340761743 Centerline is valid? [True, True] Translation: X:138.78, Y:-12.30, Z:0.69 [[ 9.89949263e-01 1.40996750e-01 1.09714441e-02 1.38779269e+02] [-1.40985460e-01 9.90010031e-01 -1.79962806e-03 -1.22950884e+01] [-1.11155814e-02 2.34726386e-04 9.99938192e-01 6.94585953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.102320588 meters 0.023339848359803097 Centerline is valid? [True, True] Translation: X:138.81, Y:-12.31, Z:0.70 [[ 9.89855513e-01 1.41795936e-01 8.94291711e-03 1.38810046e+02] [-1.41788458e-01 9.89895893e-01 -1.46791775e-03 -1.23060622e+01] [-9.06070169e-03 1.85024052e-04 9.99958934e-01 6.97107917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.132320588 meters 0.022843814657111876 Centerline is valid? [True, True] Translation: X:138.84, Y:-12.32, Z:0.70 [[ 9.89157259e-01 1.46583999e-01 9.00268879e-03 1.38840754e+02] [-1.46576608e-01 9.89198216e-01 -1.47893135e-03 -1.23199147e+01] [-9.12223136e-03 1.43312098e-04 9.99958381e-01 6.96113905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.162320588 meters 0.022843814657111876 Centerline is valid? [True, True] Translation: X:138.87, Y:-12.33, Z:0.70 [[ 9.89128381e-01 1.46778757e-01 9.00234244e-03 1.38872840e+02] [-1.46771355e-01 9.89169336e-01 -1.48103893e-03 -1.23251314e+01] [-9.12222615e-03 1.43651642e-04 9.99958381e-01 6.96277749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.192320588 meters 0.022510572134663103 Centerline is valid? [True, True] Translation: X:138.90, Y:-12.33, Z:0.70 [[ 9.88592127e-01 1.50305951e-01 9.68130922e-03 1.38903838e+02] [-1.50297545e-01 9.88639523e-01 -1.59414084e-03 -1.23348148e+01] [-9.81093379e-03 1.20878076e-04 9.99951864e-01 6.96345070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.222320588 meters 0.022327135346734337 Centerline is valid? [True, True] Translation: X:138.94, Y:-12.34, Z:0.70 [[ 9.87883157e-01 1.54751595e-01 1.17818613e-02 1.38935285e+02] [-1.54739447e-01 9.87953407e-01 -1.94131740e-03 -1.23446918e+01] [-1.19403519e-02 9.46760640e-05 9.99928707e-01 6.95832463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.252320588 meters 0.022388104779665036 Centerline is valid? [True, True] Translation: X:138.97, Y:-12.35, Z:0.70 [[ 9.86985319e-01 1.60206902e-01 1.39186626e-02 1.38966646e+02] [-1.60190463e-01 9.87083455e-01 -2.29522011e-03 -1.23542163e+01] [-1.41065917e-02 3.57115455e-05 9.99900496e-01 6.96113951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.282320588 meters 0.022275329269634384 Centerline is valid? [True, True] Translation: X:139.00, Y:-12.36, Z:0.70 [[ 9.85989242e-01 1.66310173e-01 1.28895745e-02 1.38999153e+02] [-1.66296476e-01 9.86073489e-01 -2.13476230e-03 -1.23622357e+01] [-1.30651004e-02 -3.86381491e-05 9.99914647e-01 6.97531884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.312320588 meters 0.022950112242447526 Centerline is valid? [True, True] Translation: X:139.03, Y:-12.37, Z:0.70 [[ 9.83560530e-01 1.80248283e-01 1.09196968e-02 1.39030173e+02] [-1.80239251e-01 9.83621128e-01 -1.81374810e-03 -1.23695786e+01] [-1.10677695e-02 -1.84226937e-04 9.99938733e-01 6.97161435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.342320588 meters 0.023662651994378635 Centerline is valid? [True, True] Translation: X:139.06, Y:-12.38, Z:0.70 [[ 9.82237436e-01 1.87371115e-01 1.00838604e-02 1.39062109e+02] [-1.87363739e-01 9.82289167e-01 -1.67973752e-03 -1.23750028e+01] [-1.02200012e-02 -2.39448720e-04 9.99947746e-01 6.96992516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.372320588 meters 0.024641762865377472 Centerline is valid? [True, True] Translation: X:139.09, Y:-12.38, Z:0.70 [[ 9.81079450e-01 1.93360382e-01 9.74044372e-03 1.39093990e+02] [-1.93353797e-01 9.81127758e-01 -1.62224434e-03 -1.23807060e+01] [-9.87029749e-03 -2.91801193e-04 9.99951245e-01 6.97722345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.402320588 meters 0.025469390102614165 Centerline is valid? [True, True] Translation: X:139.13, Y:-12.39, Z:0.70 [[ 9.79930602e-01 1.99111691e-01 9.51572165e-03 1.39125248e+02] [-1.99105625e-01 9.79976745e-01 -1.59024683e-03 -1.23851324e+01] [-9.64182266e-03 -3.36302175e-04 9.99953460e-01 6.98552171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.432320588 meters 0.02643981394982084 Centerline is valid? [True, True] Translation: X:139.16, Y:-12.39, Z:0.70 [[ 9.78921274e-01 2.03975088e-01 1.03587428e-02 1.39157451e+02] [-2.03968174e-01 9.78975990e-01 -1.73084293e-03 -1.23894469e+01] [-1.04940093e-02 -4.18494882e-04 9.99944849e-01 6.99441046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.462320588 meters 0.0268513837297061 Centerline is valid? [True, True] Translation: X:139.19, Y:-12.39, Z:0.70 [[ 9.77393781e-01 2.11160231e-01 1.06185336e-02 1.39189522e+02] [-2.11153384e-01 9.77451328e-01 -1.77458788e-03 -1.23864550e+01] [-1.07538222e-02 -5.07668139e-04 9.99942047e-01 7.01288556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.492320588 meters 0.027335782478896294 Centerline is valid? [True, True] Translation: X:139.22, Y:-12.39, Z:0.70 [[ 9.76603120e-01 2.14739031e-01 1.15539875e-02 1.39221457e+02] [-2.14731097e-01 9.76671286e-01 -1.93751382e-03 -1.23872682e+01] [-1.17005077e-02 -5.88818366e-04 9.99931373e-01 7.01270289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52232058799999 meters 0.029057764974020173 Centerline is valid? [True, True] Translation: X:139.25, Y:-12.39, Z:0.70 [[ 9.76078967e-01 2.17046132e-01 1.26817618e-02 1.39253201e+02] [-2.17036702e-01 9.76161117e-01 -2.13175899e-03 -1.23897330e+01] [-1.28421328e-02 -6.71642649e-04 9.99917311e-01 6.99234806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.552320588 meters 0.029808085217020237 Centerline is valid? [True, True] Translation: X:139.29, Y:-12.39, Z:0.70 [[ 9.75676802e-01 2.18841740e-01 1.27698878e-02 1.39286379e+02] [-2.18832260e-01 9.75760119e-01 -2.15215830e-03 -1.23866796e+01] [-1.29313293e-02 -6.94652481e-04 9.99916146e-01 6.98276175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.582320588 meters 0.028352759642389747 Centerline is valid? [True, True] Translation: X:139.32, Y:-12.39, Z:0.70 [[ 9.75911297e-01 2.17890021e-01 1.10036006e-02 1.39319284e+02] [-2.17882915e-01 9.75973152e-01 -1.85513333e-03 -1.23857473e+01] [-1.11434338e-02 -5.87050993e-04 9.99937738e-01 6.99139406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.612320588 meters 0.028359037128089574 Centerline is valid? [True, True] Translation: X:139.35, Y:-12.39, Z:0.70 [[ 9.76545171e-01 2.15027702e-01 1.10732374e-02 1.39351408e+02] [-2.15020313e-01 9.76607791e-01 -1.86763250e-03 -1.23869282e+01] [-1.12158027e-02 -5.57143472e-04 9.99936946e-01 6.98752002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.642320588 meters 0.027347623208153208 Centerline is valid? [True, True] Translation: X:139.38, Y:-12.38, Z:0.70 [[ 9.77376620e-01 2.11155977e-01 1.21695138e-02 1.39383419e+02] [-2.11146746e-01 9.77452217e-01 -2.05309359e-03 -1.23841371e+01] [-1.23286412e-02 -5.62907552e-04 9.99923841e-01 6.99196914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.672320588 meters 0.025470035359906284 Centerline is valid? [True, True] Translation: X:139.42, Y:-12.38, Z:0.70 [[ 9.79034159e-01 2.03101854e-01 1.55483651e-02 1.39417187e+02] [-2.03085734e-01 9.79157440e-01 -2.62536405e-03 -1.23753330e+01] [-1.57575137e-02 -5.87330053e-04 9.99875670e-01 6.99391459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.702320588 meters 0.024886347110315645 Centerline is valid? [True, True] Translation: X:139.45, Y:-12.38, Z:0.70 [[ 9.79794452e-01 1.99436378e-01 1.50984249e-02 1.39449095e+02] [-1.99420712e-01 9.79910644e-01 -2.55139969e-03 -1.23780094e+01] [-1.53039492e-02 -5.11091394e-04 9.99882757e-01 7.00521358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.732320588 meters 0.02420428219163084 Centerline is valid? [True, True] Translation: X:139.48, Y:-12.38, Z:0.70 [[ 9.80696899e-01 1.95092863e-01 1.31288803e-02 1.39480502e+02] [-1.95080620e-01 9.80784700e-01 -2.21921896e-03 -1.23812859e+01] [-1.33095587e-02 -3.84808945e-04 9.99911350e-01 7.02529394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.762320588 meters 0.022936867288101282 Centerline is valid? [True, True] Translation: X:139.51, Y:-12.38, Z:0.70 [[ 9.82141417e-01 1.87797535e-01 1.14158938e-02 1.39513087e+02] [-1.87787763e-01 9.82207730e-01 -1.93158002e-03 -1.23789441e+01] [-1.15755251e-02 -2.46680428e-04 9.99932971e-01 7.02837699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.792320588 meters 0.022724430624399446 Centerline is valid? [True, True] Translation: X:139.55, Y:-12.38, Z:0.70 [[ 9.82779268e-01 1.84457024e-01 1.09780155e-02 1.39545121e+02] [-1.84447761e-01 9.82840560e-01 -1.85903282e-03 -1.23801409e+01] [-1.11325505e-02 -1.97851468e-04 9.99938012e-01 7.01599525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.822320588 meters 0.022486431921235596 Centerline is valid? [True, True] Translation: X:139.58, Y:-12.38, Z:0.70 [[ 9.83347334e-01 1.81434180e-01 1.04718024e-02 1.39577570e+02] [-1.81425565e-01 9.83403078e-01 -1.77479199e-03 -1.23834189e+01] [-1.06200106e-02 -1.54615701e-04 9.99943594e-01 7.00035139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.852320588 meters 0.022465758912156762 Centerline is valid? [True, True] Translation: X:139.61, Y:-12.39, Z:0.70 [[ 9.83911588e-01 1.78260916e-01 1.18757286e-02 1.39608921e+02] [-1.78249587e-01 9.83983246e-01 -2.01428450e-03 -1.23886860e+01] [-1.20445862e-02 -1.34965863e-04 9.99927452e-01 6.98786869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.882320588 meters 0.022092893438484824 Centerline is valid? [True, True] Translation: X:139.64, Y:-12.39, Z:0.70 [[ 9.84827615e-01 1.73000851e-01 1.36115723e-02 1.39640824e+02] [-1.72985440e-01 9.84921672e-01 -2.31048857e-03 -1.23938179e+01] [-1.38060490e-02 -7.91708640e-05 9.99904689e-01 7.01870318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.912320588 meters 0.02199090565678373 Centerline is valid? [True, True] Translation: X:139.67, Y:-12.40, Z:0.70 [[ 9.85181014e-01 1.71022399e-01 1.30272138e-02 1.39673340e+02] [-1.71008085e-01 9.85267140e-01 -2.21311495e-03 -1.23966748e+01] [-1.32137779e-02 -4.74400622e-05 9.99912693e-01 7.04292406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.942320588 meters 0.021920190635085178 Centerline is valid? [True, True] Translation: X:139.71, Y:-12.40, Z:0.70 [[ 9.85382714e-01 1.69939372e-01 1.18960743e-02 1.39705549e+02] [-1.69927337e-01 9.85454519e-01 -2.02264466e-03 -1.23979261e+01] [-1.20667671e-02 -2.83891440e-05 9.99927194e-01 7.04724954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.972320588 meters 0.021899454949911402 Centerline is valid? [True, True] Translation: X:139.74, Y:-12.40, Z:0.70 [[ 9.85558780e-01 1.68974336e-01 1.10256697e-02 1.39738444e+02] [-1.68963920e-01 9.85620451e-01 -1.87620411e-03 -1.23963866e+01] [-1.11841559e-02 -1.38309444e-05 9.99937455e-01 7.00576432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.002320588 meters 0.02195148334643682 Centerline is valid? [True, True] Translation: X:139.77, Y:-12.40, Z:0.70 [[ 9.85581579e-01 1.68899945e-01 1.00875619e-02 1.39770022e+02] [-1.68891208e-01 9.85633202e-01 -1.71799179e-03 -1.24003471e+01] [-1.02328046e-02 -1.04794395e-05 9.99947643e-01 6.99006412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.032320588 meters 0.022026274830627336 Centerline is valid? [True, True] Translation: X:139.80, Y:-12.41, Z:0.70 [[ 9.85745785e-01 1.67814237e-01 1.19845705e-02 1.39802038e+02] [-1.67801806e-01 9.85818635e-01 -2.04259101e-03 -1.24059435e+01] [-1.21573888e-02 2.44290049e-06 9.99926096e-01 6.97904467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.062320588 meters 0.022090837150100646 Centerline is valid? [True, True] Translation: X:139.83, Y:-12.42, Z:0.70 [[ 9.86213352e-01 1.64751210e-01 1.55004601e-02 1.39832621e+02] [-1.64729983e-01 9.86335154e-01 -2.64513598e-03 -1.24151450e+01] [-1.57244381e-02 5.52778871e-05 9.99876362e-01 7.01534502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.092320588 meters 0.02222757984206284 Centerline is valid? [True, True] Translation: X:139.86, Y:-12.42, Z:0.70 [[ 9.86487426e-01 1.63029720e-01 1.62440187e-02 1.39864536e+02] [-1.63006145e-01 9.86621155e-01 -2.77381881e-03 -1.24210556e+01] [-1.64789074e-02 8.84625116e-05 9.99864210e-01 7.03567775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.122320588 meters 0.02229842968549591 Centerline is valid? [True, True] Translation: X:139.90, Y:-12.43, Z:0.71 [[ 9.86686562e-01 1.61888040e-01 1.55528280e-02 1.39897590e+02] [-1.61866232e-01 9.86809126e-01 -2.65928388e-03 -1.24251965e+01] [-1.57781788e-02 1.06402006e-04 9.99875511e-01 7.05123798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.152320588 meters 0.02219525413291705 Centerline is valid? [True, True] Translation: X:139.93, Y:-12.43, Z:0.70 [[ 9.86792474e-01 1.61325784e-01 1.46493797e-02 1.39930013e+02] [-1.61306349e-01 9.86901200e-01 -2.50649839e-03 -1.24276845e+01] [-1.48618533e-02 1.10355781e-04 9.99889550e-01 7.04937270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.182320588 meters 0.022178788007243034 Centerline is valid? [True, True] Translation: X:139.96, Y:-12.43, Z:0.70 [[ 9.86702986e-01 1.62039475e-01 1.26659024e-02 1.39962394e+02] [-1.62024982e-01 9.86784273e-01 -2.16894290e-03 -1.24311648e+01] [-1.28499677e-02 8.79098251e-05 9.99917432e-01 7.01460693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.212320588 meters 0.022067614596895428 Centerline is valid? [True, True] Translation: X:139.99, Y:-12.44, Z:0.70 [[ 9.86540456e-01 1.63154376e-01 1.08893660e-02 1.39993482e+02] [-1.63143715e-01 9.86600550e-01 -1.86626569e-03 -1.24394856e+01] [-1.10479439e-02 6.46149753e-05 9.99938968e-01 7.01411019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.242320588 meters 0.02206532054031276 Centerline is valid? [True, True] Translation: X:140.02, Y:-12.45, Z:0.70 [[ 9.86475260e-01 1.63548185e-01 1.08881898e-02 1.40024804e+02] [-1.63537534e-01 9.86535345e-01 -1.86753822e-03 -1.24484961e+01] [-1.10470166e-02 6.16525435e-05 9.99938978e-01 7.01984585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27232058799999 meters 0.02202952809796247 Centerline is valid? [True, True] Translation: X:140.06, Y:-12.46, Z:0.70 [[ 9.86563118e-01 1.62983284e-01 1.13869397e-02 1.40056324e+02] [-1.62971579e-01 9.86628828e-01 -1.95460379e-03 -1.24567716e+01] [-1.15532507e-02 7.25924655e-05 9.99933256e-01 7.03737019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.302320588 meters 0.0222064462875957 Centerline is valid? [True, True] Translation: X:140.09, Y:-12.46, Z:0.71 [[ 9.86723479e-01 1.61789275e-01 1.41776906e-02 1.40087561e+02] [-1.61770981e-01 9.86825323e-01 -2.43540441e-03 -1.24627339e+01] [-1.43849264e-02 1.09531798e-04 9.99896526e-01 7.06829395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.332320588 meters 0.022113104457229787 Centerline is valid? [True, True] Translation: X:140.12, Y:-12.47, Z:0.71 [[ 9.86769991e-01 1.61524261e-01 1.39605547e-02 1.40120618e+02] [-1.61506452e-01 9.86868735e-01 -2.40127123e-03 -1.24677132e+01] [-1.41650985e-02 1.14782735e-04 9.99899663e-01 7.06574191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.362320588 meters 0.022125621269375825 Centerline is valid? [True, True] Translation: X:140.15, Y:-12.47, Z:0.71 [[ 9.86619281e-01 1.62583889e-01 1.22013321e-02 1.40152100e+02] [-1.62570349e-01 9.86694720e-01 -2.10011156e-03 -1.24729707e+01] [-1.23804342e-02 8.84357443e-05 9.99923356e-01 7.06185208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.392320588 meters 0.021959693416420813 Centerline is valid? [True, True] Translation: X:140.18, Y:-12.48, Z:0.70 [[ 9.86401708e-01 1.64040117e-01 1.01246961e-02 1.40183845e+02] [-1.64030855e-01 9.86453667e-01 -1.74417217e-03 -1.24788214e+01] [-1.02736578e-02 5.96918490e-05 9.99947223e-01 7.04201227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.422320588 meters 0.021941827878959732 Centerline is valid? [True, True] Translation: X:140.22, Y:-12.49, Z:0.70 [[ 9.85516398e-01 1.69215373e-01 1.11169929e-02 1.40215035e+02] [-1.69204519e-01 9.85579098e-01 -1.91658571e-03 -1.24872998e+01] [-1.12809916e-02 7.78121181e-06 9.99936368e-01 7.02326516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.452320588 meters 0.02186976209262956 Centerline is valid? [True, True] Translation: X:140.25, Y:-12.50, Z:0.70 [[ 9.84993100e-01 1.72106836e-01 1.29549366e-02 1.40245802e+02] [-1.72092324e-01 9.85078289e-01 -2.23511250e-03 -1.24961506e+01] [-1.31463049e-02 -2.78747619e-05 9.99913583e-01 7.03344365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.482320588 meters 0.02185103772621333 Centerline is valid? [True, True] Translation: X:140.28, Y:-12.50, Z:0.71 [[ 9.84777685e-01 1.73363291e-01 1.25730028e-02 1.40278255e+02] [-1.73349687e-01 9.84857943e-01 -2.17215752e-03 -1.25046720e+01] [-1.27591941e-02 -4.04338580e-05 9.99918597e-01 7.05846319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.512320588 meters 0.02184001474488871 Centerline is valid? [True, True] Translation: X:140.31, Y:-12.51, Z:0.71 [[ 9.84511163e-01 1.75016648e-01 1.03413415e-02 1.40309522e+02] [-1.75007522e-01 9.84565473e-01 -1.78786597e-03 -1.25124360e+01] [-1.04946341e-02 -4.96385498e-05 9.99944929e-01 7.06961294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.542320588 meters 0.021974939312627145 Centerline is valid? [True, True] Translation: X:140.34, Y:-12.52, Z:0.71 [[ 9.84633269e-01 1.74397533e-01 9.10087184e-03 1.40341256e+02] [-1.74390427e-01 9.84675327e-01 -1.57475674e-03 -1.25167059e+01] [-9.23603765e-03 -3.65470520e-05 9.99957346e-01 7.05609066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.572320588 meters 0.021961041603605746 Centerline is valid? [True, True] Translation: X:140.37, Y:-12.52, Z:0.70 [[ 9.84612513e-01 1.74531413e-01 8.77409012e-03 1.40372765e+02] [-1.74524802e-01 9.84651606e-01 -1.51943954e-03 -1.25204429e+01] [-8.90461185e-03 -3.52371559e-05 9.99960353e-01 7.04779772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.602320588 meters 0.021937959375067526 Centerline is valid? [True, True] Translation: X:140.40, Y:-12.53, Z:0.70 [[ 9.84487350e-01 1.75071929e-01 1.15964722e-02 1.40404267e+02] [-1.75060402e-01 9.84555645e-01 -2.00958903e-03 -1.25252054e+01] [-1.17691948e-02 -5.16681060e-05 9.99930739e-01 7.04943721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.632320588 meters 0.02207758910035761 Centerline is valid? [True, True] Translation: X:140.44, Y:-12.53, Z:0.71 [[ 9.84009267e-01 1.77401301e-01 1.59543524e-02 1.40435001e+02] [-1.77379769e-01 9.84138591e-01 -2.76600481e-03 -1.25328895e+01] [-1.61919868e-02 -1.08204988e-04 9.99868895e-01 7.07701166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.662320588 meters 0.022108644168993333 Centerline is valid? [True, True] Translation: X:140.47, Y:-12.54, Z:0.71 [[ 9.83944646e-01 1.77892305e-01 1.43965858e-02 1.40466268e+02] [-1.77874793e-01 9.84049957e-01 -2.49810570e-03 -1.25388402e+01] [-1.46113534e-02 -1.02791992e-04 9.99893243e-01 7.09301805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.692320588 meters 0.021905758130458603 Centerline is valid? [True, True] Translation: X:140.50, Y:-12.54, Z:0.71 [[ 9.83834662e-01 1.78674687e-01 1.20297484e-02 1.40497907e+02] [-1.78662497e-01 9.83908201e-01 -2.08917086e-03 -1.25447011e+01] [-1.22094501e-02 -9.38661844e-05 9.99925457e-01 7.09048559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.722320588 meters 0.021919054322136967 Centerline is valid? [True, True] Translation: X:140.53, Y:-12.55, Z:0.71 [[ 9.83863906e-01 1.78673003e-01 9.36867654e-03 1.40530160e+02] [-1.78665592e-01 9.83908508e-01 -1.62896037e-03 -1.25497317e+01] [-9.50897180e-03 -7.11848244e-05 9.99954786e-01 7.06848973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.752320588 meters 0.021917851193596245 Centerline is valid? [True, True] Translation: X:140.56, Y:-12.56, Z:0.70 [[ 9.84382588e-01 1.75923647e-01 6.46466355e-03 1.40561957e+02] [-1.75920052e-01 9.84403814e-01 -1.12502829e-03 -1.25562625e+01] [-6.56175854e-03 -2.98056904e-05 9.99978471e-01 7.04535975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.782320588 meters 0.0217061494655876 Centerline is valid? [True, True] Translation: X:140.59, Y:-12.56, Z:0.70 [[ 9.84823166e-01 1.73355996e-01 8.42797159e-03 1.40593554e+02] [-1.73349784e-01 9.84859228e-01 -1.46767190e-03 -1.25628486e+01] [-8.55479532e-03 -1.55897709e-05 9.99963407e-01 7.04519678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.812320588 meters 0.021777852925185325 Centerline is valid? [True, True] Translation: X:140.63, Y:-12.57, Z:0.71 [[ 9.85366460e-01 1.70134597e-01 1.03517161e-02 1.40625034e+02] [-1.70125034e-01 9.85420833e-01 -1.80393973e-03 -1.25697517e+01] [-1.05077093e-02 1.64556483e-05 9.99944792e-01 7.10077486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.842320588 meters 0.02194986453118218 Centerline is valid? [True, True] Translation: X:140.66, Y:-12.57, Z:0.71 [[ 9.85577380e-01 1.68931225e-01 9.97337629e-03 1.40657272e+02] [-1.68922273e-01 9.85627841e-01 -1.73941516e-03 -1.25747701e+01] [-1.01238789e-02 2.96028486e-05 9.99948752e-01 7.10689371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.872320588 meters 0.021940839375775747 Centerline is valid? [True, True] Translation: X:140.69, Y:-12.58, Z:0.71 [[ 9.85630120e-01 1.68660750e-01 9.31761759e-03 1.40689144e+02] [-1.68652911e-01 9.85674160e-01 -1.62635794e-03 -1.25792839e+01] [-9.45843765e-03 3.15440393e-05 9.99955267e-01 7.09653728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.902320588 meters 0.02200116053198292 Centerline is valid? [True, True] Translation: X:140.72, Y:-12.58, Z:0.71 [[ 9.85577155e-01 1.68978144e-01 9.16836631e-03 1.40720857e+02] [-1.68970557e-01 9.85619798e-01 -1.60155800e-03 -1.25845182e+01] [-9.30715165e-03 2.92750199e-05 9.99956687e-01 7.07381396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.932320588 meters 0.022221010535614722 Centerline is valid? [True, True] Translation: X:140.75, Y:-12.59, Z:0.71 [[ 9.85790025e-01 1.67636063e-01 1.07785473e-02 1.40752116e+02] [-1.67625481e-01 9.85848948e-01 -1.88418931e-03 -1.25929560e+01] [-1.09418776e-02 5.06558444e-05 9.99940135e-01 7.05501332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.962320588 meters 0.022162196523124518 Centerline is valid? [True, True] Translation: X:140.78, Y:-12.60, Z:0.71 [[ 9.86000022e-01 1.66251933e-01 1.28160951e-02 1.40783941e+02] [-1.66236834e-01 9.86083307e-01 -2.24199372e-03 -1.26003679e+01] [-1.30104733e-02 8.00987705e-05 9.99915357e-01 7.06694104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.992320588 meters 0.022220926448468827 Centerline is valid? [True, True] Translation: X:140.82, Y:-12.61, Z:0.71 [[ 9.86332317e-01 1.64268322e-01 1.28249276e-02 1.40815278e+02] [-1.64253012e-01 9.86415687e-01 -2.24528041e-03 -1.26079053e+01] [-1.30195382e-02 1.08059641e-04 9.99915236e-01 7.08352070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02232058799999 meters 0.022424472785643804 Centerline is valid? [True, True] Translation: X:140.85, Y:-12.62, Z:0.71 [[ 9.86560437e-01 1.62844663e-01 1.34208433e-02 1.40846073e+02] [-1.62827742e-01 9.86651710e-01 -2.35139292e-03 -1.26161560e+01] [-1.36246098e-02 1.34505621e-04 9.99907172e-01 7.08633361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.052320588 meters 0.022424472785643804 Centerline is valid? [True, True] Translation: X:140.88, Y:-12.62, Z:0.71 [[ 9.86528191e-01 1.63039944e-01 1.34203199e-02 1.40878111e+02] [-1.63023000e-01 9.86619460e-01 -2.35437901e-03 -1.26217136e+01] [-1.36246066e-02 1.34840452e-04 9.99907172e-01 7.08797221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.082320588 meters 0.022397970642906172 Centerline is valid? [True, True] Translation: X:140.91, Y:-12.63, Z:0.71 [[ 9.86895775e-01 1.60975485e-01 1.11185699e-02 1.40908849e+02] [-1.60963709e-01 9.86958396e-01 -1.95190504e-03 -1.26340684e+01] [-1.12877748e-02 1.36640586e-04 9.99936282e-01 7.08414810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.112320588 meters 0.02240833385031459 Centerline is valid? [True, True] Translation: X:140.94, Y:-12.64, Z:0.71 [[ 9.86853528e-01 1.61403461e-01 8.30886116e-03 1.40940500e+02] [-1.61396889e-01 9.86888501e-01 -1.45993957e-03 -1.26415700e+01] [-8.43555883e-03 9.97221723e-05 9.99964415e-01 7.08162611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.142320588 meters 0.022331348688973268 Centerline is valid? [True, True] Translation: X:140.97, Y:-12.65, Z:0.71 [[ 9.86564964e-01 1.63165783e-01 8.15470215e-03 1.40972330e+02] [-1.63159503e-01 9.86598662e-01 -1.43398232e-03 -1.26479330e+01] [-8.27939508e-03 8.41995642e-05 9.99965722e-01 7.07294418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.172320588 meters 0.022103654624040504 Centerline is valid? [True, True] Translation: X:141.00, Y:-12.66, Z:0.71 [[ 9.85448825e-01 1.69612547e-01 1.10543236e-02 1.41004305e+02] [-1.69601386e-01 9.85510823e-01 -1.94626579e-03 -1.26580445e+01] [-1.12242666e-02 4.31167328e-05 9.99937005e-01 7.08196023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.202320588 meters 0.02211596861635908 Centerline is valid? [True, True] Translation: X:141.04, Y:-12.67, Z:0.71 [[ 9.84954081e-01 1.72429502e-01 1.15553195e-02 1.41036540e+02] [-1.72417472e-01 9.85021861e-01 -2.03683428e-03 -1.26673307e+01] [-1.17334526e-02 1.38492551e-05 9.99931161e-01 7.10083371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.232320588 meters 0.021995721619294955 Centerline is valid? [True, True] Translation: X:141.07, Y:-12.68, Z:0.71 [[ 9.84499863e-01 1.75031661e-01 1.11327247e-02 1.41068902e+02] [-1.75020634e-01 9.84562805e-01 -1.96470545e-03 -1.26765102e+01] [-1.13047523e-02 -1.42042798e-05 9.99936099e-01 7.10262681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.262320588 meters 0.022046291859292504 Centerline is valid? [True, True] Translation: X:141.10, Y:-12.68, Z:0.71 [[ 9.84146886e-01 1.77096326e-01 9.58109367e-03 1.41100571e+02] [-1.77088246e-01 9.84193523e-01 -1.69200565e-03 -1.26840853e+01] [-9.72929831e-03 -3.15169758e-05 9.99952669e-01 7.08943810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.292320588 meters 0.021966407541251887 Centerline is valid? [True, True] Translation: X:141.13, Y:-12.69, Z:0.71 [[ 9.83602027e-01 1.80184937e-01 7.77440821e-03 1.41131635e+02] [-1.80179704e-01 9.83632750e-01 -1.37414711e-03 -1.26941950e+01] [-7.89476314e-03 -4.91766881e-05 9.99968835e-01 7.06765280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.322320588 meters 0.022336195559161658 Centerline is valid? [True, True] Translation: X:141.16, Y:-12.70, Z:0.71 [[ 9.83405268e-01 1.81160164e-01 9.75061932e-03 1.41162429e+02] [-1.81151968e-01 9.83453603e-01 -1.72464444e-03 -1.27027389e+01] [-9.90171857e-03 -7.03194473e-05 9.99950974e-01 7.06323156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.352320588 meters 0.022334312830786792 Centerline is valid? [True, True] Translation: X:141.19, Y:-12.71, Z:0.71 [[ 9.83101903e-01 1.82698211e-01 1.14896334e-02 1.41193619e+02] [-1.82686918e-01 9.83169036e-01 -2.03370596e-03 -1.27101724e+01] [-1.16678062e-02 -9.96655108e-05 9.99931924e-01 7.08393773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.382320588 meters 0.022414484427372518 Centerline is valid? [True, True] Translation: X:141.23, Y:-12.71, Z:0.71 [[ 9.82219676e-01 1.87420915e-01 1.08586065e-02 1.41225842e+02] [-1.87411101e-01 9.82279685e-01 -1.92354629e-03 -1.27128104e+01] [-1.10267014e-02 -1.45678375e-04 9.99939193e-01 7.09100271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.412320588 meters 0.022641354672422256 Centerline is valid? [True, True] Translation: X:141.26, Y:-12.72, Z:0.71 [[ 9.81618335e-01 1.90626556e-01 9.32525056e-03 1.41257223e+02] [-1.90619449e-01 9.81662616e-01 -1.65329972e-03 -1.27174402e+01] [-9.46941269e-03 -1.54664800e-04 9.99955152e-01 7.08388012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.442320588 meters 0.02295392595164611 Centerline is valid? [True, True] Translation: X:141.29, Y:-12.73, Z:0.71 [[ 9.81045996e-01 1.93615000e-01 7.87312980e-03 1.41288721e+02] [-1.93610021e-01 9.81077575e-01 -1.39703121e-03 -1.27252453e+01] [-7.99463729e-03 -1.53764953e-04 9.99968031e-01 7.07012372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.472320588 meters 0.023152709694574145 Centerline is valid? [True, True] Translation: X:141.32, Y:-12.73, Z:0.71 [[ 9.80666716e-01 1.95499420e-01 8.53050848e-03 1.41319901e+02] [-1.95493636e-01 9.80703800e-01 -1.51477236e-03 -1.27333776e+01] [-8.66203920e-03 -1.82173286e-04 9.99962467e-01 7.07906882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.502320588 meters 0.023544402034229014 Centerline is valid? [True, True] Translation: X:141.35, Y:-12.74, Z:0.71 [[ 9.80314481e-01 1.96942986e-01 1.40348805e-02 1.41351898e+02] [-1.96927457e-01 9.80414891e-01 -2.49367125e-03 -1.27390964e+01] [-1.42511169e-02 -3.19271280e-04 9.99898397e-01 7.09608459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.532320588 meters 0.023416140220652092 Centerline is valid? [True, True] Translation: X:141.38, Y:-12.74, Z:0.71 [[ 9.80352340e-01 1.96589197e-01 1.61856763e-02 1.41384159e+02] [-1.96568462e-01 9.80485878e-01 -2.87787200e-03 -1.27413951e+01] [-1.64355856e-02 -3.60264932e-04 9.99864862e-01 7.10377671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.562320588 meters 0.023540907335195364 Centerline is valid? [True, True] Translation: X:141.42, Y:-12.74, Z:0.71 [[ 9.80385316e-01 1.96309616e-01 1.75261594e-02 1.41417437e+02] [-1.96285057e-01 9.80541888e-01 -3.12754266e-03 -1.27435127e+01] [-1.77991001e-02 -3.73926300e-04 9.99841514e-01 7.09819135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.592320588 meters 0.023144751057538625 Centerline is valid? [True, True] Translation: X:141.45, Y:-12.75, Z:0.71 [[ 9.80934470e-01 1.93791392e-01 1.45760742e-02 1.41449540e+02] [-1.93774024e-01 9.81042724e-01 -2.60805764e-03 -1.27455013e+01] [-1.48051706e-02 -2.66130910e-04 9.99890362e-01 7.07931672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.622320588 meters 0.0229023590898554 Centerline is valid? [True, True] Translation: X:141.48, Y:-12.75, Z:0.71 [[ 9.81211740e-01 1.92595342e-01 1.14260761e-02 1.41481419e+02] [-1.92584584e-01 9.81278246e-01 -2.04483741e-03 -1.27501161e+01] [-1.16059861e-02 -1.94067646e-04 9.99932629e-01 7.07698359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.652320588 meters 0.022874391662320203 Centerline is valid? [True, True] Translation: X:141.51, Y:-12.75, Z:0.71 [[ 9.81243524e-01 1.92477426e-01 1.06577315e-02 1.41513410e+02] [-1.92468043e-01 9.81301385e-01 -1.90884681e-03 -1.27547771e+01] [-1.08258566e-02 -1.78229156e-04 9.99941383e-01 7.06904444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.682320588 meters 0.022916763827459236 Centerline is valid? [True, True] Translation: X:141.55, Y:-12.76, Z:0.71 [[ 9.81360367e-01 1.91809786e-01 1.18674594e-02 1.41546526e+02] [-1.91798070e-01 9.81432102e-01 -2.12825244e-03 -1.27595922e+01] [-1.20553253e-02 -1.87573220e-04 9.99927314e-01 7.06530547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.712320588 meters 0.022612493683870964 Centerline is valid? [True, True] Translation: X:141.58, Y:-12.76, Z:0.71 [[ 9.82000037e-01 1.88431690e-01 1.30163341e-02 1.41578340e+02] [-1.88417281e-01 9.82086286e-01 -2.33566026e-03 -1.27634039e+01] [-1.32232756e-02 -1.58883801e-04 9.99912556e-01 7.08353423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.742320588 meters 0.022445341760281984 Centerline is valid? [True, True] Translation: X:141.61, Y:-12.77, Z:0.71 [[ 9.82431682e-01 1.86195586e-01 1.26172261e-02 1.41610510e+02] [-1.86181840e-01 9.82512691e-01 -2.26582312e-03 -1.27686652e+01] [-1.28184710e-02 -1.23081952e-04 9.99917832e-01 7.09288742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77232058799999 meters 0.02233311095110472 Centerline is valid? [True, True] Translation: X:141.64, Y:-12.77, Z:0.71 [[ 9.82996418e-01 1.83210986e-01 1.23197428e-02 1.41642253e+02] [-1.83197624e-01 9.83073613e-01 -2.21415214e-03 -1.27732514e+01] [-1.25168711e-02 -8.04439844e-05 9.99921658e-01 7.07775139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.802320588 meters 0.02207016485355031 Centerline is valid? [True, True] Translation: X:141.67, Y:-12.78, Z:0.71 [[ 9.83451759e-01 1.80861016e-01 1.05797330e-02 1.41674595e+02] [-1.80851003e-01 9.83508664e-01 -1.90353220e-03 -1.27778212e+01] [-1.07495338e-02 -4.13232264e-05 9.99942221e-01 7.06984406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.832320588 meters 0.02224415111087146 Centerline is valid? [True, True] Translation: X:141.71, Y:-12.78, Z:0.70 [[ 9.83843395e-01 1.78651336e-01 1.16565469e-02 1.41706330e+02] [-1.78639010e-01 9.83912445e-01 -2.09864500e-03 -1.27826731e+01] [-1.18439472e-02 -1.75759721e-05 9.99929858e-01 7.03117017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.862320588 meters 0.022326179022383878 Centerline is valid? [True, True] Translation: X:141.74, Y:-12.79, Z:0.70 [[ 9.84012396e-01 1.77656485e-01 1.25609572e-02 1.41737715e+02] [-1.77642070e-01 9.84092563e-01 -2.26316248e-03 -1.27879703e+01] [-1.27632101e-02 -4.37450124e-06 9.99918547e-01 7.03582768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.892320588 meters 0.022313182143345066 Centerline is valid? [True, True] Translation: X:141.77, Y:-12.79, Z:0.71 [[ 9.84113028e-01 1.76857412e-01 1.55885644e-02 1.41769011e+02] [-1.76835037e-01 9.84236484e-01 -2.81321893e-03 -1.27930481e+01] [-1.58403724e-02 1.19210461e-05 9.99874533e-01 7.06917733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.922320588 meters 0.022236541617391466 Centerline is valid? [True, True] Translation: X:141.80, Y:-12.80, Z:0.71 [[ 9.84243044e-01 1.76248251e-01 1.42191260e-02 1.41800459e+02] [-1.76229550e-01 9.84345749e-01 -2.56755487e-03 -1.27990765e+01] [-1.44490632e-02 2.12678635e-05 9.99895607e-01 7.08632065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.952320588 meters 0.02224756210707547 Centerline is valid? [True, True] Translation: X:141.83, Y:-12.81, Z:0.71 [[ 9.84334692e-01 1.75853352e-01 1.26812216e-02 1.41831809e+02] [-1.75838420e-01 9.84416374e-01 -2.29168349e-03 -1.28056306e+01] [-1.28866024e-02 2.59375861e-05 9.99916964e-01 7.08624398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.982320588 meters 0.022143484190318263 Centerline is valid? [True, True] Translation: X:141.86, Y:-12.81, Z:0.71 [[ 9.84247838e-01 1.76409863e-01 1.16513673e-02 1.41863638e+02] [-1.76397278e-01 9.84316799e-01 -2.10723002e-03 -1.28125813e+01] [-1.18403727e-02 1.87671289e-05 9.99929900e-01 7.07599158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.012320588 meters 0.022214206228474597 Centerline is valid? [True, True] Translation: X:141.90, Y:-12.82, Z:0.71 [[ 9.84279425e-01 1.76293524e-01 1.07054881e-02 1.41895046e+02] [-1.76282876e-01 9.84337642e-01 -1.93769327e-03 -1.28180457e+01] [-1.08794177e-02 2.00373916e-05 9.99940817e-01 7.06591411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.042320588 meters 0.022460642131275837 Centerline is valid? [True, True] Translation: X:141.93, Y:-12.82, Z:0.71 [[ 9.84435488e-01 1.75148037e-01 1.44891578e-02 1.41926723e+02] [-1.75128392e-01 9.84542108e-01 -2.62363165e-03 -1.28209750e+01] [-1.47247099e-02 4.53331980e-05 9.99891585e-01 7.05422893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.072320588 meters 0.02254264004555797 Centerline is valid? [True, True] Translation: X:141.96, Y:-12.83, Z:0.71 [[ 9.84558269e-01 1.74291499e-01 1.63550942e-02 1.41958420e+02] [-1.74266309e-01 9.84694099e-01 -2.96387942e-03 -1.28253889e+01] [-1.66213438e-02 6.79700849e-05 9.99861854e-01 7.05470947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.102320588 meters 0.022558116644212402 Centerline is valid? [True, True] Translation: X:141.99, Y:-12.83, Z:0.71 [[ 9.84635829e-01 1.73681420e-01 1.80845043e-02 1.41989670e+02] [-1.73650475e-01 9.84801887e-01 -3.27965048e-03 -1.28309319e+01] [-1.83792683e-02 8.88786100e-05 9.99831083e-01 7.06224328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.132320588 meters 0.022474527792849308 Centerline is valid? [True, True] Translation: X:142.02, Y:-12.84, Z:0.71 [[ 9.84733969e-01 1.73596487e-01 1.27777307e-02 1.42021473e+02] [-1.73580999e-01 9.84816864e-01 -2.31980966e-03 -1.28387907e+01] [-1.29864355e-02 6.64241019e-05 9.99915670e-01 7.07144277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.162320588 meters 0.0223996096668352 Centerline is valid? [True, True] Translation: X:142.05, Y:-12.85, Z:0.71 [[ 9.84762529e-01 1.73560502e-01 1.09321966e-02 1.42052737e+02] [-1.73549147e-01 9.84823207e-01 -1.98619068e-03 -1.28459507e+01] [-1.11110052e-02 5.86527545e-05 9.99938269e-01 7.06385953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.192320588 meters 0.022507064667695507 Centerline is valid? [True, True] Translation: X:142.08, Y:-12.85, Z:0.71 [[ 9.84822606e-01 1.73286466e-01 9.80996035e-03 1.42084088e+02] [-1.73277295e-01 9.84871462e-01 -1.78371633e-03 -1.28531374e+01] [-9.97064389e-03 5.68007673e-05 9.99950290e-01 7.07092627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.222320588 meters 0.0224483676636583 Centerline is valid? [True, True] Translation: X:142.12, Y:-12.86, Z:0.71 [[ 9.84907707e-01 1.72563528e-01 1.33655113e-02 1.42116163e+02] [-1.72546415e-01 9.84998386e-01 -2.43179449e-03 -1.28589104e+01] [-1.35846461e-02 8.89220709e-05 9.99907720e-01 7.07476783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.252320588 meters 0.022459255169134412 Centerline is valid? [True, True] Translation: X:142.15, Y:-12.86, Z:0.71 [[ 9.84721603e-01 1.73628000e-01 1.32922013e-02 1.42148399e+02] [-1.73611130e-01 9.84811308e-01 -2.42155013e-03 -1.28639963e+01] [-1.35107590e-02 7.68786440e-05 9.99908723e-01 7.08447345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.282320588 meters 0.022546481582095355 Centerline is valid? [True, True] Translation: X:142.18, Y:-12.87, Z:0.71 [[ 9.84518972e-01 1.74654434e-01 1.47723564e-02 1.42180633e+02] [-1.74633689e-01 9.84629790e-01 -2.69275757e-03 -1.28687818e+01] [-1.50156042e-02 7.13198118e-05 9.99887257e-01 7.07471908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.312320588 meters 0.022666925472000672 Centerline is valid? [True, True] Translation: X:142.21, Y:-12.87, Z:0.71 [[ 9.84409667e-01 1.75457540e-01 1.23393629e-02 1.42212300e+02] [-1.75443107e-01 9.84486998e-01 -2.25108288e-03 -1.28740405e+01] [-1.25429118e-02 5.11315836e-05 9.99921333e-01 7.07401995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.342320588 meters 0.022436414339974366 Centerline is valid? [True, True] Translation: X:142.24, Y:-12.88, Z:0.71 [[ 9.84180935e-01 1.76769226e-01 1.18544552e-02 1.42243426e+02] [-1.76755980e-01 9.84252325e-01 -2.16426654e-03 -1.28801447e+01] [-1.20503508e-02 3.46840365e-05 9.99927391e-01 7.06746868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.372320588 meters 0.02235749482520072 Centerline is valid? [True, True] Translation: X:142.27, Y:-12.89, Z:0.71 [[ 9.83928834e-01 1.78248474e-01 1.05608082e-02 1.42274751e+02] [-1.78238030e-01 9.83985509e-01 -1.92960505e-03 -1.28897067e+01] [-1.07356314e-02 1.62563935e-05 9.99942371e-01 7.07817804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.402320588 meters 0.022461015767632913 Centerline is valid? [True, True] Translation: X:142.31, Y:-12.90, Z:0.71 [[ 9.83574889e-01 1.80123929e-01 1.16536194e-02 1.42306070e+02] [-1.80111325e-01 9.83643924e-01 -2.13083055e-03 -1.28974364e+01] [-1.18468255e-02 -3.11741122e-06 9.99929824e-01 7.09185495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.432320588 meters 0.02265003678434124 Centerline is valid? [True, True] Translation: X:142.34, Y:-12.90, Z:0.71 [[ 9.82967777e-01 1.83313276e-01 1.30611081e-02 1.42337811e+02] [-1.83297702e-01 9.83054546e-01 -2.38990325e-03 -1.29029928e+01] [-1.32778827e-02 -4.48732096e-05 9.99911844e-01 7.10021151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.462320588 meters 0.02273011316616986 Centerline is valid? [True, True] Translation: X:142.37, Y:-12.91, Z:0.71 [[ 9.82622691e-01 1.85060225e-01 1.43303810e-02 1.42369761e+02] [-1.85041634e-01 9.82727179e-01 -2.62407138e-03 -1.29077014e+01] [-1.45684661e-02 -7.32450297e-05 9.99893872e-01 7.10063120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.492320588 meters 0.022779969910595846 Centerline is valid? [True, True] Translation: X:142.40, Y:-12.91, Z:0.71 [[ 9.82510460e-01 1.85629704e-01 1.46563452e-02 1.42402582e+02] [-1.85610271e-01 9.82619767e-01 -2.68714843e-03 -1.29127264e+01] [-1.49004290e-02 -8.02167559e-05 9.99888979e-01 7.10008435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52232058799999 meters 0.022488067443889773 Centerline is valid? [True, True] Translation: X:142.43, Y:-12.92, Z:0.71 [[ 9.82675883e-01 1.84881579e-01 1.29194006e-02 1.42434465e+02] [-1.84866394e-01 9.82760804e-01 -2.37025857e-03 -1.29182265e+01] [-1.31348977e-02 -5.91670805e-05 9.99913732e-01 7.09952395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.552320588 meters 0.022584165277982335 Centerline is valid? [True, True] Translation: X:142.47, Y:-12.93, Z:0.71 [[ 9.82630082e-01 1.85118726e-01 1.30069088e-02 1.42466335e+02] [-1.85103315e-01 9.82716161e-01 -2.38939338e-03 -1.29272733e+01] [-1.32244209e-02 -5.97321260e-05 9.99912552e-01 7.10015656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.582320588 meters 0.022666007283928306 Centerline is valid? [True, True] Translation: X:142.50, Y:-12.93, Z:0.71 [[ 9.82567555e-01 1.85403163e-01 1.36626428e-02 1.42497865e+02] [-1.85386165e-01 9.82662538e-01 -2.51135291e-03 -1.29345941e+01] [-1.38913800e-02 -6.52910662e-05 9.99903508e-01 7.10367149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.612320588 meters 0.022780400817448646 Centerline is valid? [True, True] Translation: X:142.53, Y:-12.94, Z:0.71 [[ 9.82335837e-01 1.86566578e-01 1.44642784e-02 1.42529471e+02] [-1.86547624e-01 9.82442316e-01 -2.66068619e-03 -1.29403339e+01] [-1.47067143e-02 -8.45893655e-05 9.99891847e-01 7.11287004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.642320588 meters 0.022766704196078843 Centerline is valid? [True, True] Translation: X:142.56, Y:-12.94, Z:0.71 [[ 9.82220034e-01 1.87195722e-01 1.41973764e-02 1.42561928e+02] [-1.87177478e-01 9.82322632e-01 -2.61496846e-03 -1.29445417e+01] [-1.44359151e-02 -8.89547047e-05 9.99895793e-01 7.11227152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.672320588 meters 0.022674798217905995 Centerline is valid? [True, True] Translation: X:142.59, Y:-12.95, Z:0.71 [[ 9.82092648e-01 1.87968209e-01 1.27272387e-02 1.42594672e+02] [-1.87953585e-01 9.82175109e-01 -2.34631295e-03 -1.29470614e+01] [-1.29414093e-02 -8.78334357e-05 9.99916253e-01 7.11581082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.702320588 meters 0.022823199025776376 Centerline is valid? [True, True] Translation: X:142.63, Y:-12.95, Z:0.71 [[ 9.82086226e-01 1.87855097e-01 1.47345420e-02 1.42625950e+02] [-1.87835457e-01 9.82196748e-01 -2.71812430e-03 -1.29524513e+01] [-1.49828327e-02 -9.82369998e-05 9.99887746e-01 7.11098564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.732320588 meters 0.022696445227162437 Centerline is valid? [True, True] Translation: X:142.66, Y:-12.96, Z:0.71 [[ 9.81947162e-01 1.88556739e-01 1.50375547e-02 1.42658781e+02] [-1.88536312e-01 9.82062292e-01 -2.77751356e-03 -1.29591177e+01] [-1.52915344e-02 -1.07753549e-04 9.99883072e-01 7.11190072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.762320588 meters 0.022836599770585657 Centerline is valid? [True, True] Translation: X:142.69, Y:-12.97, Z:0.71 [[ 9.81870668e-01 1.88888146e-01 1.58511658e-02 1.42689982e+02] [-1.88865463e-01 9.81998602e-01 -2.92957665e-03 -1.29675506e+01] [-1.61191849e-02 -1.17272383e-04 9.99870071e-01 7.11191468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.792320588 meters 0.02279632598717079 Centerline is valid? [True, True] Translation: X:142.72, Y:-12.97, Z:0.71 [[ 9.81858658e-01 1.88979777e-01 1.54989909e-02 1.42721630e+02] [-1.88958068e-01 9.81980973e-01 -2.86664779e-03 -1.29730574e+01] [-1.57614526e-02 -1.14016416e-04 9.99875774e-01 7.11780272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.822320588 meters 0.022667972262533115 Centerline is valid? [True, True] Translation: X:142.75, Y:-12.98, Z:0.71 [[ 9.81903385e-01 1.88783945e-01 1.50454257e-02 1.42753277e+02] [-1.88763433e-01 9.82018641e-01 -2.78487408e-03 -1.29770969e+01] [-1.53006280e-02 -1.05548913e-04 9.99882933e-01 7.12920395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.852320588 meters 0.02266892706528984 Centerline is valid? [True, True] Translation: X:142.79, Y:-12.98, Z:0.71 [[ 9.81936898e-01 1.88684121e-01 1.40794501e-02 1.42785256e+02] [-1.88666119e-01 9.82037827e-01 -2.60807697e-03 -1.29803489e+01] [-1.43186553e-02 -9.53482007e-05 9.99897478e-01 7.14950678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.882320588 meters 0.022534579988115856 Centerline is valid? [True, True] Translation: X:142.82, Y:-12.98, Z:0.71 [[ 9.82170604e-01 1.87318796e-01 1.58925674e-02 1.42817359e+02] [-1.87295646e-01 9.82299171e-01 -2.94607351e-03 -1.29820155e+01] [-1.61631108e-02 -8.30618835e-05 9.99869365e-01 7.14626932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.912320588 meters 0.022616051700358904 Centerline is valid? [True, True] Translation: X:142.85, Y:-12.99, Z:0.71 [[ 9.82295698e-01 1.86738259e-01 1.49661321e-02 1.42849348e+02] [-1.86717630e-01 9.82409700e-01 -2.77642530e-03 -1.29874856e+01] [-1.52213381e-02 -6.71700835e-05 9.99884146e-01 7.13363083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.942320588 meters 0.0224649072915084 Centerline is valid? [True, True] Translation: X:142.88, Y:-12.99, Z:0.71 [[ 9.82254004e-01 1.87022964e-01 1.41237997e-02 1.42881161e+02] [-1.87004593e-01 9.82355540e-01 -2.62216298e-03 -1.29948566e+01] [-1.43649976e-02 -6.55853304e-05 9.99896816e-01 7.12783674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.972320588 meters 0.0224649072915084 Centerline is valid? [True, True] Translation: X:142.91, Y:-13.00, Z:0.71 [[ 9.82216278e-01 1.87221039e-01 1.41232086e-02 1.42913137e+02] [-1.87202642e-01 9.82317809e-01 -2.62534568e-03 -1.30007377e+01] [-1.43649993e-02 -6.52447018e-05 9.99896816e-01 7.12947525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.002320588 meters 0.022401619186855945 Centerline is valid? [True, True] Translation: X:142.94, Y:-13.01, Z:0.71 [[ 9.82375541e-01 1.86522423e-01 1.21524268e-02 1.42944267e+02] [-1.86508731e-01 9.82450703e-01 -2.26047888e-03 -1.30089082e+01] [-1.23607902e-02 -4.58945258e-05 9.99923601e-01 7.12689385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.032320588 meters 0.02253303462820971 Centerline is valid? [True, True] Translation: X:142.98, Y:-13.02, Z:0.71 [[ 9.83141749e-01 1.82488360e-01 1.14148554e-02 1.42975700e+02] [-1.82475989e-01 9.83208014e-01 -2.12491625e-03 -1.30160192e+01] [-1.16109498e-02 6.15686305e-06 9.99932591e-01 7.14506985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.062320588 meters 0.022404317364432158 Centerline is valid? [True, True] Translation: X:143.01, Y:-13.02, Z:0.72 [[ 9.83448767e-01 1.80818336e-01 1.15435181e-02 1.43008559e+02] [-1.80805536e-01 9.83516512e-01 -2.15159441e-03 -1.30208218e+01] [-1.17422884e-02 2.88508885e-05 9.99931057e-01 7.16018536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.092320588 meters 0.022481791176070475 Centerline is valid? [True, True] Translation: X:143.04, Y:-13.03, Z:0.72 [[ 9.83555596e-01 1.80201843e-01 1.20700104e-02 1.43040059e+02] [-1.80187788e-01 9.83629653e-01 -2.25099166e-03 -1.30253974e+01] [-1.22780530e-02 3.91069661e-05 9.99924621e-01 7.15985806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.122320588 meters 0.02251014036403824 Centerline is valid? [True, True] Translation: X:143.07, Y:-13.03, Z:0.71 [[ 9.83522155e-01 1.80226126e-01 1.42377365e-02 1.43071934e+02] [-1.80206545e-01 9.83625204e-01 -2.65709017e-03 -1.30304004e+01] [-1.44834736e-02 4.75737463e-05 9.99895108e-01 7.14369785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.152320588 meters 0.022500492922129096 Centerline is valid? [True, True] Translation: X:143.10, Y:-13.04, Z:0.71 [[ 9.82990044e-01 1.83080029e-01 1.45696884e-02 1.43103994e+02] [-1.83059787e-01 9.83098013e-01 -2.72241752e-03 -1.30373081e+01] [-1.48218520e-02 8.98527327e-06 9.99890150e-01 7.13815038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.182320588 meters 0.022605944516527275 Centerline is valid? [True, True] Translation: X:143.14, Y:-13.04, Z:0.71 [[ 9.82427302e-01 1.86117123e-01 1.40361019e-02 1.43135046e+02] [-1.86098623e-01 9.82527565e-01 -2.62435047e-03 -1.30446290e+01] [-1.42792936e-02 -3.38656864e-05 9.99898045e-01 7.13157604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.212320588 meters 0.022481482088711077 Centerline is valid? [True, True] Translation: X:143.17, Y:-13.06, Z:0.71 [[ 9.82005119e-01 1.88441676e-01 1.24772430e-02 1.43165210e+02] [-1.88427222e-01 9.82084381e-01 -2.33468772e-03 -1.30563287e+01] [-1.26936580e-02 -5.83769514e-05 9.99919431e-01 7.14062816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.242320588 meters 0.022637923269407133 Centerline is valid? [True, True] Translation: X:143.20, Y:-13.07, Z:0.71 [[ 9.82233330e-01 1.87347311e-01 1.08935652e-02 1.43196067e+02] [-1.87336208e-01 9.82293736e-01 -2.03996537e-03 -1.30656322e+01] [-1.10828629e-02 -3.70372354e-05 9.99938583e-01 7.14213883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27232058799999 meters 0.022727338882649464 Centerline is valid? [True, True] Translation: X:143.23, Y:-13.07, Z:0.71 [[ 9.82414249e-01 1.86396394e-01 1.08916607e-02 1.43228497e+02] [-1.86385207e-01 9.82474622e-01 -2.04226046e-03 -1.30743354e+01] [-1.10814502e-02 -2.36986594e-05 9.99938599e-01 7.13716725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.302320588 meters 0.022745304815255392 Centerline is valid? [True, True] Translation: X:143.26, Y:-13.08, Z:0.71 [[ 9.82533249e-01 1.85729436e-01 1.15321614e-02 1.43261187e+02] [-1.85716821e-01 9.82600924e-01 -2.16472037e-03 -1.30810094e+01] [-1.17335647e-02 -1.48066174e-05 9.99931159e-01 7.14581296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.332320588 meters 0.022484410531156445 Centerline is valid? [True, True] Translation: X:143.29, Y:-13.09, Z:0.72 [[ 9.82681936e-01 1.84980810e-01 1.08771828e-02 1.43293211e+02] [-1.84969528e-01 9.82742133e-01 -2.04299296e-03 -1.30854371e+01] [-1.10673803e-02 -4.33508594e-06 9.99938755e-01 7.17345132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.362320588 meters 0.022582203219643545 Centerline is valid? [True, True] Translation: X:143.32, Y:-13.09, Z:0.72 [[ 9.82381968e-01 1.86495560e-01 1.20447052e-02 1.43324842e+02] [-1.86481820e-01 9.82455803e-01 -2.26389728e-03 -1.30908926e+01] [-1.22555974e-02 -2.21066907e-05 9.99924897e-01 7.16871780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.392320588 meters 0.022606525001359117 Centerline is valid? [True, True] Translation: X:143.36, Y:-13.10, Z:0.72 [[ 9.81935148e-01 1.88618052e-01 1.50530689e-02 1.43356482e+02] [-1.88596810e-01 9.82050522e-01 -2.83125085e-03 -1.30973524e+01] [-1.53168992e-02 -5.88560655e-05 9.99882688e-01 7.16767002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.422320588 meters 0.02269716181628778 Centerline is valid? [True, True] Translation: X:143.39, Y:-13.10, Z:0.72 [[ 9.81440216e-01 1.91068514e-01 1.63684508e-02 1.43387444e+02] [-1.91043702e-01 9.81576697e-01 -3.08086622e-03 -1.31044830e+01] [-1.66555464e-02 -1.03403426e-04 9.99861281e-01 7.16928685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.452320588 meters 0.022865580566263567 Centerline is valid? [True, True] Translation: X:143.42, Y:-13.11, Z:0.71 [[ 9.80524202e-01 1.95726864e-01 1.62260224e-02 1.43418181e+02] [-1.95702961e-01 9.80658434e-01 -3.06366064e-03 -1.31131135e+01] [-1.65118264e-02 -1.71487229e-04 9.99863656e-01 7.14521866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.482320588 meters 0.0230194857513124 Centerline is valid? [True, True] Translation: X:143.45, Y:-13.12, Z:0.71 [[ 9.80353587e-01 1.96690230e-01 1.48255725e-02 1.43449417e+02] [-1.96670273e-01 9.80465668e-01 -2.80661507e-03 -1.31208918e+01] [-1.50879986e-02 -1.64274254e-04 9.99886156e-01 7.13178810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.512320588 meters 0.02275508364770898 Centerline is valid? [True, True] Translation: X:143.48, Y:-13.13, Z:0.71 [[ 9.80814906e-01 1.94549577e-01 1.23524052e-02 1.43480618e+02] [-1.94535473e-01 9.80892681e-01 -2.34483422e-03 -1.31308746e+01] [-1.25725704e-02 -1.03132631e-04 9.99920957e-01 7.13475039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.542320588 meters 0.02275828964458342 Centerline is valid? [True, True] Translation: X:143.51, Y:-13.14, Z:0.71 [[ 9.80876816e-01 1.94159340e-01 1.35211616e-02 1.43512097e+02] [-1.94142307e-01 9.80970000e-01 -2.57374789e-03 -1.31392985e+01] [-1.37635711e-02 -1.00499872e-04 9.99905273e-01 7.14012961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.572320588 meters 0.02272388137649476 Centerline is valid? [True, True] Translation: X:143.54, Y:-13.15, Z:0.72 [[ 9.80946520e-01 1.93736127e-01 1.44996012e-02 1.43543977e+02] [-1.93716374e-01 9.81053671e-01 -2.76802055e-03 -1.31474950e+01] [-1.47611525e-02 -9.35300395e-05 9.99891044e-01 7.16125752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.602320588 meters 0.022667192570501492 Centerline is valid? [True, True] Translation: X:143.58, Y:-13.15, Z:0.72 [[ 9.80793642e-01 1.94467189e-01 1.50447228e-02 1.43576191e+02] [-1.94445883e-01 9.80909018e-01 -2.88030793e-03 -1.31545701e+01] [-1.53176296e-02 -1.00396705e-04 9.99882673e-01 7.18374229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.632320588 meters 0.022652257235898067 Centerline is valid? [True, True] Translation: X:143.61, Y:-13.16, Z:0.72 [[ 9.80342753e-01 1.96745614e-01 1.48071106e-02 1.43608364e+02] [-1.96725111e-01 9.80454562e-01 -2.84312679e-03 -1.31608394e+01] [-1.50770719e-02 -1.25691730e-04 9.99886327e-01 7.19365830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.662320588 meters 0.022994394829629748 Centerline is valid? [True, True] Translation: X:143.64, Y:-13.17, Z:0.72 [[ 9.79596680e-01 2.00264099e-01 1.68711303e-02 1.43639606e+02] [-2.00237874e-01 9.79741931e-01 -3.24682767e-03 -1.31687674e+01] [-1.71795768e-02 -1.97657669e-04 9.99852401e-01 7.17238872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.692320588 meters 0.023359019590555887 Centerline is valid? [True, True] Translation: X:143.67, Y:-13.18, Z:0.72 [[ 9.79105376e-01 2.02588332e-01 1.76246972e-02 1.43671022e+02] [-2.02559939e-01 9.79263963e-01 -3.40019969e-03 -1.31780068e+01] [-1.79480716e-02 -2.40903800e-04 9.99838891e-01 7.15239346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.722320588 meters 0.023294566280939344 Centerline is valid? [True, True] Translation: X:143.70, Y:-13.19, Z:0.72 [[ 9.78779799e-01 2.04251054e-01 1.64806461e-02 1.43703167e+02] [-2.04226303e-01 9.78918509e-01 -3.18904038e-03 -1.31871201e+01] [-1.67845743e-02 -2.44413120e-04 9.99859099e-01 7.16355383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.752320588 meters 0.023343310901755378 Centerline is valid? [True, True] Translation: X:143.74, Y:-13.20, Z:0.72 [[ 9.78267565e-01 2.06745362e-01 1.57773946e-02 1.43735175e+02] [-2.06722860e-01 9.78394749e-01 -3.06183050e-03 -1.31960083e+01] [-1.60695393e-02 -2.66258660e-04 9.99870841e-01 7.19350432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.782320588 meters 0.023434171776660323 Centerline is valid? [True, True] Translation: X:143.77, Y:-13.20, Z:0.72 [[ 9.78044730e-01 2.07893128e-01 1.44552061e-02 1.43767773e+02] [-2.07874247e-01 9.78151513e-01 -2.81322959e-03 -1.32017144e+01] [-1.47242328e-02 -2.53400696e-04 9.99891560e-01 7.20912619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.812320588 meters 0.023508671973523538 Centerline is valid? [True, True] Translation: X:143.80, Y:-13.21, Z:0.72 [[ 9.77836657e-01 2.08984726e-01 1.26828987e-02 1.43799504e+02] [-2.08970204e-01 9.77918878e-01 -2.47438925e-03 -1.32082095e+01] [-1.29199556e-02 -2.30799414e-04 9.99916507e-01 7.21576020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.842320588 meters 0.02323507814022877 Centerline is valid? [True, True] Translation: X:143.83, Y:-13.21, Z:0.72 [[ 9.77771706e-01 2.09343737e-01 1.17341523e-02 1.43831492e+02] [-2.09331264e-01 9.77842091e-01 -2.29500803e-03 -1.32138825e+01] [-1.19545936e-02 -2.12331027e-04 9.99928519e-01 7.22174187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.872320588 meters 0.023375632908939244 Centerline is valid? [True, True] Translation: X:143.86, Y:-13.22, Z:0.72 [[ 9.77538404e-01 2.10362449e-01 1.28960698e-02 1.43863456e+02] [-2.10347394e-01 9.77623436e-01 -2.52818971e-03 -1.32183282e+01] [-1.31393363e-02 -2.41252151e-04 9.99913646e-01 7.20426345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.902320588 meters 0.023596296144852848 Centerline is valid? [True, True] Translation: X:143.90, Y:-13.22, Z:0.72 [[ 9.77175201e-01 2.11999436e-01 1.35965054e-02 1.43895077e+02] [-2.11982773e-01 9.77269751e-01 -2.67180180e-03 -1.32247320e+01] [-1.38538739e-02 -2.71406456e-04 9.99903994e-01 7.19464050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.932320588 meters 0.023729950951693106 Centerline is valid? [True, True] Translation: X:143.93, Y:-13.23, Z:0.72 [[ 9.76960169e-01 2.13018181e-01 1.31179963e-02 1.43926701e+02] [-2.13002662e-01 9.77048199e-01 -2.58526566e-03 -1.32324897e+01] [-1.33676232e-02 -2.68466559e-04 9.99910613e-01 7.19617906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.962320588 meters 0.023785351065700986 Centerline is valid? [True, True] Translation: X:143.96, Y:-13.24, Z:0.72 [[ 9.76808813e-01 2.13771729e-01 1.20909023e-02 1.43958849e+02] [-2.13758521e-01 9.76883609e-01 -2.38951588e-03 -1.32404375e+01] [-1.23222152e-02 -2.50433221e-04 9.99924047e-01 7.20526365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99232058799998 meters 0.02357232997351215 Centerline is valid? [True, True] Translation: X:143.99, Y:-13.24, Z:0.72 [[ 9.76881030e-01 2.13308458e-01 1.42462198e-02 1.43992127e+02] [-2.13289967e-01 9.76984863e-01 -2.82267263e-03 -1.32434042e+01] [-1.45204410e-02 -2.81160388e-04 9.99894533e-01 7.24064961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02232058799999 meters 0.023782040494653944 Centerline is valid? [True, True] Translation: X:144.02, Y:-13.25, Z:0.72 [[ 9.76489158e-01 2.14995944e-01 1.56737849e-02 1.44024537e+02] [-2.14973670e-01 9.76614886e-01 -3.11228899e-03 -1.32460714e+01] [-1.59763811e-02 -3.30334609e-04 9.99872315e-01 7.24443219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.052320588 meters 0.02383993490031876 Centerline is valid? [True, True] Translation: X:144.06, Y:-13.25, Z:0.72 [[ 9.76220061e-01 2.16184617e-01 1.60811643e-02 1.44056456e+02] [-2.16161209e-01 9.76352440e-01 -3.20062135e-03 -1.32487608e+01] [-1.63928091e-02 -3.51613143e-04 9.99865567e-01 7.24727680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.082320588 meters 0.02400612699759022 Centerline is valid? [True, True] Translation: X:144.09, Y:-13.25, Z:0.72 [[ 9.75847165e-01 2.18064099e-01 1.30521939e-02 1.44088994e+02] [-2.18048760e-01 9.75934401e-01 -2.60429684e-03 -1.32506756e+01] [-1.33059887e-02 -3.04619011e-04 9.99911425e-01 7.19902565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.112320588 meters 0.023794779491196037 Centerline is valid? [True, True] Translation: X:144.12, Y:-13.25, Z:0.72 [[ 9.75818228e-01 2.18327225e-01 1.05833935e-02 1.44120826e+02] [-2.18317097e-01 9.75875588e-01 -2.11709371e-03 -1.32541344e+01] [-1.07902946e-02 -2.44637116e-04 9.99941753e-01 7.19210282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.142320588 meters 0.023682918410375443 Centerline is valid? [True, True] Translation: X:144.15, Y:-13.26, Z:0.72 [[ 9.75974292e-01 2.17684210e-01 9.36836434e-03 1.44152514e+02] [-2.17676245e-01 9.76019232e-01 -1.87392625e-03 -1.32578879e+01] [-9.55162792e-03 -2.10366525e-04 9.99954360e-01 7.19864438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.172320588 meters 0.023674922405238694 Centerline is valid? [True, True] Translation: X:144.18, Y:-13.26, Z:0.72 [[ 9.76105309e-01 2.17084847e-01 9.62261389e-03 1.44184027e+02] [-2.17076402e-01 9.76152716e-01 -1.92608683e-03 -1.32627964e+01] [-9.81126495e-03 -2.08778821e-04 9.99951847e-01 7.21814670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.202320588 meters 0.023153214350171546 Centerline is valid? [True, True] Translation: X:144.22, Y:-13.27, Z:0.73 [[ 9.76834794e-01 2.13739144e-01 1.04576966e-02 1.44216534e+02] [-2.13728964e-01 9.76890753e-01 -2.09459714e-03 -1.32661551e+01] [-1.06637245e-02 -1.89037298e-04 9.99943123e-01 7.25367843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.232320588 meters 0.022897478166621847 Centerline is valid? [True, True] Translation: X:144.25, Y:-13.27, Z:0.73 [[ 9.77450860e-01 2.10912627e-01 1.02800388e-02 1.44248800e+02] [-2.10902619e-01 9.77504905e-01 -2.06045245e-03 -1.32703028e+01] [-1.04833638e-02 -1.54096089e-04 9.99945036e-01 7.25160914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.262320588 meters 0.022551829257506893 Centerline is valid? [True, True] Translation: X:144.28, Y:-13.27, Z:0.72 [[ 9.78063336e-01 2.08073279e-01 9.88033629e-03 1.44281356e+02] [-2.08063870e-01 9.78113233e-01 -1.98226288e-03 -1.32739179e+01] [-1.00765436e-02 -1.16962356e-04 9.99949224e-01 7.23765921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.292320588 meters 0.022451309246691448 Centerline is valid? [True, True] Translation: X:144.31, Y:-13.28, Z:0.72 [[ 9.79036406e-01 2.03445081e-01 9.89015411e-03 1.44313781e+02] [-2.03435403e-01 9.79086357e-01 -1.98547410e-03 -1.32764430e+01] [-1.00872499e-02 -6.81560613e-05 9.99949120e-01 7.21904293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.322320588 meters 0.022345734182528013 Centerline is valid? [True, True] Translation: X:144.35, Y:-13.28, Z:0.72 [[ 9.79277754e-01 2.02308351e-01 9.29576022e-03 1.44345579e+02] [-2.02299738e-01 9.79321872e-01 -1.86749920e-03 -1.32807856e+01] [-9.48135198e-03 -5.17294346e-05 9.99955050e-01 7.22527900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.352320588 meters 0.022217296720379684 Centerline is valid? [True, True] Translation: X:144.38, Y:-13.28, Z:0.72 [[ 9.79367878e-01 2.01825262e-01 1.02529897e-02 1.44377663e+02] [-2.01814743e-01 9.79421544e-01 -2.06116900e-03 -1.32848004e+01] [-1.04579949e-02 -5.05617586e-05 9.99945312e-01 7.23142724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.382320588 meters 0.022360009415170506 Centerline is valid? [True, True] Translation: X:144.41, Y:-13.28, Z:0.72 [[ 9.79760293e-01 1.99849219e-01 1.14043152e-02 1.44411078e+02] [-1.99836039e-01 9.79826663e-01 -2.29532876e-03 -1.32847281e+01] [-1.16329718e-02 -3.01212123e-05 9.99932334e-01 7.23626196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.412320588 meters 0.022294300928450136 Centerline is valid? [True, True] Translation: X:144.44, Y:-13.29, Z:0.72 [[ 9.79989078e-01 1.98691076e-01 1.19692480e-02 1.44444048e+02] [-1.98676441e-01 9.80062170e-01 -2.41150985e-03 -1.32895519e+01] [-1.22097526e-02 -1.47542782e-05 9.99925458e-01 7.24008418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.442320588 meters 0.022230289994057625 Centerline is valid? [True, True] Translation: X:144.48, Y:-13.30, Z:0.72 [[ 9.80395939e-01 1.96683991e-01 1.17987744e-02 1.44476375e+02] [-1.96669595e-01 9.80466934e-01 -2.37964073e-03 -1.32957179e+01] [-1.20363454e-02 1.25299241e-05 9.99927560e-01 7.23199901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.472320588 meters 0.022298415600155875 Centerline is valid? [True, True] Translation: X:144.51, Y:-13.30, Z:0.72 [[ 9.80878052e-01 1.94269541e-01 1.17299928e-02 1.44508566e+02] [-1.94255110e-01 9.80948186e-01 -2.36825425e-03 -1.33033836e+01] [-1.19665948e-02 4.43575732e-05 9.99928397e-01 7.21663499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.502320588 meters 0.022665371577296332 Centerline is valid? [True, True] Translation: X:144.54, Y:-13.31, Z:0.72 [[ 9.82195862e-01 1.87600752e-01 9.86138173e-03 1.44538947e+02] [-1.87590205e-01 9.82245360e-01 -1.99213593e-03 -1.33136982e+01] [-1.00600226e-02 1.06769046e-04 9.99949391e-01 7.20931948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.532320588 meters 0.022812368642975565 Centerline is valid? [True, True] Translation: X:144.57, Y:-13.32, Z:0.72 [[ 9.82749936e-01 1.84674661e-01 9.89104664e-03 1.44570113e+02] [-1.84663889e-01 9.82799700e-01 -1.99947133e-03 -1.33204972e+01] [-1.00901694e-02 1.38461183e-04 9.99949083e-01 7.21975724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.562320588 meters 0.02295748662630942 Centerline is valid? [True, True] Translation: X:144.60, Y:-13.33, Z:0.72 [[ 9.82997251e-01 1.83281924e-01 1.11418450e-02 1.44602039e+02] [-1.83268149e-01 9.83060378e-01 -2.25374769e-03 -1.33263583e+01] [-1.13661775e-02 1.73482480e-04 9.99935388e-01 7.23715527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.592320588 meters 0.02327335488230158 Centerline is valid? [True, True] Translation: X:144.63, Y:-13.33, Z:0.73 [[ 9.83165409e-01 1.82328669e-01 1.19178761e-02 1.44633914e+02] [-1.82312819e-01 9.83237620e-01 -2.41228925e-03 -1.33316357e+01] [-1.21579337e-02 1.98897748e-04 9.99926070e-01 7.25321405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.622320588 meters 0.02302067221312364 Centerline is valid? [True, True] Translation: X:144.67, Y:-13.34, Z:0.73 [[ 9.83183602e-01 1.82417975e-01 8.58416741e-03 1.44665659e+02] [-1.82409744e-01 9.83221065e-01 -1.73884140e-03 -1.33367590e+01] [-8.75733015e-03 1.43764572e-04 9.99961644e-01 7.27479452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.652320588 meters 0.02276686808589198 Centerline is valid? [True, True] Translation: X:144.70, Y:-13.34, Z:0.73 [[ 9.83069619e-01 1.83067965e-01 7.76176635e-03 1.44697316e+02] [-1.83061247e-01 9.83100251e-01 -1.57336363e-03 -1.33447792e+01] [-7.91862693e-03 1.25847355e-04 9.99968639e-01 7.26964472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.682320588 meters 0.022895234262318074 Centerline is valid? [True, True] Translation: X:144.73, Y:-13.35, Z:0.73 [[ 9.83146039e-01 1.82665985e-01 7.55009822e-03 1.44728638e+02] [-1.82659602e-01 9.83175021e-01 -1.53237346e-03 -1.33545661e+01] [-7.70298049e-03 1.27448961e-04 9.99970323e-01 7.25790206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.712320588 meters 0.023002021726251005 Centerline is valid? [True, True] Translation: X:144.76, Y:-13.37, Z:0.73 [[ 9.83115557e-01 1.82773606e-01 8.80972841e-03 1.44759297e+02] [-1.82764913e-01 9.83155017e-01 -1.78872060e-03 -1.33661202e+01] [-8.98825959e-03 1.48409799e-04 9.99959594e-01 7.25112379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74232058799998 meters 0.023245209379975217 Centerline is valid? [True, True] Translation: X:144.79, Y:-13.38, Z:0.73 [[ 9.83240197e-01 1.81970877e-01 1.11944496e-02 1.44789515e+02] [-1.81956774e-01 9.83303900e-01 -2.27423958e-03 -1.33775931e+01] [-1.14213913e-02 1.99217843e-04 9.99934754e-01 7.25773757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77232058799999 meters 0.023256026089150703 Centerline is valid? [True, True] Translation: X:144.82, Y:-13.38, Z:0.73 [[ 9.83265013e-01 1.81853721e-01 1.09150713e-02 1.44821689e+02] [-1.81840277e-01 9.83325574e-01 -2.22006676e-03 -1.33828695e+01] [-1.11367961e-02 1.98114389e-04 9.99937964e-01 7.25779994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.802320588 meters 0.02300983458292846 Centerline is valid? [True, True] Translation: X:144.85, Y:-13.39, Z:0.73 [[ 9.83013889e-01 1.83279160e-01 9.61474623e-03 1.44853149e+02] [-1.83268786e-01 9.83060895e-01 -1.95665738e-03 -1.33898172e+01] [-9.81049555e-03 1.61338508e-04 9.99951863e-01 7.27029454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.832320588 meters 0.022991743859063295 Centerline is valid? [True, True] Translation: X:144.88, Y:-13.40, Z:0.73 [[ 9.82860658e-01 1.84118435e-01 9.23736483e-03 1.44883743e+02] [-1.84108885e-01 9.82904054e-01 -1.88113674e-03 -1.33995460e+01] [-9.42579530e-03 1.48214360e-04 9.99955565e-01 7.28643026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.862320588 meters 0.022991743859063295 Centerline is valid? [True, True] Translation: X:144.92, Y:-13.41, Z:0.73 [[ 9.82824300e-01 1.84312439e-01 9.23692550e-03 1.44915608e+02] [-1.84302877e-01 9.82867693e-01 -1.88329347e-03 -1.34059811e+01] [-9.42579007e-03 1.48554641e-04 9.99955565e-01 7.28806871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.892320588 meters 0.022945462522552702 Centerline is valid? [True, True] Translation: X:144.95, Y:-13.42, Z:0.73 [[ 9.82757436e-01 1.84695431e-01 8.68449473e-03 1.44946534e+02] [-1.84686985e-01 9.82795797e-01 -1.77156118e-03 -1.34156599e+01] [-8.86228418e-03 1.37101775e-04 9.99960720e-01 7.30875620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.922320588 meters 0.02306383513200859 Centerline is valid? [True, True] Translation: X:144.98, Y:-13.42, Z:0.73 [[ 9.82549719e-01 1.85709482e-01 1.03941422e-02 1.44977679e+02] [-1.85697427e-01 9.82604684e-01 -2.12159645e-03 -1.34246015e+01] [-1.06073334e-02 1.54408533e-04 9.99943729e-01 7.30800552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.952320588 meters 0.022766800738814093 Centerline is valid? [True, True] Translation: X:145.01, Y:-13.43, Z:0.73 [[ 9.81958925e-01 1.88776086e-01 1.09662648e-02 1.45008764e+02] [-1.88762842e-01 9.82020149e-01 -2.23984403e-03 -1.34348717e+01] [-1.11919220e-02 1.29411533e-04 9.99937360e-01 7.28564630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.982320588 meters 0.02261835343430693 Centerline is valid? [True, True] Translation: X:145.04, Y:-13.44, Z:0.73 [[ 9.81476280e-01 1.91273239e-01 1.09022555e-02 1.45039896e+02] [-1.91260286e-01 9.81536824e-01 -2.22827796e-03 -1.34426989e+01] [-1.11271752e-02 1.01833447e-04 9.99938086e-01 7.27280779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.012320588 meters 0.022674755722001203 Centerline is valid? [True, True] Translation: X:145.07, Y:-13.45, Z:0.73 [[ 9.81181025e-01 1.92824770e-01 1.01195378e-02 1.45071285e+02] [-1.92813678e-01 9.81233205e-01 -2.06975288e-03 -1.34495406e+01] [-1.03287262e-02 7.96169406e-05 9.99946654e-01 7.27601041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.042320588 meters 0.022504096316306038 Centerline is valid? [True, True] Translation: X:145.10, Y:-13.46, Z:0.73 [[ 9.80917515e-01 1.94248542e-01 8.26641647e-03 1.45102686e+02] [-1.94241180e-01 9.80952344e-01 -1.69199774e-03 -1.34559207e+01] [-8.43762870e-03 5.40317293e-05 9.99964401e-01 7.28967752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.072320588 meters 0.022255965934259634 Centerline is valid? [True, True] Translation: X:145.13, Y:-13.47, Z:0.73 [[ 9.80419352e-01 1.96845916e-01 5.43865803e-03 1.45133966e+02] [-1.96842762e-01 9.80434437e-01 -1.11456888e-03 -1.34658185e+01] [-5.55164596e-03 2.21844324e-05 9.99984589e-01 7.29152897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.102320588 meters 0.022287015165021577 Centerline is valid? [True, True] Translation: X:145.17, Y:-13.48, Z:0.73 [[ 9.79930527e-01 1.99251931e-01 5.90172952e-03 1.45165995e+02] [-1.99248250e-01 9.79948299e-01 -1.21120717e-03 -1.34760023e+01] [-6.02472517e-03 1.09896059e-05 9.99981851e-01 7.28562978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.132320588 meters 0.02227953854956783 Centerline is valid? [True, True] Translation: X:145.20, Y:-13.49, Z:0.73 [[ 9.79432424e-01 2.01701727e-01 5.34236022e-03 1.45197751e+02] [-2.01698741e-01 9.79446994e-01 -1.09752525e-03 -1.34859255e+01] [-5.45393140e-03 -2.59551763e-06 9.99985127e-01 7.28518644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.162320588 meters 0.022426946439288185 Centerline is valid? [True, True] Translation: X:145.23, Y:-13.50, Z:0.73 [[ 9.78605731e-01 2.05649309e-01 6.25977821e-03 1.45228486e+02] [-2.05645288e-01 9.78625751e-01 -1.28634244e-03 -1.34964919e+01] [-6.39051559e-03 -2.84718073e-05 9.99979580e-01 7.29613178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.192320588 meters 0.022574346999293383 Centerline is valid? [True, True] Translation: X:145.26, Y:-13.50, Z:0.73 [[ 9.78042010e-01 2.08253089e-01 8.02985036e-03 1.45259966e+02] [-2.08246552e-01 9.78074970e-01 -1.65100293e-03 -1.35036818e+01] [-8.19762212e-03 -5.74384343e-05 9.99966397e-01 7.30278440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.222320588 meters 0.022610625065937525 Centerline is valid? [True, True] Translation: X:145.29, Y:-13.51, Z:0.73 [[ 9.77357669e-01 2.11474805e-01 7.09886120e-03 1.45292156e+02] [-2.11469737e-01 9.77383447e-01 -1.46565032e-03 -1.35100694e+01] [-7.24825754e-03 -6.87297316e-05 9.99973729e-01 7.31446266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.252320588 meters 0.022667951478184702 Centerline is valid? [True, True] Translation: X:145.32, Y:-13.52, Z:0.73 [[ 9.76623539e-01 2.14833694e-01 7.27650002e-03 1.45323930e+02] [-2.14828439e-01 9.76650641e-01 -1.50542762e-03 -1.35159187e+01] [-7.43001499e-03 -9.29630932e-05 9.99972393e-01 7.32237784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.282320588 meters 0.023257279007836165 Centerline is valid? [True, True] Translation: X:145.36, Y:-13.52, Z:0.73 [[ 9.75356854e-01 2.20477519e-01 8.28682487e-03 1.45355620e+02] [-2.20470877e-01 9.75392045e-01 -1.71806820e-03 -1.35201171e+01] [-8.46169846e-03 -1.51273950e-04 9.99964188e-01 7.32433249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.312320588 meters 0.023338474511715623 Centerline is valid? [True, True] Translation: X:145.39, Y:-13.53, Z:0.73 [[ 9.75023497e-01 2.21893590e-01 9.61326478e-03 1.45386946e+02] [-2.21884679e-01 9.75070869e-01 -1.99728146e-03 -1.35258587e+01] [-9.81679840e-03 -1.85639820e-04 9.99951797e-01 7.32018903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.342320588 meters 0.023545491462930297 Centerline is valid? [True, True] Translation: X:145.42, Y:-13.53, Z:0.73 [[ 9.74540199e-01 2.24016778e-01 9.37460048e-03 1.45418615e+02] [-2.24008359e-01 9.74585268e-01 -1.95218165e-03 -1.35326539e+01] [-9.57366896e-03 -1.97509370e-04 9.99954152e-01 7.32631119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.372320588 meters 0.023545180850588703 Centerline is valid? [True, True] Translation: X:145.45, Y:-13.54, Z:0.73 [[ 9.74363018e-01 2.24797507e-01 9.09885402e-03 1.45450891e+02] [-2.24789560e-01 9.74405482e-01 -1.90013007e-03 -1.35397883e+01] [-9.29311774e-03 -1.93910926e-04 9.99956799e-01 7.32933391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.402320588 meters 0.023740860939756126 Centerline is valid? [True, True] Translation: X:145.48, Y:-13.55, Z:0.73 [[ 9.74040020e-01 2.26207379e-01 8.73275079e-03 1.45483361e+02] [-2.26200072e-01 9.74079147e-01 -1.82853748e-03 -1.35469807e+01] [-8.92001911e-03 -1.94280169e-04 9.99960197e-01 7.33831713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.432320588 meters 0.023824581576291266 Centerline is valid? [True, True] Translation: X:145.51, Y:-13.55, Z:0.73 [[ 9.73696570e-01 2.27679153e-01 8.78591691e-03 1.45514983e+02] [-2.27671782e-01 9.73736187e-01 -1.84344795e-03 -1.35517278e+01] [-8.97487989e-03 -2.05346419e-04 9.99959704e-01 7.34831511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.462320588 meters 0.023972164819626888 Centerline is valid? [True, True] Translation: X:145.55, Y:-13.56, Z:0.74 [[ 9.73351659e-01 2.29161979e-01 8.44605871e-03 1.45548071e+02] [-2.29155180e-01 9.73388281e-01 -1.77713176e-03 -1.35556608e+01] [-8.62854559e-03 -2.05683954e-04 9.99962752e-01 7.35334894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49232058799998 meters 0.024373442542368888 Centerline is valid? [True, True] Translation: X:145.58, Y:-13.56, Z:0.73 [[ 9.72464942e-01 2.32928519e-01 7.49947860e-03 1.45580790e+02] [-2.32923244e-01 9.72493836e-01 -1.58141639e-03 -1.35566871e+01] [-7.66155369e-03 -2.08930892e-04 9.99970628e-01 7.34285182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52232058799999 meters 0.0245739475109533 Centerline is valid? [True, True] Translation: X:145.61, Y:-13.56, Z:0.73 [[ 9.72035154e-01 2.34742212e-01 6.61457860e-03 1.45612954e+02] [-2.34738129e-01 9.72057640e-01 -1.39814679e-03 -1.35609893e+01] [-6.75795573e-03 -1.93645971e-04 9.99977146e-01 7.33269910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.552320588 meters 0.02469599966868366 Centerline is valid? [True, True] Translation: X:145.64, Y:-13.57, Z:0.73 [[ 9.71730007e-01 2.36002251e-01 6.61296511e-03 1.45644971e+02] [-2.35998178e-01 9.71752488e-01 -1.40090916e-03 -1.35672114e+01] [-6.75678301e-03 -1.99342251e-04 9.99977153e-01 7.32874365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.582320588 meters 0.024288284866262118 Centerline is valid? [True, True] Translation: X:145.68, Y:-13.57, Z:0.74 [[ 9.72374610e-01 2.33287153e-01 8.04496953e-03 1.45676226e+02] [-2.33281005e-01 9.72407866e-01 -1.70753814e-03 -1.35736475e+01] [-8.22133836e-03 -2.16371842e-04 9.99966181e-01 7.36168281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.612320588 meters 0.024049206477226272 Centerline is valid? [True, True] Translation: X:145.71, Y:-13.58, Z:0.74 [[ 9.72739172e-01 2.31741608e-01 8.62145703e-03 1.45708259e+02] [-2.31734452e-01 9.72777354e-01 -1.83375731e-03 -1.35788773e+01] [-8.81171603e-03 -2.14121054e-04 9.99961153e-01 7.36535610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.642320588 meters 0.023587707599478803 Centerline is valid? [True, True] Translation: X:145.74, Y:-13.58, Z:0.74 [[ 9.73192400e-01 2.29820340e-01 8.89743618e-03 1.45740771e+02] [-2.29812601e-01 9.73233051e-01 -1.89655309e-03 -1.35826128e+01] [-9.09514543e-03 -1.99031895e-04 9.99958619e-01 7.36675407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.672320588 meters 0.023461778717183333 Centerline is valid? [True, True] Translation: X:145.77, Y:-13.59, Z:0.74 [[ 9.73366060e-01 2.29052225e-01 9.67430258e-03 1.45774115e+02] [-2.29042983e-01 9.73414114e-01 -2.06757563e-03 -1.35863508e+01] [-9.89068547e-03 -2.03323184e-04 9.99951065e-01 7.36044841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.702320588 meters 0.023338237411068666 Centerline is valid? [True, True] Translation: X:145.81, Y:-13.59, Z:0.73 [[ 9.73702439e-01 2.27508597e-01 1.19749194e-02 1.45807702e+02] [-2.27494318e-01 9.73776044e-01 -2.55945606e-03 -1.35888743e+01] [-1.22431879e-02 -2.32077507e-04 9.99925022e-01 7.34266412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.732320588 meters 0.023278963281888214 Centerline is valid? [True, True] Translation: X:145.84, Y:-13.59, Z:0.74 [[ 9.73594394e-01 2.27997191e-01 1.14558626e-02 1.45840244e+02] [-2.27984064e-01 9.73661765e-01 -2.45648805e-03 -1.35931658e+01] [-1.17142078e-02 -2.20131120e-04 9.99931362e-01 7.35410356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.762320588 meters 0.02323896459113462 Centerline is valid? [True, True] Translation: X:145.87, Y:-13.60, Z:0.74 [[ 9.73488831e-01 2.28547885e-01 9.23907384e-03 1.45872110e+02] [-2.28539328e-01 9.73532656e-01 -1.98571346e-03 -1.35978969e+01] [-9.44837071e-03 -1.78421845e-04 9.99955347e-01 7.36146452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.792320588 meters 0.023037442879299312 Centerline is valid? [True, True] Translation: X:145.90, Y:-13.60, Z:0.74 [[ 9.73612398e-01 2.28083973e-01 7.52324944e-03 1.45903925e+02] [-2.28078287e-01 9.73641454e-01 -1.61673361e-03 -1.36033783e+01] [-7.69369855e-03 -1.41817953e-04 9.99970393e-01 7.37215439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.822320588 meters 0.02292051073314056 Centerline is valid? [True, True] Translation: X:145.93, Y:-13.61, Z:0.74 [[ 9.74000002e-01 2.26417847e-01 7.67814925e-03 1.45934805e+02] [-2.26411865e-01 9.74030257e-01 -1.65106758e-03 -1.36113340e+01] [-7.85258085e-03 -1.30284260e-04 9.99969160e-01 7.37335119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.852320588 meters 0.022944975461191643 Centerline is valid? [True, True] Translation: X:145.97, Y:-13.62, Z:0.74 [[ 9.73960240e-01 2.26584151e-01 7.81494844e-03 1.45966804e+02] [-2.26577942e-01 9.73991584e-01 -1.68247032e-03 -1.36172278e+01] [-7.99291512e-03 -1.32035744e-04 9.99968047e-01 7.36026451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.882320588 meters 0.02303275387645793 Centerline is valid? [True, True] Translation: X:146.00, Y:-13.62, Z:0.73 [[ 9.73816726e-01 2.27152669e-01 9.09116743e-03 1.45998698e+02] [-2.27144268e-01 9.73859148e-01 -1.95979367e-03 -1.36196972e+01] [-9.29868893e-03 -1.56526717e-04 9.99956754e-01 7.34662021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.912320588 meters 0.023177594894981418 Centerline is valid? [True, True] Translation: X:146.03, Y:-13.61, Z:0.73 [[ 9.73457743e-01 2.28599125e-01 1.10663105e-02 1.46032453e+02] [-2.28586765e-01 9.73520620e-01 -2.38618805e-03 -1.36145466e+01] [-1.13187620e-02 -2.06758878e-04 9.99935919e-01 7.33418038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.942320588 meters 0.02308902418709836 Centerline is valid? [True, True] Translation: X:146.07, Y:-13.62, Z:0.73 [[ 9.73383791e-01 2.28929972e-01 1.07267396e-02 1.46066009e+02] [-2.28918344e-01 9.73442873e-01 -2.31608986e-03 -1.36178472e+01] [-1.09720906e-02 -2.01103124e-04 9.99939785e-01 7.34350420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.972320588 meters 0.02294848819811647 Centerline is valid? [True, True] Translation: X:146.10, Y:-13.62, Z:0.74 [[ 9.73538754e-01 2.28243556e-01 1.12771531e-02 1.46098559e+02] [-2.28230634e-01 9.73604046e-01 -2.43704858e-03 -1.36228153e+01] [-1.15357225e-02 -2.01230558e-04 9.99933441e-01 7.35859968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.002320588 meters 0.02288781236547462 Centerline is valid? [True, True] Translation: X:146.13, Y:-13.63, Z:0.74 [[ 9.73583815e-01 2.28056332e-01 1.11742782e-02 1.46130807e+02] [-2.28043618e-01 9.73647919e-01 -2.41604977e-03 -1.36281904e+01] [-1.14308081e-02 -1.95995879e-04 9.99934647e-01 7.36973078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.032320588 meters 0.022642521387274534 Centerline is valid? [True, True] Translation: X:146.16, Y:-13.63, Z:0.74 [[ 9.74239259e-01 2.25234831e-01 1.12754849e-02 1.46163918e+02] [-2.25221672e-01 9.74304493e-01 -2.44009894e-03 -1.36295157e+01] [-1.15353509e-02 -1.62243375e-04 9.99933452e-01 7.36359476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.062320588 meters 0.02247878090794016 Centerline is valid? [True, True] Translation: X:146.20, Y:-13.63, Z:0.73 [[ 9.74829747e-01 2.22595510e-01 1.25779234e-02 1.46196075e+02] [-2.22578896e-01 9.74910877e-01 -2.72343411e-03 -1.36318391e+01] [-1.28685785e-02 -1.44695711e-04 9.99917186e-01 7.34751742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.092320588 meters 0.022215339743497983 Centerline is valid? [True, True] Translation: X:146.23, Y:-13.64, Z:0.73 [[ 9.75442295e-01 2.19958172e-01 1.14337742e-02 1.46228078e+02] [-2.19944243e-01 9.75509299e-01 -2.47737266e-03 -1.36354525e+01] [-1.16986714e-02 -9.82587321e-05 9.99931563e-01 7.34662809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.122320588 meters 0.02227428386918516 Centerline is valid? [True, True] Translation: X:146.26, Y:-13.64, Z:0.73 [[ 9.76106717e-01 2.16908751e-01 1.28945976e-02 1.46260213e+02] [-2.16890728e-01 9.76191881e-01 -2.79692368e-03 -1.36412673e+01] [-1.31942787e-02 -6.66226659e-05 9.99912949e-01 7.33958351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.152320588 meters 0.0221515658845805 Centerline is valid? [True, True] Translation: X:146.29, Y:-13.65, Z:0.74 [[ 9.76916009e-01 2.13220007e-01 1.31278183e-02 1.46291884e+02] [-2.13200974e-01 9.77004211e-01 -2.84898191e-03 -1.36482249e+01] [-1.34333937e-02 -1.56476096e-05 9.99909768e-01 7.35517650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.182320588 meters 0.02211522567300838 Centerline is valid? [True, True] Translation: X:146.32, Y:-13.65, Z:0.74 [[ 9.78312936e-01 2.06801048e-01 1.17100755e-02 1.46323506e+02] [-2.06785423e-01 9.78383014e-01 -2.54300495e-03 -1.36543420e+01] [-1.19828350e-02 6.63817364e-05 9.99928201e-01 7.38752662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.212320588 meters 0.022214831002388604 Centerline is valid? [True, True] Translation: X:146.36, Y:-13.66, Z:0.74 [[ 9.78642812e-01 2.05258135e-01 1.12846715e-02 1.46355847e+02] [-2.05243490e-01 9.78707868e-01 -2.45332320e-03 -1.36605804e+01] [-1.15479613e-02 8.48217461e-05 9.99933316e-01 7.39097267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24232058799998 meters 0.022193599635602856 Centerline is valid? [True, True] Translation: X:146.39, Y:-13.67, Z:0.74 [[ 9.78743861e-01 2.04863920e-01 9.55140575e-03 1.46387167e+02] [-2.04853399e-01 9.78790462e-01 -2.07762450e-03 -1.36673211e+01] [-9.77445515e-03 7.68242943e-05 9.99952226e-01 7.38987849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27232058799999 meters 0.022410462469577466 Centerline is valid? [True, True] Translation: X:146.42, Y:-13.67, Z:0.74 [[ 9.78651129e-01 2.05190309e-01 1.17857940e-02 1.46418665e+02] [-2.05174296e-01 9.78722089e-01 -2.56513476e-03 -1.36732082e+01] [-1.20613577e-02 9.22300429e-05 9.99927255e-01 7.36800422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.302320588 meters 0.02228309478223097 Centerline is valid? [True, True] Translation: X:146.45, Y:-13.68, Z:0.74 [[ 9.78108933e-01 2.07627457e-01 1.39195910e-02 1.46449723e+02] [-2.07605341e-01 9.78207970e-01 -3.03133606e-03 -1.36796096e+01] [-1.42456435e-02 7.51954440e-05 9.99898523e-01 7.36430929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.332320588 meters 0.022224242767761724 Centerline is valid? [True, True] Translation: X:146.48, Y:-13.69, Z:0.74 [[ 9.77769977e-01 2.09133677e-01 1.51320024e-02 1.46480550e+02] [-2.09107689e-01 9.77887060e-01 -3.29739093e-03 -1.36876146e+01] [-1.54869849e-02 5.98717895e-05 9.99880068e-01 7.35570774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.362320588 meters 0.022263458076555238 Centerline is valid? [True, True] Translation: X:146.51, Y:-13.70, Z:0.73 [[ 9.77539968e-01 2.10366475e-01 1.27105071e-02 1.46511085e+02] [-2.10348219e-01 9.77622598e-01 -2.77159249e-03 -1.36968863e+01] [-1.30091292e-02 3.57098942e-05 9.99915377e-01 7.34940039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.392320588 meters 0.022340005017958894 Centerline is valid? [True, True] Translation: X:146.54, Y:-13.71, Z:0.73 [[ 9.77004961e-01 2.12943156e-01 1.07943699e-02 1.46541759e+02] [-2.12930129e-01 9.77064590e-01 -2.35537782e-03 -1.37072795e+01] [-1.10483581e-02 2.76925018e-06 9.99938965e-01 7.33349559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.422320588 meters 0.022323686205909857 Centerline is valid? [True, True] Translation: X:146.57, Y:-13.71, Z:0.73 [[ 9.76839529e-01 2.13755641e-01 9.64676176e-03 1.46573469e+02] [-2.13745262e-01 9.76887161e-01 -2.10638636e-03 -1.37126990e+01] [-9.87404968e-03 -4.34816228e-06 9.99951250e-01 7.34893075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.452320588 meters 0.022119986611808223 Centerline is valid? [True, True] Translation: X:146.61, Y:-13.72, Z:0.74 [[ 9.76496731e-01 2.15363724e-01 8.52059820e-03 1.46605278e+02] [-2.15355677e-01 9.76533904e-01 -1.86176291e-03 -1.37170530e+01] [-8.72160922e-03 -1.69537971e-05 9.99961966e-01 7.37142272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.482320588 meters 0.022165859086310528 Centerline is valid? [True, True] Translation: X:146.64, Y:-13.72, Z:0.74 [[ 9.76060104e-01 2.17329551e-01 8.63368519e-03 1.46638345e+02] [-2.17321346e-01 9.76098287e-01 -1.88864456e-03 -1.37222020e+01] [-8.83778359e-03 -3.28534836e-05 9.99960945e-01 7.38709940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.512320588 meters 0.02213401043527554 Centerline is valid? [True, True] Translation: X:146.67, Y:-13.73, Z:0.74 [[ 9.75580141e-01 2.19447552e-01 9.28221525e-03 1.46669854e+02] [-2.19438157e-01 9.75624297e-01 -2.03138883e-03 -1.37283285e+01] [-9.50173803e-03 -5.50896043e-05 9.99954856e-01 7.39187741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.542320588 meters 0.022514320954971603 Centerline is valid? [True, True] Translation: X:146.70, Y:-13.74, Z:0.74 [[ 9.74991930e-01 2.21934156e-01 1.16605024e-02 1.46700895e+02] [-2.21919489e-01 9.75061650e-01 -2.55332836e-03 -1.37366638e+01] [-1.19363795e-02 -9.82181910e-05 9.99928754e-01 7.37979202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.572320588 meters 0.02251999529431222 Centerline is valid? [True, True] Translation: X:146.73, Y:-13.74, Z:0.74 [[ 9.74770860e-01 2.22850958e-01 1.26182621e-02 1.46732847e+02] [-2.22833838e-01 9.74852521e-01 -2.76477165e-03 -1.37432578e+01] [-1.29170766e-02 -1.16756926e-04 9.99916564e-01 7.38630340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.602320588 meters 0.022570129053053705 Centerline is valid? [True, True] Translation: X:146.76, Y:-13.75, Z:0.74 [[ 9.74668784e-01 2.23418876e-01 1.02356283e-02 1.46764764e+02] [-2.23407625e-01 9.74722523e-01 -2.24428549e-03 -1.37459033e+01] [-1.04783131e-02 -9.92823953e-05 9.99945096e-01 7.39134097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.632320588 meters 0.022403562403505026 Centerline is valid? [True, True] Translation: X:146.80, Y:-13.75, Z:0.74 [[ 9.74656005e-01 2.23550772e-01 8.40981037e-03 1.46796298e+02] [-2.23543171e-01 9.74692283e-01 -1.84524901e-03 -1.37508004e+01] [-8.60948410e-03 -8.14726524e-05 9.99962934e-01 7.38981645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.662320588 meters 0.02250300170896288 Centerline is valid? [True, True] Translation: X:146.83, Y:-13.76, Z:0.74 [[ 9.74602854e-01 2.23830290e-01 7.01986719e-03 1.46827898e+02] [-2.23824993e-01 9.74628132e-01 -1.54138161e-03 -1.37564410e+01] [-7.18676794e-03 -6.89868115e-05 9.99974172e-01 7.38476908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.692320588 meters 0.022621573327588074 Centerline is valid? [True, True] Translation: X:146.86, Y:-13.76, Z:0.74 [[ 9.74626649e-01 2.23703964e-01 7.70916166e-03 1.46859289e+02] [-2.23697564e-01 9.74657135e-01 -1.69375336e-03 -1.37626001e+01] [-7.89268876e-03 -7.37435204e-05 9.99968850e-01 7.38508543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.722320588 meters 0.022455076299372653 Centerline is valid? [True, True] Translation: X:146.89, Y:-13.77, Z:0.74 [[ 9.74279814e-01 2.25177509e-01 8.59842108e-03 1.46890459e+02] [-2.25169595e-01 9.74317751e-01 -1.89024341e-03 -1.37694640e+01] [-8.80323459e-03 -9.44769897e-05 9.99961246e-01 7.42306374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.752320588 meters 0.022501498776653736 Centerline is valid? [True, True] Translation: X:146.92, Y:-13.78, Z:0.74 [[ 9.74235132e-01 2.25352489e-01 9.06443131e-03 1.46922001e+02] [-2.25343690e-01 9.74277294e-01 -1.99393335e-03 -1.37754051e+01] [-9.28060745e-03 -1.00052477e-04 9.99956929e-01 7.43488930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.782320588 meters 0.022735967238071746 Centerline is valid? [True, True] Translation: X:146.95, Y:-13.78, Z:0.74 [[ 9.73867557e-01 2.26926506e-01 9.29209119e-03 1.46953816e+02] [-2.26917319e-01 9.73911879e-01 -2.04529147e-03 -1.37809254e+01] [-9.51380884e-03 -1.16693417e-04 9.99954736e-01 7.42452717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.812320588 meters 0.022735967238071746 Centerline is valid? [True, True] Translation: X:146.98, Y:-13.79, Z:0.74 [[ 9.73837209e-01 2.27056718e-01 9.29181747e-03 1.46984762e+02] [-2.27047525e-01 9.73881529e-01 -2.04653486e-03 -1.37877017e+01] [-9.51380889e-03 -1.16692368e-04 9.99954736e-01 7.42612351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.842320588 meters 0.022775840842011827 Centerline is valid? [True, True] Translation: X:147.02, Y:-13.79, Z:0.74 [[ 9.73490181e-01 2.28610444e-01 7.35741501e-03 1.47017176e+02] [-2.28604716e-01 9.73517978e-01 -1.62165260e-03 -1.37919572e+01] [-7.53330251e-03 -1.03276884e-04 9.99971619e-01 7.41537033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.872320588 meters 0.023063079201606614 Centerline is valid? [True, True] Translation: X:147.05, Y:-13.79, Z:0.74 [[ 9.72609940e-01 2.32338276e-01 6.98782169e-03 1.47049665e+02] [-2.32333198e-01 9.72635034e-01 -1.54120863e-03 -1.37931959e+01] [-7.15468195e-03 -1.24508123e-04 9.99974397e-01 7.40223547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.902320588 meters 0.023353155769943672 Centerline is valid? [True, True] Translation: X:147.08, Y:-13.80, Z:0.74 [[ 9.72216849e-01 2.33900731e-01 9.21119671e-03 1.47082061e+02] [-2.33891966e-01 9.72260467e-01 -2.03266511e-03 -1.37975639e+01] [-9.43112427e-03 -1.78233640e-04 9.99955510e-01 7.40787241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.932320588 meters 0.023339970052269954 Centerline is valid? [True, True] Translation: X:147.11, Y:-13.80, Z:0.74 [[ 9.72160446e-01 2.34075921e-01 1.06080063e-02 1.47114073e+02] [-2.34064292e-01 9.72218299e-01 -2.34227441e-03 -1.38015623e+01] [-1.08615679e-02 -2.05888950e-04 9.99940990e-01 7.41760135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.962320588 meters 0.023177253229815124 Centerline is valid? [True, True] Translation: X:147.15, Y:-13.80, Z:0.74 [[ 9.72425258e-01 2.33031435e-01 9.24488561e-03 1.47146575e+02] [-2.33022543e-01 9.72469188e-01 -2.04267957e-03 -1.38048430e+01] [-9.46637496e-03 -1.67913540e-04 9.99955179e-01 7.44867036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99232058799998 meters 0.0231388451539248 Centerline is valid? [True, True] Translation: X:147.18, Y:-13.81, Z:0.74 [[ 9.72853545e-01 2.31232675e-01 9.35043102e-03 1.47178282e+02] [-2.31223483e-01 9.72898467e-01 -2.06730925e-03 -1.38109581e+01] [-9.57504946e-03 -1.50850096e-04 9.99954147e-01 7.43840988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02232058799999 meters 0.02292869176863002 Centerline is valid? [True, True] Translation: X:147.21, Y:-13.82, Z:0.74 [[ 9.73268315e-01 2.29558049e-01 7.20346443e-03 1.47209597e+02] [-2.29552542e-01 9.73294966e-01 -1.59336174e-03 -1.38167584e+01] [-7.37686468e-03 -1.02805072e-04 9.99972785e-01 7.43684447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.052320588 meters 0.022789375815475882 Centerline is valid? [True, True] Translation: X:147.24, Y:-13.82, Z:0.74 [[ 9.73630324e-01 2.27970426e-01 8.57187555e-03 1.47240754e+02] [-2.27962564e-01 9.73668051e-01 -1.89637496e-03 -1.38213106e+01] [-8.77847877e-03 -1.07698567e-04 9.99961463e-01 7.42371067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.082320588 meters 0.022829069407381747 Centerline is valid? [True, True] Translation: X:147.27, Y:-13.82, Z:0.74 [[ 9.73675906e-01 2.27724800e-01 9.83087007e-03 1.47272881e+02] [-2.27714440e-01 9.73725527e-01 -2.17555239e-03 -1.38202211e+01] [-1.00679964e-02 -1.20348120e-04 9.99949309e-01 7.43725348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.112320588 meters 0.022686499812098703 Centerline is valid? [True, True] Translation: X:147.30, Y:-13.82, Z:0.74 [[ 9.73828540e-01 2.27004743e-01 1.12614959e-02 1.47304195e+02] [-2.26991091e-01 9.73893644e-01 -2.49288023e-03 -1.38235356e+01] [-1.15333949e-02 -1.28621323e-04 9.99933480e-01 7.44004738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.142320588 meters 0.022750369035977196 Centerline is valid? [True, True] Translation: X:147.33, Y:-13.83, Z:0.74 [[ 9.73851325e-01 2.26856254e-01 1.22408181e-02 1.47334960e+02] [-2.26840102e-01 9.73928242e-01 -2.71048536e-03 -1.38298319e+01] [-1.25365690e-02 -1.37098655e-04 9.99921405e-01 7.43952774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.172320588 meters 0.0227505516761913 Centerline is valid? [True, True] Translation: X:147.37, Y:-13.84, Z:0.74 [[ 9.73964794e-01 2.26397854e-01 1.16872768e-02 1.47365703e+02] [-2.26383081e-01 9.74034905e-01 -2.58930896e-03 -1.38382889e+01] [-1.19700295e-02 -1.23905958e-04 9.99928349e-01 7.43954337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.202320588 meters 0.022580308556271415 Centerline is valid? [True, True] Translation: X:147.40, Y:-13.85, Z:0.74 [[ 9.74843981e-01 2.22669515e-01 9.87421025e-03 1.47396549e+02] [-2.22658762e-01 9.74893985e-01 -2.18925699e-03 -1.38474682e+01] [-1.01137890e-02 -6.43954276e-05 9.99948852e-01 7.43333849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.232320588 meters 0.02258462759848579 Centerline is valid? [True, True] Translation: X:147.43, Y:-13.85, Z:0.74 [[ 9.75315244e-01 2.20591891e-01 9.96958655e-03 1.47427782e+02] [-2.20580817e-01 9.75366196e-01 -2.21074175e-03 -1.38526348e+01] [-1.02116694e-02 -4.29294173e-05 9.99947859e-01 7.42753340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.262320588 meters 0.022397023455588538 Centerline is valid? [True, True] Translation: X:147.46, Y:-13.86, Z:0.74 [[ 9.75719544e-01 2.18794189e-01 1.00237147e-02 1.47458748e+02] [-2.18782892e-01 9.75771030e-01 -2.22343763e-03 -1.38573168e+01] [-1.02673256e-02 -2.35657424e-05 9.99947289e-01 7.43530873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.292320588 meters 0.022344647000833023 Centerline is valid? [True, True] Translation: X:147.49, Y:-13.86, Z:0.74 [[ 9.75797018e-01 2.18373655e-01 1.15380672e-02 1.47489098e+02] [-2.18358649e-01 9.75865230e-01 -2.56009484e-03 -1.38635185e+01] [-1.18186559e-02 -2.13038648e-05 9.99930157e-01 7.43248870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.322320588 meters 0.022528967263875894 Centerline is valid? [True, True] Translation: X:147.52, Y:-13.87, Z:0.75 [[ 9.75472471e-01 2.19771727e-01 1.24034744e-02 1.47519706e+02] [-2.19754488e-01 9.75551324e-01 -2.75294163e-03 -1.38705795e+01] [-1.27052446e-02 -4.03003943e-05 9.99919284e-01 7.45607710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.352320588 meters 0.022460958667893577 Centerline is valid? [True, True] Translation: X:147.55, Y:-13.88, Z:0.75 [[ 9.74885000e-01 2.22248605e-01 1.43106185e-02 1.47551593e+02] [-2.22225890e-01 9.74990026e-01 -3.17850998e-03 -1.38766967e+01] [-1.46591297e-02 -8.15082342e-05 9.99892546e-01 7.46829995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.382320588 meters 0.022464729533970097 Centerline is valid? [True, True] Translation: X:147.58, Y:-13.88, Z:0.75 [[ 9.74436718e-01 2.24282749e-01 1.30510865e-02 1.47583281e+02] [-2.24264013e-01 9.74524109e-01 -2.90064649e-03 -1.38819273e+01] [-1.33691634e-02 -1.00392585e-04 9.99910624e-01 7.47427411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.412320588 meters 0.02253487451388399 Centerline is valid? [True, True] Translation: X:147.61, Y:-13.89, Z:0.75 [[ 9.73847084e-01 2.26834446e-01 1.29611493e-02 1.47614580e+02] [-2.26816170e-01 9.73933322e-01 -2.88245805e-03 -1.38878259e+01] [-1.32771360e-02 -1.32724877e-04 9.99911846e-01 7.46566536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.442320588 meters 0.022516551064013388 Centerline is valid? [True, True] Translation: X:147.65, Y:-13.89, Z:0.75 [[ 9.73560502e-01 2.28216702e-01 9.85321194e-03 1.47645598e+02] [-2.28206196e-01 9.73610355e-01 -2.19281160e-03 -1.38949644e+01] [-1.00936254e-02 -1.13729248e-04 9.99949052e-01 7.46073814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.472320588 meters 0.02239662621528351 Centerline is valid? [True, True] Translation: X:147.68, Y:-13.90, Z:0.75 [[ 9.73036454e-01 2.30462875e-01 9.32325836e-03 1.47676129e+02] [-2.30453568e-01 9.73081110e-01 -2.07521748e-03 -1.39018240e+01] [-9.55054718e-03 -1.29315893e-04 9.99954384e-01 7.46244625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.502320588 meters 0.022513691521419053 Centerline is valid? [True, True] Translation: X:147.71, Y:-13.91, Z:0.75 [[ 9.73033684e-01 2.30437015e-01 1.02094171e-02 1.47705843e+02] [-2.30425858e-01 9.73087232e-01 -2.27208756e-03 -1.39065610e+01] [-1.04582265e-02 -1.41695952e-04 9.99945301e-01 7.47493051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.532320588 meters 0.022458030060485145 Centerline is valid? [True, True] Translation: X:147.74, Y:-13.91, Z:0.75 [[ 9.73029424e-01 2.30364770e-01 1.20752974e-02 1.47736457e+02] [-2.30349155e-01 9.73104334e-01 -2.68733591e-03 -1.39112623e+01] [-1.23695918e-02 -1.66677648e-04 9.99923480e-01 7.48412239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.562320588 meters 0.02238185393593491 Centerline is valid? [True, True] Translation: X:147.77, Y:-13.92, Z:0.75 [[ 9.73068581e-01 2.30237940e-01 1.13149208e-02 1.47766399e+02] [-2.30224221e-01 9.73134352e-01 -2.51811546e-03 -1.39150996e+01] [-1.15907039e-02 -1.54669802e-04 9.99932814e-01 7.49492892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.592320588 meters 0.02247777349953422 Centerline is valid? [True, True] Translation: X:147.80, Y:-13.92, Z:0.75 [[ 9.72850909e-01 2.31164379e-01 1.11417868e-02 1.47797277e+02] [-2.31151125e-01 9.72914695e-01 -2.48068783e-03 -1.39216153e+01] [-1.14134548e-02 -1.62097142e-04 9.99934851e-01 7.49014649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.622320588 meters 0.022432696328922475 Centerline is valid? [True, True] Translation: X:147.83, Y:-13.93, Z:0.75 [[ 9.72744781e-01 2.31605287e-01 1.12509171e-02 1.47827140e+02] [-2.31591805e-01 9.72809829e-01 -2.50464427e-03 -1.39276037e+01] [-1.15250916e-02 -1.69240559e-04 9.99933570e-01 7.48684235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.652320588 meters 0.022382995411399313 Centerline is valid? [True, True] Translation: X:147.86, Y:-13.93, Z:0.75 [[ 9.72649137e-01 2.31982730e-01 1.17332273e-02 1.47856930e+02] [-2.31968095e-01 9.72719888e-01 -2.61201467e-03 -1.39329275e+01] [-1.20190858e-02 -1.81160570e-04 9.99927752e-01 7.48779790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.682320588 meters 0.02244926795400803 Centerline is valid? [True, True] Translation: X:147.89, Y:-13.94, Z:0.75 [[ 9.72727339e-01 2.31581354e-01 1.30996653e-02 1.47886621e+02] [-2.31563076e-01 9.72815521e-01 -2.91620687e-03 -1.39388848e+01] [-1.34188969e-02 -1.96724648e-04 9.99909943e-01 7.49272620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.712320588 meters 0.022437458589746193 Centerline is valid? [True, True] Translation: X:147.92, Y:-13.95, Z:0.75 [[ 9.72850997e-01 2.31038357e-01 1.34986900e-02 1.47916674e+02] [-2.31018878e-01 9.72944623e-01 -3.00631224e-03 -1.39474771e+01] [-1.38280513e-02 -1.93758360e-04 9.99904369e-01 7.48929701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74232058799998 meters 0.022436008786446054 Centerline is valid? [True, True] Translation: X:147.95, Y:-13.96, Z:0.75 [[ 9.72957155e-01 2.30575884e-01 1.37526744e-02 1.47947115e+02] [-2.30555606e-01 9.73054328e-01 -3.06381599e-03 -1.39564318e+01] [-1.40885414e-02 -1.89794482e-04 9.99900734e-01 7.48641933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77232058799999 meters 0.02236408219347507 Centerline is valid? [True, True] Translation: X:147.98, Y:-13.96, Z:0.75 [[ 9.73304388e-01 2.29007827e-01 1.52965083e-02 1.47977825e+02] [-2.28982530e-01 9.73424564e-01 -3.40876823e-03 -1.39636947e+01] [-1.56706315e-02 -1.84864102e-04 9.99877191e-01 7.47853446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.802320588 meters 0.022321848999787786 Centerline is valid? [True, True] Translation: X:148.01, Y:-13.97, Z:0.75 [[ 9.73999597e-01 2.25973491e-01 1.61482454e-02 1.48009930e+02] [-2.25944839e-01 9.74133441e-01 -3.60113349e-03 -1.39683205e+01] [-1.65443065e-02 -1.41110127e-04 9.99863124e-01 7.46770853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.832320588 meters 0.02227621773719296 Centerline is valid? [True, True] Translation: X:148.04, Y:-13.98, Z:0.75 [[ 9.74181719e-01 2.25255995e-01 1.51563364e-02 1.48041393e+02] [-2.25230635e-01 9.74299606e-01 -3.38207874e-03 -1.39750506e+01] [-1.55286461e-02 -1.18912000e-04 9.99879416e-01 7.46987366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.862320588 meters 0.022225490767749833 Centerline is valid? [True, True] Translation: X:148.07, Y:-13.98, Z:0.75 [[ 9.74438992e-01 2.24121963e-01 1.54271319e-02 1.48072847e+02] [-2.24095513e-01 9.74561099e-01 -3.44461251e-03 -1.39826100e+01] [-1.58066959e-02 -1.00586287e-04 9.99875061e-01 7.47344319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.892320588 meters 0.02191512158594484 Centerline is valid? [True, True] Translation: X:148.10, Y:-13.99, Z:0.75 [[ 9.75042431e-01 2.21549036e-01 1.44320020e-02 1.48103835e+02] [-2.21525576e-01 9.75149231e-01 -3.22446975e-03 -1.39920497e+01] [-1.47877338e-02 -5.30627437e-05 9.99890654e-01 7.49557712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.922320588 meters 0.02194365050963061 Centerline is valid? [True, True] Translation: X:148.14, Y:-14.00, Z:0.75 [[ 9.75284265e-01 2.20519782e-01 1.38429764e-02 1.48135533e+02] [-2.20498067e-01 9.75382502e-01 -3.09482290e-03 -1.39999639e+01] [-1.41846666e-02 -3.40174647e-05 9.99899392e-01 7.49525493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.952320588 meters 0.02213417530513313 Centerline is valid? [True, True] Translation: X:148.17, Y:-14.01, Z:0.75 [[ 9.75587158e-01 2.19183449e-01 1.37227071e-02 1.48166818e+02] [-2.19161950e-01 9.75683666e-01 -3.06985522e-03 -1.40069560e+01] [-1.40618826e-02 -1.25839205e-05 9.99901127e-01 7.49662431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.982320588 meters 0.022064530585924128 Centerline is valid? [True, True] Translation: X:148.20, Y:-14.01, Z:0.75 [[ 9.76151624e-01 2.16587242e-01 1.47639440e-02 1.48197129e+02] [-2.16562051e-01 9.76263267e-01 -3.30339571e-03 -1.40131126e+01] [-1.51289695e-02 2.73051080e-05 9.99885550e-01 7.49590308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.012320588 meters 0.022400333284356547 Centerline is valid? [True, True] Translation: X:148.23, Y:-14.02, Z:0.75 [[ 9.76960550e-01 2.12788996e-01 1.63989979e-02 1.48228373e+02] [-2.12757337e-01 9.77098170e-01 -3.67181325e-03 -1.40200164e+01] [-1.68047523e-02 9.82095810e-05 9.99858785e-01 7.48039393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.042320588 meters 0.02259888002765733 Centerline is valid? [True, True] Translation: X:148.26, Y:-14.03, Z:0.75 [[ 9.77442080e-01 2.10549027e-01 1.66158740e-02 1.48259506e+02] [-2.10516163e-01 9.77583289e-01 -3.72259905e-03 -1.40288428e+01] [-1.70271903e-02 1.40714928e-04 9.99855017e-01 7.47139503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.072320588 meters 0.022471866562703672 Centerline is valid? [True, True] Translation: X:148.29, Y:-14.04, Z:0.75 [[ 9.77617819e-01 2.09815651e-01 1.55174779e-02 1.48290142e+02] [-2.09786862e-01 9.77740953e-01 -3.47866418e-03 -1.40387366e+01] [-1.59019519e-02 1.45441095e-04 9.99873545e-01 7.47262857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.102320588 meters 0.022541516374364537 Centerline is valid? [True, True] Translation: X:148.32, Y:-14.05, Z:0.75 [[ 9.78017245e-01 2.08022852e-01 1.44486130e-02 1.48320816e+02] [-2.07997668e-01 9.78123952e-01 -3.24104103e-03 -1.40497032e+01] [-1.48067451e-02 1.64516211e-04 9.99890361e-01 7.49519935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.132320588 meters 0.022661786787137775 Centerline is valid? [True, True] Translation: X:148.35, Y:-14.06, Z:0.75 [[ 9.78188965e-01 2.07239058e-01 1.40826840e-02 1.48352365e+02] [-2.07215024e-01 9.78290316e-01 -3.16088519e-03 -1.40569612e+01] [-1.44320122e-02 1.73799310e-04 9.99895838e-01 7.51392176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.162320588 meters 0.022530444127008272 Centerline is valid? [True, True] Translation: X:148.38, Y:-14.06, Z:0.75 [[ 9.78257253e-01 2.06983393e-01 1.30622281e-02 1.48383963e+02] [-2.06962669e-01 9.78344442e-01 -2.93364034e-03 -1.40649840e+01] [-1.33865731e-02 1.66461358e-04 9.99910382e-01 7.51547594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.192320588 meters 0.02259351581825043 Centerline is valid? [True, True] Translation: X:148.41, Y:-14.07, Z:0.75 [[ 9.78402444e-01 2.06346379e-01 1.22404753e-02 1.48414675e+02] [-2.06328109e-01 9.78478995e-01 -2.75077515e-03 -1.40737527e+01] [-1.25446604e-02 1.65811014e-04 9.99921299e-01 7.51669044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.222320588 meters 0.022703291769203722 Centerline is valid? [True, True] Translation: X:148.44, Y:-14.09, Z:0.75 [[ 9.78581082e-01 2.05492186e-01 1.23299593e-02 1.48444632e+02] [-2.05473560e-01 9.78658740e-01 -2.77252955e-03 -1.40869013e+01] [-1.26365556e-02 1.79664338e-04 9.99920139e-01 7.50675278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.252320588 meters 0.02287219555894408 Centerline is valid? [True, True] Translation: X:148.48, Y:-14.10, Z:0.75 [[ 9.78578479e-01 2.05419360e-01 1.36765502e-02 1.48475388e+02] [-2.05396411e-01 9.78674024e-01 -3.07709988e-03 -1.40957670e+01] [-1.40169803e-02 2.02069406e-04 9.99901737e-01 7.50941269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.282320588 meters 0.022879962001344272 Centerline is valid? [True, True] Translation: X:148.51, Y:-14.10, Z:0.75 [[ 9.78584580e-01 2.05405252e-01 1.34499781e-02 1.48506637e+02] [-2.05383031e-01 9.78676986e-01 -3.02793412e-03 -1.41043190e+01] [-1.37851376e-02 2.00692362e-04 9.99904960e-01 7.51575412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.312320588 meters 0.02289158561890287 Centerline is valid? [True, True] Translation: X:148.54, Y:-14.11, Z:0.75 [[ 9.78620587e-01 2.05192837e-01 1.40586875e-02 1.48537287e+02] [-2.05168488e-01 9.78721540e-01 -3.16839083e-03 -1.41125004e+01] [-1.44096713e-02 2.16252839e-04 9.99896152e-01 7.51652775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.342320588 meters 0.022857013575757642 Centerline is valid? [True, True] Translation: X:148.57, Y:-14.12, Z:0.75 [[ 9.78807237e-01 2.04391247e-01 1.26732428e-02 1.48568188e+02] [-2.04371375e-01 9.78889256e-01 -2.85755570e-03 -1.41236293e+01] [-1.29897606e-02 2.06948149e-04 9.99915608e-01 7.51846212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.372320588 meters 0.02281652113928423 Centerline is valid? [True, True] Translation: X:148.60, Y:-14.13, Z:0.75 [[ 9.78863491e-01 2.04132303e-01 1.25007501e-02 1.48599534e+02] [-2.04112926e-01 9.78943287e-01 -2.82036005e-03 -1.41326604e+01] [-1.28132519e-02 2.09182818e-04 9.99917885e-01 7.51823716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.402320588 meters 0.023227655022240067 Centerline is valid? [True, True] Translation: X:148.63, Y:-14.14, Z:0.75 [[ 9.78967999e-01 2.03584476e-01 1.32294444e-02 1.48630717e+02] [-2.03562700e-01 9.79057357e-01 -2.98651436e-03 -1.41414644e+01] [-1.35603929e-02 2.30680552e-04 9.99908027e-01 7.51556572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.432320588 meters 0.02321987465969803 Centerline is valid? [True, True] Translation: X:148.66, Y:-14.15, Z:0.75 [[ 9.79009940e-01 2.03310804e-01 1.42917611e-02 1.48661459e+02] [-2.03285334e-01 9.79114218e-01 -3.22819457e-03 -1.41509178e+01] [-1.46495933e-02 2.55129152e-04 9.99892656e-01 7.53086204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.462320588 meters 0.023800364833005457 Centerline is valid? [True, True] Translation: X:148.69, Y:-14.16, Z:0.75 [[ 9.79598928e-01 2.00404804e-01 1.49617746e-02 1.48692119e+02] [-2.00376520e-01 9.79713129e-01 -3.38149318e-03 -1.41623874e+01] [-1.53359145e-02 3.14518760e-04 9.99882348e-01 7.53756174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49232058799998 meters 0.023945849544486614 Centerline is valid? [True, True] Translation: X:148.72, Y:-14.17, Z:0.75 [[ 9.79839309e-01 1.99251150e-01 1.46255843e-02 1.48723368e+02] [-1.99223966e-01 9.79948403e-01 -3.30745406e-03 -1.41709826e+01] [-1.49913320e-02 3.27006597e-04 9.99887570e-01 7.53835301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52232058799999 meters 0.024131743094831813 Centerline is valid? [True, True] Translation: X:148.75, Y:-14.18, Z:0.75 [[ 9.80127564e-01 1.97815031e-01 1.48044820e-02 1.48754300e+02] [-1.97786984e-01 9.80239301e-01 -3.34987270e-03 -1.41783719e+01] [-1.51745903e-02 3.55168711e-04 9.99884796e-01 7.52649469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.552320588 meters 0.024695762290770588 Centerline is valid? [True, True] Translation: X:148.78, Y:-14.19, Z:0.75 [[ 9.80487770e-01 1.95861371e-01 1.67945560e-02 1.48784694e+02] [-1.95824952e-01 9.80631496e-01 -3.80229347e-03 -1.41893788e+01] [-1.72139930e-02 4.39309109e-04 9.99851732e-01 7.51522646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.582320588 meters 0.024816869925086735 Centerline is valid? [True, True] Translation: X:148.82, Y:-14.20, Z:0.75 [[ 9.80715334e-01 1.94568105e-01 1.84576676e-02 1.48815003e+02] [-1.94523842e-01 9.80888879e-01 -4.18118153e-03 -1.42000090e+01] [-1.89184455e-02 5.10092416e-04 9.99820900e-01 7.52628501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.612320588 meters 0.025106867977532775 Centerline is valid? [True, True] Translation: X:148.85, Y:-14.21, Z:0.75 [[ 9.81049503e-01 1.93006230e-01 1.70431207e-02 1.48845206e+02] [-1.92968218e-01 9.81197403e-01 -3.86301337e-03 -1.42120572e+01] [-1.74682514e-02 5.01026730e-04 9.99847293e-01 7.54015880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.642320588 meters 0.02530771478663837 Centerline is valid? [True, True] Translation: X:148.88, Y:-14.23, Z:0.75 [[ 9.81419653e-01 1.91303959e-01 1.47736494e-02 1.48875903e+02] [-1.91275154e-01 9.81530733e-01 -3.35193889e-03 -1.42253209e+01] [-1.51420301e-02 4.63826640e-04 9.99885245e-01 7.53566181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.672320588 meters 0.02530771478663837 Centerline is valid? [True, True] Translation: X:148.91, Y:-14.23, Z:0.75 [[ 9.81383653e-01 1.91488598e-01 1.47730180e-02 1.48907639e+02] [-1.91459772e-01 9.81494728e-01 -3.35472090e-03 -1.42324674e+01] [-1.51420301e-02 4.63829590e-04 9.99885245e-01 7.53730109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.702320588 meters 0.025628765288523203 Centerline is valid? [True, True] Translation: X:148.94, Y:-14.25, Z:0.75 [[ 9.81774011e-01 1.89697714e-01 1.16003503e-02 1.48938279e+02] [-1.89679786e-01 9.81842465e-01 -2.63675124e-03 -1.42459720e+01] [-1.18899022e-02 3.88341878e-04 9.99929237e-01 7.52929959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.732320588 meters 0.026199234531073028 Centerline is valid? [True, True] Translation: X:148.97, Y:-14.26, Z:0.75 [[ 9.82090626e-01 1.87939320e-01 1.32971935e-02 1.48967434e+02] [-1.87915584e-01 9.82180528e-01 -3.02370274e-03 -1.42642749e+01] [-1.36285172e-02 4.70800230e-04 9.99907017e-01 7.51707346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.762320588 meters 0.026166908376958842 Centerline is valid? [True, True] Translation: X:149.00, Y:-14.28, Z:0.75 [[ 9.81955819e-01 1.88473858e-01 1.55040362e-02 1.48998344e+02] [-1.88441625e-01 9.82078058e-01 -3.52743821e-03 -1.42751115e+01] [-1.58910036e-02 5.42182701e-04 9.99873583e-01 7.53003348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.792320588 meters 0.025563756871207793 Centerline is valid? [True, True] Translation: X:149.03, Y:-14.29, Z:0.75 [[ 9.81498768e-01 1.90726851e-01 1.68356063e-02 1.49029082e+02] [-1.90689126e-01 9.81642992e-01 -3.83322979e-03 -1.42863243e+01] [-1.72576548e-02 5.51943263e-04 9.99850923e-01 7.54847883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.822320588 meters 0.024554716978013157 Centerline is valid? [True, True] Translation: X:149.06, Y:-14.30, Z:0.75 [[ 9.80176767e-01 1.97631516e-01 1.39745974e-02 1.49057679e+02] [-1.97606207e-01 9.80276316e-01 -3.18304306e-03 -1.43039803e+01] [-1.43280365e-02 3.58477662e-04 9.99897284e-01 7.54216781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.852320588 meters 0.023998909754475235 Centerline is valid? [True, True] Translation: X:149.09, Y:-14.32, Z:0.75 [[ 9.79200859e-01 2.02477705e-01 1.29790534e-02 1.49087189e+02] [-2.02456265e-01 9.79286835e-01 -2.95882347e-03 -1.43180941e+01] [-1.33093119e-02 2.69591802e-04 9.99911391e-01 7.52729360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.882320588 meters 0.023482933415107876 Centerline is valid? [True, True] Translation: X:149.12, Y:-14.33, Z:0.75 [[ 9.77912300e-01 2.08663414e-01 1.21290136e-02 1.49116980e+02] [-2.08645073e-01 9.77987498e-01 -2.77240565e-03 -1.43313539e+01] [-1.24405233e-02 1.80510639e-04 9.99922597e-01 7.51891179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.912320588 meters 0.023307069831940457 Centerline is valid? [True, True] Translation: X:149.15, Y:-14.34, Z:0.75 [[ 9.76748523e-01 2.14010192e-01 1.27263594e-02 1.49147200e+02] [-2.13990374e-01 9.76831420e-01 -2.91499942e-03 -1.43430454e+01] [-1.30553473e-02 1.23902976e-04 9.99914768e-01 7.51197102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.942320588 meters 0.02316911615887873 Centerline is valid? [True, True] Translation: X:149.18, Y:-14.36, Z:0.75 [[ 9.74862993e-01 2.22378765e-01 1.37778502e-02 1.49177124e+02] [-2.22356336e-01 9.74960350e-01 -3.15830057e-03 -1.43570935e+01] [-1.41351966e-02 1.53180513e-05 9.99900093e-01 7.53189936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.972320588 meters 0.02326239459084377 Centerline is valid? [True, True] Translation: X:149.21, Y:-14.37, Z:0.75 [[ 9.74045689e-01 2.25869796e-01 1.47590774e-02 1.49209075e+02] [-2.25844312e-01 9.74157500e-01 -3.39301854e-03 -1.43671844e+01] [-1.51440463e-02 -2.82985873e-05 9.99885322e-01 7.53159238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.002320588 meters 0.023500087922838 Centerline is valid? [True, True] Translation: X:149.24, Y:-14.38, Z:0.75 [[ 9.73093749e-01 2.29825406e-01 1.63963048e-02 1.49239684e+02] [-2.29794389e-01 9.73231871e-01 -3.77682766e-03 -1.43768443e+01] [-1.68254174e-02 -9.25714669e-05 9.99858438e-01 7.53450844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.032320588 meters 0.0242554109747828 Centerline is valid? [True, True] Translation: X:149.27, Y:-14.39, Z:0.75 [[ 9.71098447e-01 2.37921060e-01 1.90098937e-02 1.49269971e+02] [-2.37880904e-01 9.71284457e-01 -4.37936748e-03 -1.43893101e+01] [-1.95059580e-02 -2.69293735e-04 9.99809704e-01 7.53992592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.062320588 meters 0.024705792399716944 Centerline is valid? [True, True] Translation: X:149.30, Y:-14.40, Z:0.75 [[ 9.70030947e-01 2.42253554e-01 1.87930341e-02 1.49300345e+02] [-2.42214931e-01 9.70212914e-01 -4.33924224e-03 -1.43985580e+01] [-1.92844412e-02 -3.42754202e-04 9.99813979e-01 7.54067865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.092320588 meters 0.024997538229022932 Centerline is valid? [True, True] Translation: X:149.33, Y:-14.41, Z:0.75 [[ 9.69030535e-01 2.46360919e-01 1.69150766e-02 1.49331726e+02] [-2.46330109e-01 9.69178084e-01 -3.91400084e-03 -1.44062805e+01] [-1.73579784e-02 -3.73906340e-04 9.99849269e-01 7.53482899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.122320588 meters 0.025523275019611786 Centerline is valid? [True, True] Translation: X:149.36, Y:-14.41, Z:0.75 [[ 9.68098725e-01 2.50079449e-01 1.56565388e-02 1.49363518e+02] [-2.50053418e-01 9.68225237e-01 -3.63033261e-03 -1.44123950e+01] [-1.60669275e-02 -4.00450659e-04 9.99870838e-01 7.52031787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.152320588 meters 0.02591249877618028 Centerline is valid? [True, True] Translation: X:149.40, Y:-14.42, Z:0.75 [[ 9.66648785e-01 2.55616431e-01 1.58229987e-02 1.49395343e+02] [-2.55590577e-01 9.66778151e-01 -3.66937652e-03 -1.44152501e+01] [-1.62352824e-02 -4.97211019e-04 9.99868075e-01 7.52818045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.182320588 meters 0.02634448436518708 Centerline is valid? [True, True] Translation: X:149.43, Y:-14.42, Z:0.75 [[ 9.66259680e-01 2.57004767e-01 1.70523058e-02 1.49426228e+02] [-2.56974784e-01 9.66409978e-01 -3.96415264e-03 -1.44227270e+01] [-1.74983246e-02 -5.51611742e-04 9.99846740e-01 7.54520694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.212320588 meters 0.026519419385020324 Centerline is valid? [True, True] Translation: X:149.46, Y:-14.43, Z:0.76 [[ 9.66271829e-01 2.56883814e-01 1.81509865e-02 1.49458067e+02] [-2.56849640e-01 9.66442122e-01 -4.22931525e-03 -1.44306477e+01] [-1.86283205e-02 -5.75406155e-04 9.99826312e-01 7.56674275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24232058799998 meters 0.026462092590174735 Centerline is valid? [True, True] Translation: X:149.49, Y:-14.44, Z:0.76 [[ 9.66092254e-01 2.57627767e-01 1.71373804e-02 1.49490217e+02] [-2.57597260e-01 9.66244086e-01 -4.00226974e-03 -1.44368083e+01] [-1.75899883e-02 -5.47980456e-04 9.99845134e-01 7.58281108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27232058799999 meters 0.026499775436300787 Centerline is valid? [True, True] Translation: X:149.52, Y:-14.44, Z:0.76 [[ 9.65666506e-01 2.59332148e-01 1.53308756e-02 1.49524201e+02] [-2.59307816e-01 9.65788060e-01 -3.58879339e-03 -1.44363805e+01] [-1.57370661e-02 -5.09838291e-04 9.99876035e-01 7.56847613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.302320588 meters 0.026765716331417774 Centerline is valid? [True, True] Translation: X:149.56, Y:-14.44, Z:0.75 [[ 9.65087966e-01 2.61538888e-01 1.42347763e-02 1.49556126e+02] [-2.61518057e-01 9.65192810e-01 -3.33861523e-03 -1.44394412e+01] [-1.46124815e-02 -5.00593666e-04 9.99893107e-01 7.53593403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.332320588 meters 0.027100114662778067 Centerline is valid? [True, True] Translation: X:149.59, Y:-14.44, Z:0.75 [[ 9.64798233e-01 2.62686303e-01 1.26599999e-02 1.49588829e+02] [-2.62669829e-01 9.64881185e-01 -2.97662631e-03 -1.44448398e+01] [-1.29973147e-02 -4.53556204e-04 9.99915428e-01 7.52900431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.362320588 meters 0.027198834944275278 Centerline is valid? [True, True] Translation: X:149.62, Y:-14.45, Z:0.75 [[ 9.64348115e-01 2.64178616e-01 1.55683024e-02 1.49621513e+02] [-2.64153799e-01 9.64473601e-01 -3.66661958e-03 -1.44468080e+01] [-1.59838592e-02 -5.76528559e-04 9.99872084e-01 7.53958762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.392320588 meters 0.02682875813050146 Centerline is valid? [True, True] Translation: X:149.65, Y:-14.45, Z:0.76 [[ 9.64386746e-01 2.63976122e-01 1.65774445e-02 1.49654712e+02] [-2.63947802e-01 9.64529027e-01 -3.91317002e-03 -1.44485296e+01] [-1.70224099e-02 -6.01770754e-04 9.99854927e-01 7.56236084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.422320588 meters 0.026524107116984594 Centerline is valid? [True, True] Translation: X:149.69, Y:-14.45, Z:0.76 [[ 9.64681396e-01 2.62902038e-01 1.65021751e-02 1.49687521e+02] [-2.62873692e-01 9.64822362e-01 -3.90279951e-03 -1.44503946e+01] [-1.69477215e-02 -5.73029623e-04 9.99856213e-01 7.57269521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.452320588 meters 0.02613865207605969 Centerline is valid? [True, True] Translation: X:149.72, Y:-14.45, Z:0.76 [[ 9.65018783e-01 2.61745721e-01 1.50972430e-02 1.49720026e+02] [-2.61721742e-01 9.65136741e-01 -3.57778863e-03 -1.44538262e+01] [-1.55073748e-02 -4.98643530e-04 9.99879629e-01 7.56987270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.482320588 meters 0.02523282776976503 Centerline is valid? [True, True] Translation: X:149.75, Y:-14.46, Z:0.75 [[ 9.66479781e-01 2.56529272e-01 1.04673845e-02 1.49751942e+02] [-2.56517434e-01 9.66536419e-01 -2.48109885e-03 -1.44569792e+01] [-1.07535828e-02 -2.87134739e-04 9.99942137e-01 7.53859424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.512320588 meters 0.02535414172415525 Centerline is valid? [True, True] Translation: X:149.78, Y:-14.46, Z:0.75 [[ 9.66694815e-01 2.55727569e-01 1.02247214e-02 1.49783413e+02] [-2.55716159e-01 9.66748851e-01 -2.43023612e-03 -1.44621863e+01] [-1.05062161e-02 -2.65329827e-04 9.99944773e-01 7.52310692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.542320588 meters 0.02516039842883889 Centerline is valid? [True, True] Translation: X:149.82, Y:-14.47, Z:0.75 [[ 9.66834760e-01 2.55107961e-01 1.22668386e-02 1.49816340e+02] [-2.55091405e-01 9.66912528e-01 -2.92216188e-03 -1.44662179e+01] [-1.26064266e-02 -3.03917411e-04 9.99920490e-01 7.52312754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.572320588 meters 0.025147255191754255 Centerline is valid? [True, True] Translation: X:149.85, Y:-14.47, Z:0.75 [[ 9.66874577e-01 2.54795036e-01 1.52657212e-02 1.49848388e+02] [-2.54769259e-01 9.66995013e-01 -3.64278846e-03 -1.44694397e+01] [-1.56900407e-02 -3.67116917e-04 9.99876836e-01 7.53075477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.602320588 meters 0.025151819311028202 Centerline is valid? [True, True] Translation: X:149.88, Y:-14.47, Z:0.76 [[ 9.66697237e-01 2.55353431e-01 1.70609600e-02 1.49881288e+02] [-2.55321185e-01 9.66847689e-01 -4.07898172e-03 -1.44692854e+01] [-1.75369317e-02 -4.12884153e-04 9.99846131e-01 7.56368183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.632320588 meters 0.02493221236486252 Centerline is valid? [True, True] Translation: X:149.91, Y:-14.47, Z:0.76 [[ 9.66620064e-01 2.55721073e-01 1.58866379e-02 1.49913683e+02] [-2.55693036e-01 9.66750529e-01 -3.80597568e-03 -1.44729214e+01] [-1.63316838e-02 -3.83170233e-04 9.99866556e-01 7.56141564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.662320588 meters 0.024977959187825065 Centerline is valid? [True, True] Translation: X:149.95, Y:-14.48, Z:0.75 [[ 9.66444595e-01 2.56541744e-01 1.30835173e-02 1.49946045e+02] [-2.56522788e-01 9.66533097e-01 -3.13560850e-03 -1.44780595e+01] [-1.34500669e-02 -3.25828440e-04 9.99909491e-01 7.54653652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.692320588 meters 0.02518364628668828 Centerline is valid? [True, True] Translation: X:149.98, Y:-14.48, Z:0.75 [[ 9.66191065e-01 2.57526740e-01 1.24420196e-02 1.49978864e+02] [-2.57509642e-01 9.66271119e-01 -2.98466109e-03 -1.44808663e+01] [-1.27909942e-02 -3.20187126e-04 9.99918141e-01 7.53714478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.722320588 meters 0.02495561841696757 Centerline is valid? [True, True] Translation: X:150.01, Y:-14.49, Z:0.75 [[ 9.66341698e-01 2.56838300e-01 1.47584058e-02 1.50011323e+02] [-2.56814027e-01 9.66454323e-01 -3.54930251e-03 -1.44850133e+01] [-1.51749219e-02 -3.60326618e-04 9.99884789e-01 7.54568386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.752320588 meters 0.024613617394984758 Centerline is valid? [True, True] Translation: X:150.04, Y:-14.49, Z:0.76 [[ 9.67073601e-01 2.54036780e-01 1.52959196e-02 1.50043143e+02] [-2.54010353e-01 9.67194503e-01 -3.67876162e-03 -1.44886670e+01] [-1.57286701e-02 -3.27688691e-04 9.99876243e-01 7.55259680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.782320588 meters 0.02421573841853161 Centerline is valid? [True, True] Translation: X:150.08, Y:-14.49, Z:0.76 [[ 9.67618782e-01 2.51984512e-01 1.47546276e-02 1.50075462e+02] [-2.51959653e-01 9.67731226e-01 -3.55063763e-03 -1.44921165e+01] [-1.51732195e-02 -2.81907188e-04 9.99884840e-01 7.55885310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.812320588 meters 0.02358560328259936 Centerline is valid? [True, True] Translation: X:150.11, Y:-14.50, Z:0.75 [[ 9.69778086e-01 2.43684084e-01 1.21873621e-02 1.50106831e+02] [-2.43666451e-01 9.69854655e-01 -2.93409390e-03 -1.44981745e+01] [-1.25349619e-02 -1.24231308e-04 9.99921427e-01 7.53597175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.842320588 meters 0.023599613544911444 Centerline is valid? [True, True] Translation: X:150.14, Y:-14.51, Z:0.75 [[ 9.70813077e-01 2.39459769e-01 1.34532308e-02 1.50138087e+02] [-2.39437848e-01 9.70906285e-01 -3.24089108e-03 -1.45069158e+01] [-1.38378894e-02 -7.49131956e-05 9.99904249e-01 7.52510881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.872320588 meters 0.023691096384940748 Centerline is valid? [True, True] Translation: X:150.17, Y:-14.51, Z:0.75 [[ 9.71657373e-01 2.36046922e-01 1.27984796e-02 1.50169096e+02] [-2.36026762e-01 9.71741658e-01 -3.08500867e-03 -1.45135166e+01] [-1.31650226e-02 -2.32122745e-05 9.99913337e-01 7.53100023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.902320588 meters 0.023650930556452742 Centerline is valid? [True, True] Translation: X:150.20, Y:-14.51, Z:0.75 [[ 9.72327899e-01 2.33152918e-01 1.47706813e-02 1.50202140e+02] [-2.33125702e-01 9.72440084e-01 -3.56236120e-03 -1.45137722e+01] [-1.51941774e-02 2.03577333e-05 9.99884562e-01 7.53258320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.932320588 meters 0.023420970617216416 Centerline is valid? [True, True] Translation: X:150.23, Y:-14.52, Z:0.75 [[ 9.72447090e-01 2.32771186e-01 1.28153041e-02 1.50233467e+02] [-2.32750642e-01 9.72531529e-01 -3.09263637e-03 -1.45191791e+01] [-1.31831639e-02 2.46549848e-05 9.99913098e-01 7.53699543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.962320588 meters 0.023584464188540134 Centerline is valid? [True, True] Translation: X:150.27, Y:-14.53, Z:0.75 [[ 9.72606378e-01 2.32082686e-01 1.32083758e-02 1.50265880e+02] [-2.32060756e-01 9.72696060e-01 -3.19063486e-03 -1.45277004e+01] [-1.35882263e-02 3.80861381e-05 9.99907675e-01 7.52821220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99232058799998 meters 0.023604934222298826 Centerline is valid? [True, True] Translation: X:150.30, Y:-14.54, Z:0.75 [[ 9.72899230e-01 2.30942935e-01 1.15086351e-02 1.50297024e+02] [-2.30926190e-01 9.72967296e-01 -2.78143506e-03 -1.45375667e+01] [-1.18398783e-02 4.84107780e-05 9.99929905e-01 7.52435796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02232058799999 meters 0.023826911729156255 Centerline is valid? [True, True] Translation: X:150.33, Y:-14.55, Z:0.75 [[ 9.73829308e-01 2.26926204e-01 1.26876981e-02 1.50327510e+02] [-2.26905489e-01 9.73911950e-01 -3.06807441e-03 -1.45476947e+01] [-1.30529273e-02 1.08872437e-04 9.99914801e-01 7.54921509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.052320588 meters 0.023827681324960655 Centerline is valid? [True, True] Translation: X:150.36, Y:-14.56, Z:0.75 [[ 9.74233087e-01 2.25102066e-01 1.41050664e-02 1.50358535e+02] [-2.25076246e-01 9.74335177e-01 -3.41267194e-03 -1.45554737e+01] [-1.45112619e-02 1.50022531e-04 9.99894695e-01 7.54874842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.082320588 meters 0.02388670580606308 Centerline is valid? [True, True] Translation: X:150.39, Y:-14.56, Z:0.76 [[ 9.74550335e-01 2.23721260e-01 1.41577600e-02 1.50389962e+02] [-2.23695072e-01 9.74653153e-01 -3.42735820e-03 -1.45633217e+01] [-1.45656783e-02 1.73111939e-04 9.99893900e-01 7.55675796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.112320588 meters 0.02426710864721689 Centerline is valid? [True, True] Translation: X:150.42, Y:-14.57, Z:0.75 [[ 9.75066787e-01 2.21379704e-01 1.53553626e-02 1.50420476e+02] [-2.21348576e-01 9.75187661e-01 -3.71932188e-03 -1.45728819e+01] [-1.57977425e-02 2.27699600e-04 9.99875182e-01 7.53849573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.142320588 meters 0.02407899092314877 Centerline is valid? [True, True] Translation: X:150.45, Y:-14.58, Z:0.75 [[ 9.75024322e-01 2.21586836e-01 1.50614176e-02 1.50451926e+02] [-2.21556860e-01 9.75140618e-01 -3.65154451e-03 -1.45821967e+01] [-1.54961343e-02 2.23384311e-04 9.99879903e-01 7.54278740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.172320588 meters 0.023923644052999356 Centerline is valid? [True, True] Translation: X:150.48, Y:-14.59, Z:0.76 [[ 9.74837943e-01 2.22458807e-01 1.42500488e-02 1.50482477e+02] [-2.22432043e-01 9.74942070e-01 -3.45648617e-03 -1.45922392e+01] [-1.46618978e-02 1.99846412e-04 9.99892489e-01 7.55505843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.202320588 meters 0.023799730261701478 Centerline is valid? [True, True] Translation: X:150.51, Y:-14.60, Z:0.76 [[ 9.74567708e-01 2.23652985e-01 1.40401001e-02 1.50512772e+02] [-2.23627099e-01 9.74668820e-01 -3.40749829e-03 -1.46028563e+01] [-1.44465450e-02 1.81090950e-04 9.99895627e-01 7.56712016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.232320588 meters 0.02361283350683715 Centerline is valid? [True, True] Translation: X:150.54, Y:-14.62, Z:0.76 [[ 9.73558334e-01 2.28064254e-01 1.30715886e-02 1.50541884e+02] [-2.28042189e-01 9.73646077e-01 -3.17428339e-03 -1.46178266e+01] [-1.34510416e-02 1.09476365e-04 9.99909525e-01 7.56973448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.262320588 meters 0.02351743070411102 Centerline is valid? [True, True] Translation: X:150.57, Y:-14.63, Z:0.76 [[ 9.72987070e-01 2.30461984e-01 1.35438443e-02 1.50572289e+02] [-2.30438501e-01 9.73081326e-01 -3.29083187e-03 -1.46281879e+01] [-1.39376736e-02 8.09136747e-05 9.99902863e-01 7.56978750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.292320588 meters 0.023488933902425752 Centerline is valid? [True, True] Translation: X:150.60, Y:-14.64, Z:0.76 [[ 9.72241224e-01 2.33551890e-01 1.41604076e-02 1.50603765e+02] [-2.33526499e-01 9.72344339e-01 -3.44396498e-03 -1.46370530e+01] [-1.45731367e-02 4.15343186e-05 9.99893805e-01 7.57678574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.322320588 meters 0.023284197445608886 Centerline is valid? [True, True] Translation: X:150.64, Y:-14.64, Z:0.76 [[ 9.71356196e-01 2.37101482e-01 1.58122806e-02 1.50635001e+02] [-2.37070263e-01 9.71484888e-01 -3.84748830e-03 -1.46444403e+01] [-1.62736368e-02 -1.13399232e-05 9.99867576e-01 7.58845300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.352320588 meters 0.023596115908053616 Centerline is valid? [True, True] Translation: X:150.67, Y:-14.65, Z:0.76 [[ 9.69097572e-01 2.46146849e-01 1.61748314e-02 1.50665972e+02] [-2.46115280e-01 9.69232533e-01 -3.94528827e-03 -1.46521254e+01] [-1.66482931e-02 -1.57503884e-04 9.99861395e-01 7.61104047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.382320588 meters 0.023704007066426187 Centerline is valid? [True, True] Translation: X:150.70, Y:-14.66, Z:0.76 [[ 9.67902684e-01 2.50981438e-01 1.31419939e-02 1.50698038e+02] [-2.50960933e-01 9.67991881e-01 -3.21366506e-03 -1.46606049e+01] [-1.35279137e-02 -1.87612015e-04 9.99908476e-01 7.63455208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.412320588 meters 0.024038094808264118 Centerline is valid? [True, True] Translation: X:150.73, Y:-14.67, Z:0.76 [[ 9.66890579e-01 2.54960704e-01 1.08465412e-02 1.50729613e+02] [-2.54946987e-01 9.66951394e-01 -2.65229811e-03 -1.46687430e+01] [-1.11643099e-02 -2.00810927e-04 9.99937657e-01 7.63120791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.442320588 meters 0.02443130488460707 Centerline is valid? [True, True] Translation: X:150.76, Y:-14.68, Z:0.76 [[ 9.65917362e-01 2.58722995e-01 8.12781494e-03 1.50761014e+02] [-2.58715415e-01 9.65951541e-01 -1.98880042e-03 -1.46769792e+01] [-8.36562376e-03 -1.81774155e-04 9.99964991e-01 7.63176899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.472320588 meters 0.02495080004838564 Centerline is valid? [True, True] Translation: X:150.79, Y:-14.68, Z:0.76 [[ 9.65071209e-01 2.61804656e-01 9.79207434e-03 1.50791842e+02] [-2.61793805e-01 9.65120852e-01 -2.39672996e-03 -1.46839749e+01] [-1.00780102e-02 -2.50489321e-04 9.99949184e-01 7.60805379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.502320588 meters 0.02501387622272804 Centerline is valid? [True, True] Translation: X:150.82, Y:-14.69, Z:0.76 [[ 9.64994352e-01 2.61986987e-01 1.21950718e-02 1.50822569e+02] [-2.61970083e-01 9.65071357e-01 -2.99188420e-03 -1.46916408e+01] [-1.25529493e-02 -3.07592630e-04 9.99921161e-01 7.60653852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.532320588 meters 0.024949230471777106 Centerline is valid? [True, True] Translation: X:150.85, Y:-14.70, Z:0.76 [[ 9.65040359e-01 2.61796719e-01 1.26326236e-02 1.50854607e+02] [-2.61778547e-01 9.65122986e-01 -3.10060009e-03 -1.46996947e+01] [-1.30037623e-02 -3.14745617e-04 9.99915398e-01 7.61086961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.562320588 meters 0.024816789932888238 Centerline is valid? [True, True] Translation: X:150.89, Y:-14.71, Z:0.76 [[ 9.65222996e-01 2.61139158e-01 1.22844960e-02 1.50885706e+02] [-2.61121903e-01 9.65301120e-01 -3.01654103e-03 -1.47066748e+01] [-1.26459747e-02 -2.96116183e-04 9.99919993e-01 7.62478763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.592320588 meters 0.024642527905860696 Centerline is valid? [True, True] Translation: X:150.92, Y:-14.71, Z:0.76 [[ 9.65368950e-01 2.60681956e-01 1.03782439e-02 1.50917509e+02] [-2.60669598e-01 9.65424704e-01 -2.55000230e-03 -1.47109808e+01] [-1.06841527e-02 -2.43599625e-04 9.99942893e-01 7.63952044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.622320588 meters 0.024642527905860696 Centerline is valid? [True, True] Translation: X:150.95, Y:-14.72, Z:0.76 [[ 9.65317077e-01 2.60874002e-01 1.03776551e-02 1.50949100e+02] [-2.60861629e-01 9.65372827e-01 -2.55239797e-03 -1.47186924e+01] [-1.06841606e-02 -2.43258669e-04 9.99942893e-01 7.64115926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.652320588 meters 0.02479372096194477 Centerline is valid? [True, True] Translation: X:150.98, Y:-14.73, Z:0.76 [[ 9.65130616e-01 2.61536131e-01 1.10339087e-02 1.50980860e+02] [-2.61522174e-01 9.65193650e-01 -2.71493278e-03 -1.47253992e+01] [-1.13599116e-02 -2.65347030e-04 9.99935439e-01 7.62526162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.682320588 meters 0.024942834221549692 Centerline is valid? [True, True] Translation: X:151.01, Y:-14.73, Z:0.76 [[ 9.64700695e-01 2.63121181e-01 1.09458943e-02 1.51012133e+02] [-2.63107531e-01 9.64762751e-01 -2.69478103e-03 -1.47321734e+01] [-1.12692450e-02 -2.80290076e-04 9.99936461e-01 7.62505985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.712320588 meters 0.02490454447211787 Centerline is valid? [True, True] Translation: X:151.04, Y:-14.74, Z:0.76 [[ 9.64707038e-01 2.63089151e-01 1.11547704e-02 1.51043966e+02] [-2.63074942e-01 9.64771485e-01 -2.74886588e-03 -1.47390654e+01] [-1.14850012e-02 -2.82690314e-04 9.99934005e-01 7.63651454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74232058799998 meters 0.024753736743233355 Centerline is valid? [True, True] Translation: X:151.08, Y:-14.75, Z:0.76 [[ 9.64996913e-01 2.61984049e-01 1.20547290e-02 1.51075725e+02] [-2.61967326e-01 9.65072161e-01 -2.97408053e-03 -1.47466464e+01] [-1.24128450e-02 -2.87966579e-04 9.99922916e-01 7.64954450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77232058799999 meters 0.024618703602195396 Centerline is valid? [True, True] Translation: X:151.11, Y:-14.76, Z:0.77 [[ 9.65366851e-01 2.60616404e-01 1.20802998e-02 1.51106570e+02] [-2.60599489e-01 9.65442395e-01 -2.98145837e-03 -1.47552677e+01] [-1.24398506e-02 -2.69918880e-04 9.99922586e-01 7.65209128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.802320588 meters 0.024394969512260226 Centerline is valid? [True, True] Translation: X:151.14, Y:-14.76, Z:0.77 [[ 9.65700090e-01 2.59351133e-01 1.26619603e-02 1.51137408e+02] [-2.59332418e-01 9.65783061e-01 -3.12675707e-03 -1.47635508e+01] [-1.30396348e-02 -2.64147205e-04 9.99914945e-01 7.66409619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.832320588 meters 0.024169184204642067 Centerline is valid? [True, True] Translation: X:151.17, Y:-14.77, Z:0.77 [[ 9.66453944e-01 2.56397316e-01 1.50728075e-02 1.51169719e+02] [-2.56370406e-01 9.66571439e-01 -3.72410469e-03 -1.47686665e+01] [-1.55237957e-02 -2.65046114e-04 9.99879463e-01 7.66190944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.862320588 meters 0.024083047325295846 Centerline is valid? [True, True] Translation: X:151.20, Y:-14.77, Z:0.77 [[ 9.66619530e-01 2.55844287e-01 1.37979899e-02 1.51202131e+02] [-2.55821652e-01 9.66717977e-01 -3.41111624e-03 -1.47730955e+01] [-1.42114795e-02 -2.32572999e-04 9.99898985e-01 7.65923602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.892320588 meters 0.023921954678418345 Centerline is valid? [True, True] Translation: X:151.23, Y:-14.78, Z:0.77 [[ 9.66353342e-01 2.57007620e-01 1.04068271e-02 1.51234210e+02] [-2.56994794e-01 9.66409359e-01 -2.57440837e-03 -1.47781760e+01] [-1.07188976e-02 -1.86712247e-04 9.99942534e-01 7.66130498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.922320588 meters 0.023902643009524153 Centerline is valid? [True, True] Translation: X:151.27, Y:-14.78, Z:0.76 [[ 9.66299558e-01 2.57287632e-01 8.26067746e-03 1.51266218e+02] [-2.57279550e-01 9.66334855e-01 -2.04481047e-03 -1.47842444e+01] [-8.50868500e-03 -1.49403929e-04 9.99963789e-01 7.64882172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.952320588 meters 0.02411735917205726 Centerline is valid? [True, True] Translation: X:151.30, Y:-14.79, Z:0.77 [[ 9.65654932e-01 2.59709079e-01 7.85790560e-03 1.51297555e+02] [-2.59701836e-01 9.65686889e-01 -1.94626262e-03 -1.47929602e+01] [-8.09373849e-03 -1.61294416e-04 9.99967232e-01 7.65768981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.982320588 meters 0.024208572360839897 Centerline is valid? [True, True] Translation: X:151.33, Y:-14.80, Z:0.77 [[ 9.65441032e-01 2.60434396e-01 9.87614847e-03 1.51328363e+02] [-2.60422961e-01 9.65491524e-01 -2.44927309e-03 -1.48002438e+01] [-1.01732126e-02 -2.07347091e-04 9.99948230e-01 7.66677837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.012320588 meters 0.024411744066868916 Centerline is valid? [True, True] Translation: X:151.36, Y:-14.81, Z:0.77 [[ 9.65107468e-01 2.61504756e-01 1.35217291e-02 1.51359823e+02] [-2.61483415e-01 9.65202141e-01 -3.35414914e-03 -1.48064321e+01] [-1.39283279e-02 -2.98593529e-04 9.99902952e-01 7.67266543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.042320588 meters 0.024518327840062373 Centerline is valid? [True, True] Translation: X:151.39, Y:-14.81, Z:0.77 [[ 9.64815212e-01 2.62523517e-01 1.45948364e-02 1.51391750e+02] [-2.62498741e-01 9.64925536e-01 -3.62232325e-03 -1.48114190e+01] [-1.50338754e-02 -3.36253605e-04 9.99886928e-01 7.67928495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.072320588 meters 0.02448917568687308 Centerline is valid? [True, True] Translation: X:151.42, Y:-14.81, Z:0.77 [[ 9.64755191e-01 2.62678893e-01 1.57232666e-02 1.51424602e+02] [-2.62650122e-01 9.64883240e-01 -3.90453981e-03 -1.48140577e+01] [-1.61967566e-02 -3.62792843e-04 9.99868758e-01 7.66193323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.102320588 meters 0.024560696198213952 Centerline is valid? [True, True] Translation: X:151.46, Y:-14.82, Z:0.76 [[ 9.64943678e-01 2.62076081e-01 1.41359584e-02 1.51455994e+02] [-2.62052732e-01 9.65047164e-01 -3.51241661e-03 -1.48206782e+01] [-1.45623869e-02 -3.15082312e-04 9.99893913e-01 7.64535078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.132320588 meters 0.024487398431228595 Centerline is valid? [True, True] Translation: X:151.49, Y:-14.83, Z:0.76 [[ 9.65099430e-01 2.61507496e-01 1.40328291e-02 1.51487051e+02] [-2.61484398e-01 9.65201398e-01 -3.48875293e-03 -1.48275291e+01] [-1.44568413e-02 -3.02372401e-04 9.99895449e-01 7.63797064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.162320588 meters 0.024119004932587788 Centerline is valid? [True, True] Translation: X:151.52, Y:-14.83, Z:0.77 [[ 9.65892408e-01 2.58716450e-01 1.08468459e-02 1.51519198e+02] [-2.58702455e-01 9.65953290e-01 -2.69836350e-03 -1.48323567e+01] [-1.11756575e-02 -1.99776858e-04 9.99937530e-01 7.65228801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.192320588 meters 0.02389895001124789 Centerline is valid? [True, True] Translation: X:151.55, Y:-14.84, Z:0.77 [[ 9.66201814e-01 2.57626939e-01 9.07827881e-03 1.51551534e+02] [-2.57617075e-01 9.66244449e-01 -2.25979806e-03 -1.48372116e+01] [-9.35402137e-03 -1.55298645e-04 9.99956238e-01 7.66694008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.222320588 meters 0.023860203159590327 Centerline is valid? [True, True] Translation: X:151.58, Y:-14.84, Z:0.77 [[ 9.66592251e-01 2.56130129e-01 9.83753068e-03 1.51584237e+02] [-2.56118449e-01 9.66642299e-01 -2.45065313e-03 -1.48410680e+01] [-1.01370594e-02 -1.50790784e-04 9.99948607e-01 7.66204414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.252320588 meters 0.023771647504324735 Centerline is valid? [True, True] Translation: X:151.62, Y:-14.85, Z:0.77 [[ 9.66782833e-01 2.55403212e-01 1.00076436e-02 1.51615886e+02] [-2.55391073e-01 9.66834618e-01 -2.49426825e-03 -1.48452953e+01] [-1.03127804e-02 -1.44447098e-04 9.99946811e-01 7.66342604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.282320588 meters 0.0237926269234046 Centerline is valid? [True, True] Translation: X:151.65, Y:-14.85, Z:0.77 [[ 9.67158229e-01 2.53816003e-01 1.35054145e-02 1.51647710e+02] [-2.53793717e-01 9.67252505e-01 -3.36768947e-03 -1.48489060e+01] [-1.39179195e-02 -1.70500767e-04 9.99903127e-01 7.65400893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.312320588 meters 0.023854391661986322 Centerline is valid? [True, True] Translation: X:151.68, Y:-14.86, Z:0.77 [[ 9.67341021e-01 2.53096212e-01 1.39160685e-02 1.51680237e+02] [-2.53072429e-01 9.67441100e-01 -3.47337660e-03 -1.48559097e+01] [-1.43420751e-02 -1.61833604e-04 9.99897134e-01 7.65534809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.342320588 meters 0.02371186904705036 Centerline is valid? [True, True] Translation: X:151.71, Y:-14.86, Z:0.77 [[ 9.67527778e-01 2.52433006e-01 1.29451406e-02 1.51711595e+02] [-2.52412347e-01 9.67614364e-01 -3.23258109e-03 -1.48624421e+01] [-1.33419142e-02 -1.39901331e-04 9.99910983e-01 7.66082772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.372320588 meters 0.023645718084909017 Centerline is valid? [True, True] Translation: X:151.74, Y:-14.87, Z:0.77 [[ 9.67815641e-01 2.51311198e-01 1.32501395e-02 1.51743187e+02] [-2.51289422e-01 9.67906331e-01 -3.31061188e-03 -1.48676673e+01] [-1.36568877e-02 -1.25557939e-04 9.99906732e-01 7.66157247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.402320588 meters 0.0235245221979539 Centerline is valid? [True, True] Translation: X:151.78, Y:-14.87, Z:0.76 [[ 9.68722409e-01 2.47856290e-01 1.20063906e-02 1.51775914e+02] [-2.47838123e-01 9.68796808e-01 -3.00162927e-03 -1.48705606e+01] [-1.23757256e-02 -6.78957897e-05 9.99923415e-01 7.63221280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.432320588 meters 0.02328033573137673 Centerline is valid? [True, True] Translation: X:151.81, Y:-14.88, Z:0.76 [[ 9.69382176e-01 2.45291533e-01 1.14132040e-02 1.51807598e+02] [-2.45274920e-01 9.69449361e-01 -2.85496492e-03 -1.48777589e+01] [-1.17648220e-02 -3.18205825e-05 9.99930792e-01 7.63012904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.462320588 meters 0.023342469937875213 Centerline is valid? [True, True] Translation: X:151.84, Y:-14.89, Z:0.76 [[ 9.69767977e-01 2.43722549e-01 1.22224988e-02 1.51838066e+02] [-2.43703350e-01 9.69844998e-01 -3.05907841e-03 -1.48874110e+01] [-1.25994957e-02 -1.20676228e-05 9.99920623e-01 7.62385420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49232058799998 meters 0.0232311817511268 Centerline is valid? [True, True] Translation: X:151.87, Y:-14.90, Z:0.76 [[ 9.70109509e-01 2.42286511e-01 1.35936293e-02 1.51868528e+02] [-2.42262596e-01 9.70204745e-01 -3.40408703e-03 -1.48982328e+01] [-1.40133681e-02 9.10925619e-06 9.99901808e-01 7.64265102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52232058799999 meters 0.02334873821972651 Centerline is valid? [True, True] Translation: X:151.90, Y:-14.91, Z:0.76 [[ 9.70214756e-01 2.41812434e-01 1.44939134e-02 1.51899591e+02] [-2.41785165e-01 9.70323011e-01 -3.63151436e-03 -1.49063611e+01] [-1.49419230e-02 1.89355714e-05 9.99888363e-01 7.64117078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.552320588 meters 0.02326102037082294 Centerline is valid? [True, True] Translation: X:151.93, Y:-14.91, Z:0.76 [[ 9.70337724e-01 2.41365486e-01 1.36895413e-02 1.51930363e+02] [-2.41341087e-01 9.70434285e-01 -3.43192475e-03 -1.49142644e+01] [-1.41131484e-02 2.62772704e-05 9.99900404e-01 7.64691580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.582320588 meters 0.023138547190048354 Centerline is valid? [True, True] Translation: X:151.96, Y:-14.92, Z:0.76 [[ 9.70330133e-01 2.41478947e-01 1.21388172e-02 1.51961396e+02] [-2.41459737e-01 9.70406058e-01 -3.04590423e-03 -1.49248199e+01] [-1.25151034e-02 2.44970621e-05 9.99921683e-01 7.64027951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.612320588 meters 0.023090644826530542 Centerline is valid? [True, True] Translation: X:151.99, Y:-14.93, Z:0.76 [[ 9.70176898e-01 2.42098232e-01 1.20512209e-02 1.51991846e+02] [-2.42079329e-01 9.70251744e-01 -3.02534936e-03 -1.49347009e+01] [-1.24251498e-02 1.77725960e-05 9.99922805e-01 7.64274384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.642320588 meters 0.023183896130468923 Centerline is valid? [True, True] Translation: X:152.02, Y:-14.94, Z:0.77 [[ 9.69800379e-01 2.43506108e-01 1.38564099e-02 1.52022044e+02] [-2.43481235e-01 9.69899363e-01 -3.48036946e-03 -1.49447069e+01] [-1.42868144e-02 1.48782450e-06 9.99897938e-01 7.65001253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.672320588 meters 0.023301571508492415 Centerline is valid? [True, True] Translation: X:152.05, Y:-14.95, Z:0.77 [[ 9.69284401e-01 2.45526402e-01 1.43016195e-02 1.52052496e+02] [-2.45500095e-01 9.69389904e-01 -3.59418998e-03 -1.49547383e+01] [-1.47463141e-02 -2.72566669e-05 9.99891267e-01 7.66731709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.702320588 meters 0.023328378030008843 Centerline is valid? [True, True] Translation: X:152.08, Y:-14.96, Z:0.77 [[ 9.68229507e-01 2.49565805e-01 1.57648702e-02 1.52083802e+02] [-2.49534339e-01 9.68357837e-01 -3.96405678e-03 -1.49640211e+01] [-1.62553286e-02 -9.57597323e-05 9.99867869e-01 7.68392640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.732320588 meters 0.023301981398431194 Centerline is valid? [True, True] Translation: X:152.12, Y:-14.97, Z:0.77 [[ 9.67627760e-01 2.51985776e-01 1.41310411e-02 1.52115045e+02] [-2.51960722e-01 9.67730931e-01 -3.55530695e-03 -1.49718588e+01] [-1.45709324e-02 -1.20253624e-04 9.99893831e-01 7.69737507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.762320588 meters 0.02337199207957197 Centerline is valid? [True, True] Translation: X:152.15, Y:-14.98, Z:0.77 [[ 9.67102818e-01 2.54046373e-01 1.31369855e-02 1.52146977e+02] [-2.54024866e-01 9.67192029e-01 -3.30844835e-03 -1.49809247e+01] [-1.35464870e-02 -1.37511279e-04 9.99908233e-01 7.69879059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.792320588 meters 0.023358676341409253 Centerline is valid? [True, True] Translation: X:152.18, Y:-14.99, Z:0.77 [[ 9.66734099e-01 2.55515575e-01 1.17035121e-02 1.52177260e+02] [-2.55498597e-01 9.66804929e-01 -2.94884797e-03 -1.49906511e+01] [-1.20684898e-02 -1.39479040e-04 9.99927163e-01 7.70829129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.822320588 meters 0.02382647825680723 Centerline is valid? [True, True] Translation: X:152.21, Y:-15.00, Z:0.77 [[ 9.65783555e-01 2.59085981e-01 1.16866942e-02 1.52207257e+02] [-2.59069293e-01 9.65854244e-01 -2.94627077e-03 -1.50017577e+01] [-1.20509807e-02 -1.82203743e-04 9.99927368e-01 7.70011310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.852320588 meters 0.02404597207186667 Centerline is valid? [True, True] Translation: X:152.24, Y:-15.01, Z:0.77 [[ 9.65236207e-01 2.61178986e-01 1.02275250e-02 1.52239055e+02] [-2.61166295e-01 9.65290373e-01 -2.58100915e-03 -1.50087693e+01] [-1.05466368e-02 -1.79801330e-04 9.99944367e-01 7.70581971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.882320588 meters 0.024241348499004393 Centerline is valid? [True, True] Translation: X:152.27, Y:-15.01, Z:0.77 [[ 9.64257291e-01 2.64803219e-01 9.33450850e-03 1.52271148e+02] [-2.64792806e-01 9.64302450e-01 -2.35670202e-03 -1.50120797e+01] [-9.62535170e-03 -1.99243599e-04 9.99953655e-01 7.71402646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.912320588 meters 0.02451533910147772 Centerline is valid? [True, True] Translation: X:152.30, Y:-15.02, Z:0.77 [[ 9.63479470e-01 2.67626796e-01 9.12183755e-03 1.52302670e+02] [-2.67616967e-01 9.63522625e-01 -2.30430252e-03 -1.50177178e+01] [-9.40578996e-03 -2.21010332e-04 9.99955740e-01 7.71114743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.942320588 meters 0.0249330903507639 Centerline is valid? [True, True] Translation: X:152.33, Y:-15.02, Z:0.77 [[ 9.62730587e-01 2.70337734e-01 8.20533074e-03 1.52334645e+02] [-2.70329869e-01 9.62765527e-01 -2.07400059e-03 -1.50238754e+01] [-8.46049020e-03 -2.21442174e-04 9.99964185e-01 7.71175027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.972320588 meters 0.025152693939895575 Centerline is valid? [True, True] Translation: X:152.37, Y:-15.03, Z:0.77 [[ 9.62252633e-01 2.72059601e-01 7.31051293e-03 1.52366302e+02] [-2.72053400e-01 9.62280380e-01 -1.84890783e-03 -1.50297686e+01] [-7.53777628e-03 -2.09733471e-04 9.99971569e-01 7.71575515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.002320588 meters 0.02535643781997122 Centerline is valid? [True, True] Translation: X:152.40, Y:-15.04, Z:0.77 [[ 9.61658785e-01 2.74126915e-01 8.17406525e-03 1.52398129e+02] [-2.74119227e-01 9.61693491e-01 -2.06836656e-03 -1.50353423e+01] [-8.42794030e-03 -2.51605569e-04 9.99964453e-01 7.71479980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.032320588 meters 0.025094200191591993 Centerline is valid? [True, True] Translation: X:152.43, Y:-15.04, Z:0.77 [[ 9.62028577e-01 2.72675706e-01 1.22056004e-02 1.52430699e+02] [-2.72658431e-01 9.62105936e-01 -3.08987683e-03 -1.50395266e+01] [-1.25856149e-02 -3.55410032e-04 9.99920735e-01 7.71114898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.062320588 meters 0.025248394961672187 Centerline is valid? [True, True] Translation: X:152.46, Y:-15.05, Z:0.77 [[ 9.62139379e-01 2.72255600e-01 1.28336592e-02 1.52461657e+02] [-2.72236440e-01 9.62224898e-01 -3.25062758e-03 -1.50470899e+01] [-1.32338680e-02 -3.66232909e-04 9.99912361e-01 7.71730845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.092320588 meters 0.025162818577784424 Centerline is valid? [True, True] Translation: X:152.49, Y:-15.05, Z:0.77 [[ 9.62538461e-01 2.70779411e-01 1.40791149e-02 1.52493708e+02] [-2.70756166e-01 9.62641350e-01 -3.56798436e-03 -1.50531767e+01] [-1.45192749e-02 -3.77685011e-04 9.99894518e-01 7.71164491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.122320588 meters 0.02487068843837605 Centerline is valid? [True, True] Translation: X:152.53, Y:-15.06, Z:0.77 [[ 9.62711661e-01 2.70180642e-01 1.37360232e-02 1.52525902e+02] [-2.70158428e-01 9.62809583e-01 -3.48297323e-03 -1.50575011e+01] [-1.41662067e-02 -3.57803494e-04 9.99899590e-01 7.72537108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.152320588 meters 0.02496395041400228 Centerline is valid? [True, True] Translation: X:152.56, Y:-15.06, Z:0.77 [[ 9.62716211e-01 2.70234314e-01 1.22846326e-02 1.52558905e+02] [-2.70216528e-01 9.62794533e-01 -3.11675132e-03 -1.50564103e+01] [-1.26698302e-02 -3.18963744e-04 9.99919684e-01 7.70148546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.182320588 meters 0.02467608559539685 Centerline is valid? [True, True] Translation: X:152.59, Y:-15.06, Z:0.77 [[ 9.63051661e-01 2.69123732e-01 1.01938593e-02 1.52590640e+02] [-2.69111412e-01 9.63105578e-01 -2.58730668e-03 -1.50609000e+01] [-1.05140683e-02 -2.51573863e-04 9.99944694e-01 7.70761184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.212320588 meters 0.024400495888964546 Centerline is valid? [True, True] Translation: X:152.62, Y:-15.07, Z:0.77 [[ 9.63670290e-01 2.66917015e-01 9.74057195e-03 1.52621214e+02] [-2.66905658e-01 9.63719492e-01 -2.47176948e-03 -1.50658406e+01] [-1.00469364e-02 -2.17842957e-04 9.99949505e-01 7.70221493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24232058799998 meters 0.024100717175096088 Centerline is valid? [True, True] Translation: X:152.65, Y:-15.07, Z:0.77 [[ 9.64410674e-01 2.64172787e-01 1.11710037e-02 1.52650806e+02] [-2.64157679e-01 9.64475345e-01 -2.83362404e-03 -1.50707772e+01] [-1.15227240e-02 -2.18129128e-04 9.99933587e-01 7.69970096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27232058799999 meters 0.023682501615219585 Centerline is valid? [True, True] Translation: X:152.68, Y:-15.08, Z:0.77 [[ 9.65453138e-01 2.60348092e-01 1.09136717e-02 1.52681244e+02] [-2.60333424e-01 9.65514807e-01 -2.76868595e-03 -1.50759848e+01] [-1.12581337e-02 -1.68156979e-04 9.99936611e-01 7.70891178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.302320588 meters 0.023345218284082047 Centerline is valid? [True, True] Translation: X:152.71, Y:-15.08, Z:0.77 [[ 9.68021060e-01 2.50592427e-01 1.17754852e-02 1.52709852e+02] [-2.50574641e-01 9.68092677e-01 -2.98614541e-03 -1.50823017e+01] [-1.21480664e-02 -5.99863355e-05 9.99926208e-01 7.69190024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.332320588 meters 0.023189293141527418 Centerline is valid? [True, True] Translation: X:152.74, Y:-15.09, Z:0.77 [[ 9.69339340e-01 2.45450335e-01 1.16351354e-02 1.52739819e+02] [-2.45432596e-01 9.69409167e-01 -2.95089411e-03 -1.50901937e+01] [-1.20035049e-02 4.77625897e-06 9.99927955e-01 7.67650371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.362320588 meters 0.023323718657895703 Centerline is valid? [True, True] Translation: X:152.77, Y:-15.10, Z:0.77 [[ 9.70595990e-01 2.40428929e-01 1.17198253e-02 1.52769843e+02] [-2.40410564e-01 9.70666743e-01 -2.97237308e-03 -1.50969954e+01] [-1.20906891e-02 6.74035859e-05 9.99926903e-01 7.66617693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.392320588 meters 0.023559045605420614 Centerline is valid? [True, True] Translation: X:152.80, Y:-15.10, Z:0.77 [[ 9.71587017e-01 2.36321178e-01 1.30755390e-02 1.52799836e+02] [-2.36297947e-01 9.71674988e-01 -3.31620815e-03 -1.51032452e+01] [-1.34888644e-02 1.32261772e-04 9.99909012e-01 7.65660224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.422320588 meters 0.024086462309958537 Centerline is valid? [True, True] Translation: X:152.83, Y:-15.11, Z:0.76 [[ 9.72887318e-01 2.30903812e-01 1.31793928e-02 1.52829026e+02] [-2.30879712e-01 9.72976560e-01 -3.34254749e-03 -1.51125061e+01] [-1.35950473e-02 2.09067639e-04 9.99907561e-01 7.64988154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.452320588 meters 0.024101426318513395 Centerline is valid? [True, True] Translation: X:152.86, Y:-15.12, Z:0.77 [[ 9.73236054e-01 2.29512252e-01 1.16493923e-02 1.52859207e+02] [-2.29493297e-01 9.73305751e-01 -2.95674842e-03 -1.51237438e+01] [-1.20170305e-02 2.04156734e-04 9.99927772e-01 7.65782120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.482320588 meters 0.024101426318513395 Centerline is valid? [True, True] Translation: X:152.89, Y:-15.13, Z:0.77 [[ 9.73221693e-01 2.29573148e-01 1.16492874e-02 1.52889111e+02] [-2.29554192e-01 9.73291389e-01 -2.95716156e-03 -1.51313144e+01] [-1.20170360e-02 2.03831030e-04 9.99927772e-01 7.65937536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.512320588 meters 0.024324056919449912 Centerline is valid? [True, True] Translation: X:152.92, Y:-15.14, Z:0.77 [[ 9.73723556e-01 2.27476991e-01 1.08006767e-02 1.52918536e+02] [-2.27460558e-01 9.73783432e-01 -2.74248238e-03 -1.51424327e+01] [-1.11413716e-02 2.13691752e-04 9.99937910e-01 7.66373712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.542320588 meters 0.024711433132082065 Centerline is valid? [True, True] Translation: X:152.95, Y:-15.16, Z:0.77 [[ 9.74495615e-01 2.23990812e-01 1.36532949e-02 1.52946303e+02] [-2.23964208e-01 9.74591203e-01 -3.46702021e-03 -1.51582136e+01] [-1.40829618e-02 3.20746609e-04 9.99900779e-01 7.67021308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.572320588 meters 0.02528809071065504 Centerline is valid? [True, True] Translation: X:152.98, Y:-15.17, Z:0.77 [[ 9.74853167e-01 2.22313490e-01 1.54277191e-02 1.52975924e+02] [-2.22279253e-01 9.74975157e-01 -3.92131167e-03 -1.51704068e+01] [-1.59134033e-02 3.93441232e-04 9.99873296e-01 7.65926349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.602320588 meters 0.025498645425385127 Centerline is valid? [True, True] Translation: X:153.01, Y:-15.18, Z:0.77 [[ 9.75188819e-01 2.20822242e-01 1.56302351e-02 1.53006088e+02] [-2.20786880e-01 9.75313979e-01 -3.97453102e-03 -1.51827587e+01] [-1.61220516e-02 4.24967380e-04 9.99869941e-01 7.66634730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.632320588 meters 0.02554816664170697 Centerline is valid? [True, True] Translation: X:153.04, Y:-15.20, Z:0.77 [[ 9.75427468e-01 2.19748485e-01 1.58700314e-02 1.53035129e+02] [-2.19711853e-01 9.75556456e-01 -4.03757878e-03 -1.52004699e+01] [-1.63693634e-02 4.51531242e-04 9.99865911e-01 7.66439120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.662320588 meters 0.025319267811947155 Centerline is valid? [True, True] Translation: X:153.07, Y:-15.21, Z:0.77 [[ 9.75234010e-01 2.20652699e-01 1.51990857e-02 1.53065393e+02] [-2.20619177e-01 9.75352352e-01 -3.86892002e-03 -1.52133903e+01] [-1.56781516e-02 4.19892609e-04 9.99877002e-01 7.67549367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.692320588 meters 0.025053638694863423 Centerline is valid? [True, True] Translation: X:153.10, Y:-15.23, Z:0.77 [[ 9.74813300e-01 2.22577643e-01 1.40791747e-02 1.53095451e+02] [-2.22549052e-01 9.74914900e-01 -3.58577500e-03 -1.52267328e+01] [-1.45241105e-02 3.62154183e-04 9.99894454e-01 7.69093850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.722320588 meters 0.02472809937198885 Centerline is valid? [True, True] Translation: X:153.13, Y:-15.24, Z:0.77 [[ 9.74137892e-01 2.25495726e-01 1.43890354e-02 1.53125147e+02] [-2.25466152e-01 9.74244102e-01 -3.66661067e-03 -1.52395598e+01] [-1.48452379e-02 3.27543951e-04 9.99889750e-01 7.69107966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.752320588 meters 0.023991061668307605 Centerline is valid? [True, True] Translation: X:153.15, Y:-15.26, Z:0.77 [[ 9.72288053e-01 2.33314794e-01 1.48373991e-02 1.53154036e+02] [-2.33284206e-01 9.72401234e-01 -3.78416360e-03 -1.52588082e+01] [-1.53108065e-02 2.17966197e-04 9.99882759e-01 7.68521192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.782320588 meters 0.02362354291494118 Centerline is valid? [True, True] Translation: X:153.18, Y:-15.27, Z:0.77 [[ 9.71326824e-01 2.37309148e-01 1.44419098e-02 1.53184022e+02] [-2.37280575e-01 9.71434169e-01 -3.68567634e-03 -1.52716511e+01] [-1.49040094e-02 1.53211634e-04 9.99888917e-01 7.67719674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.812320588 meters 0.023544411974620025 Centerline is valid? [True, True] Translation: X:153.21, Y:-15.28, Z:0.77 [[ 9.70347519e-01 2.41365063e-01 1.29845287e-02 1.53214358e+02] [-2.41342305e-01 9.70434387e-01 -3.31550557e-03 -1.52833152e+01] [-1.34008804e-02 8.34765284e-05 9.99910201e-01 7.67594761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.842320588 meters 0.02340210747763462 Centerline is valid? [True, True] Translation: X:153.24, Y:-15.29, Z:0.77 [[ 9.69548263e-01 2.44634062e-01 1.14167483e-02 1.53244730e+02] [-2.44616674e-01 9.69615478e-01 -2.91686297e-03 -1.52948719e+01] [-1.17834199e-02 3.53124120e-05 9.99930572e-01 7.68631272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.872320588 meters 0.02346525821725927 Centerline is valid? [True, True] Translation: X:153.27, Y:-15.31, Z:0.77 [[ 9.67973499e-01 2.50875473e-01 9.42346720e-03 1.53273966e+02] [-2.50863908e-01 9.68019368e-01 -2.40906230e-03 -1.53112333e+01] [-9.72647340e-03 -3.20993393e-05 9.99952696e-01 7.70446971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.902320588 meters 0.02368709192220269 Centerline is valid? [True, True] Translation: X:153.30, Y:-15.32, Z:0.77 [[ 9.66959403e-01 2.54758331e-01 9.36515065e-03 1.53304061e+02] [-2.54747077e-01 9.67004751e-01 -2.39550301e-03 -1.53223718e+01] [-9.66641952e-03 -6.93905997e-05 9.99953277e-01 7.70802343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.932320588 meters 0.023896877010992294 Centerline is valid? [True, True] Translation: X:153.33, Y:-15.33, Z:0.77 [[ 9.65882334e-01 2.58816891e-01 9.22683025e-03 1.53334403e+02] [-2.58806140e-01 9.65926398e-01 -2.36144752e-03 -1.53323383e+01] [-9.52362141e-03 -1.07079880e-04 9.99954644e-01 7.72018691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.962320588 meters 0.02447004605722125 Centerline is valid? [True, True] Translation: X:153.37, Y:-15.34, Z:0.77 [[ 9.63893918e-01 2.66075506e-01 1.05990934e-02 1.53365190e+02] [-2.66061681e-01 9.63952170e-01 -2.71954740e-03 -1.53433133e+01] [-1.09406240e-02 -1.98657399e-04 9.99940130e-01 7.71278190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99232058799998 meters 0.024986503110807405 Centerline is valid? [True, True] Translation: X:153.40, Y:-15.35, Z:0.77 [[ 9.62688597e-01 2.70378958e-01 1.12197877e-02 1.53395377e+02] [-2.70363697e-01 9.62753942e-01 -2.88415819e-03 -1.53541748e+01] [-1.15817105e-02 -2.56877073e-04 9.99932897e-01 7.70635174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02232058799999 meters 0.02565323521998602 Centerline is valid? [True, True] Translation: X:153.43, Y:-15.37, Z:0.77 [[ 9.61339181e-01 2.75181296e-01 1.01110685e-02 1.53425370e+02] [-2.75169114e-01 9.61392312e-01 -2.60426488e-03 -1.53653046e+01] [-1.04373485e-02 -2.78671896e-04 9.99945491e-01 7.71190218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.052320588 meters 0.026238486945764878 Centerline is valid? [True, True] Translation: X:153.46, Y:-15.38, Z:0.77 [[ 9.60228903e-01 2.79061757e-01 9.21903612e-03 1.53455756e+02] [-2.79051764e-01 9.60273114e-01 -2.37908203e-03 -1.53753711e+01] [-9.51670333e-03 -2.88124964e-04 9.99954674e-01 7.71566648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.082320588 meters 0.02721274316458736 Centerline is valid? [True, True] Translation: X:153.49, Y:-15.38, Z:0.77 [[ 9.58628517e-01 2.84479147e-01 1.01479626e-02 1.53486861e+02] [-2.84467334e-01 9.58682155e-01 -2.61955207e-03 -1.53824173e+01] [-1.04738786e-02 -3.75586563e-04 9.99945077e-01 7.70913914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.112320588 meters 0.027335520211475083 Centerline is valid? [True, True] Translation: X:153.52, Y:-15.39, Z:0.77 [[ 9.58058175e-01 2.86336308e-01 1.16641094e-02 1.53517992e+02] [-2.86320767e-01 9.58129071e-01 -3.01682378e-03 -1.53889138e+01] [-1.20395485e-02 -4.49384073e-04 9.99927421e-01 7.70218145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.142320588 meters 0.027826568104859877 Centerline is valid? [True, True] Translation: X:153.55, Y:-15.40, Z:0.77 [[ 9.57682734e-01 2.87575674e-01 1.20005245e-02 1.53548376e+02] [-2.87559258e-01 9.57757802e-01 -3.10899566e-03 -1.53980206e+01] [-1.23876675e-02 -4.73430438e-04 9.99923158e-01 7.69798139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.172320588 meters 0.02806679670768204 Centerline is valid? [True, True] Translation: X:153.58, Y:-15.41, Z:0.77 [[ 9.57420907e-01 2.88497741e-01 1.06892890e-02 1.53579877e+02] [-2.88484704e-01 9.57480481e-01 -2.77562171e-03 -1.54083244e+01] [-1.10355462e-02 -4.26258120e-04 9.99939016e-01 7.69475129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.202320588 meters 0.02745826680406221 Centerline is valid? [True, True] Translation: X:153.61, Y:-15.42, Z:0.77 [[ 9.57734971e-01 2.87489232e-01 9.67813257e-03 1.53610161e+02] [-2.87478449e-01 9.57783798e-01 -2.51745908e-03 -1.54188592e+01] [-9.99330095e-03 -3.71195936e-04 9.99949997e-01 7.72048047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.232320588 meters 0.027356003266249245 Centerline is valid? [True, True] Translation: X:153.64, Y:-15.43, Z:0.77 [[ 9.57903564e-01 2.86935625e-01 9.41860092e-03 1.53641769e+02] [-2.86925342e-01 9.57949802e-01 -2.45445050e-03 -1.54253211e+01] [-9.72681618e-03 -3.51308409e-04 9.99952632e-01 7.71726458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.262320588 meters 0.02748098930362464 Centerline is valid? [True, True] Translation: X:153.67, Y:-15.43, Z:0.77 [[ 9.57863315e-01 2.87048457e-01 1.00524748e-02 1.53673971e+02] [-2.87036692e-01 9.57915991e-01 -2.62519956e-03 -1.54309898e+01] [-1.03829859e-02 -3.70846771e-04 9.99946027e-01 7.70663228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.292320588 meters 0.027117938378570353 Centerline is valid? [True, True] Translation: X:153.71, Y:-15.44, Z:0.77 [[ 9.58124793e-01 2.86147435e-01 1.07947480e-02 1.53705997e+02] [-2.86133762e-01 9.58185524e-01 -2.82353285e-03 -1.54355841e+01] [-1.11513180e-02 -3.83445031e-04 9.99937749e-01 7.70347076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.322320588 meters 0.02690769880347939 Centerline is valid? [True, True] Translation: X:153.74, Y:-15.44, Z:0.77 [[ 9.58377695e-01 2.85200091e-01 1.31568461e-02 1.53738175e+02] [-2.85179594e-01 9.58467896e-01 -3.44831266e-03 -1.54426008e+01] [-1.35938737e-02 -4.47278095e-04 9.99907499e-01 7.67927722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.352320588 meters 0.026580023829351138 Centerline is valid? [True, True] Translation: X:153.77, Y:-15.45, Z:0.77 [[ 9.58753749e-01 2.83953295e-01 1.27190696e-02 1.53769380e+02] [-2.83933954e-01 9.58838025e-01 -3.33931229e-03 -1.54517514e+01] [-1.31437363e-02 -4.09797565e-04 9.99913533e-01 7.68294880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.382320588 meters 0.02570645822449556 Centerline is valid? [True, True] Translation: X:153.80, Y:-15.46, Z:0.77 [[ 9.60158187e-01 2.79345644e-01 7.89096289e-03 1.53799108e+02] [-2.79338049e-01 9.60190588e-01 -2.07118303e-03 -1.54608147e+01] [-8.15540425e-03 -2.15582832e-04 9.99966721e-01 7.69834639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.412320588 meters 0.025344740478504085 Centerline is valid? [True, True] Translation: X:153.83, Y:-15.47, Z:0.77 [[ 9.60980443e-01 2.76522848e-01 7.19039458e-03 1.53830017e+02] [-2.76516421e-01 9.61007329e-01 -1.89284492e-03 -1.54689535e+01] [-7.43343676e-03 -1.69275224e-04 9.99972357e-01 7.69761237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.442320588 meters 0.024957075469325143 Centerline is valid? [True, True] Translation: X:153.86, Y:-15.48, Z:0.77 [[ 9.61836461e-01 2.73472544e-01 9.13184483e-03 1.53861071e+02] [-2.73462005e-01 9.61879792e-01 -2.40774144e-03 -1.54765581e+01] [-9.44218818e-03 -1.81359097e-04 9.99955405e-01 7.69599702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.472320588 meters 0.02465747320058928 Centerline is valid? [True, True] Translation: X:153.89, Y:-15.49, Z:0.77 [[ 9.62566170e-01 2.70863792e-01 9.95863473e-03 1.53891801e+02] [-2.70851070e-01 9.62617670e-01 -2.63041985e-03 -1.54858270e+01] [-1.02988433e-02 -1.65353712e-04 9.99946952e-01 7.69648297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.502320588 meters 0.02461578793751856 Centerline is valid? [True, True] Translation: X:153.92, Y:-15.50, Z:0.77 [[ 9.63304151e-01 2.68122725e-01 1.24626528e-02 1.53923149e+02] [-2.68102482e-01 9.63384751e-01 -3.29869428e-03 -1.54980474e+01] [-1.28907845e-02 -1.63622246e-04 9.99916897e-01 7.70856579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.532320588 meters 0.024507581477529163 Centerline is valid? [True, True] Translation: X:153.96, Y:-15.51, Z:0.77 [[ 9.63084935e-01 2.68915634e-01 1.23202865e-02 1.53955456e+02] [-2.68895828e-01 9.63163721e-01 -3.26798408e-03 -1.55063098e+01] [-1.27452650e-02 -1.65527385e-04 9.99918762e-01 7.72739389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.562320588 meters 0.024442248731981937 Centerline is valid? [True, True] Translation: X:153.99, Y:-15.51, Z:0.77 [[ 9.62576407e-01 2.70720526e-01 1.25322405e-02 1.53988210e+02] [-2.70700094e-01 9.62657968e-01 -3.33118629e-03 -1.55128886e+01] [-1.29660817e-02 -1.85957344e-04 9.99915920e-01 7.73384989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.592320588 meters 0.024661607841115533 Centerline is valid? [True, True] Translation: X:154.02, Y:-15.52, Z:0.77 [[ 9.61860103e-01 2.73289171e-01 1.17545884e-02 1.54020201e+02] [-2.73271305e-01 9.61931904e-01 -3.13125427e-03 -1.55194623e+01] [-1.21628515e-02 -2.00363155e-04 9.99926010e-01 7.72483545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.622320588 meters 0.025129070480918836 Centerline is valid? [True, True] Translation: X:154.05, Y:-15.53, Z:0.77 [[ 9.60741695e-01 2.77164592e-01 1.24572979e-02 1.54049956e+02] [-2.77144830e-01 9.60822419e-01 -3.32008838e-03 -1.55308540e+01] [-1.28894621e-02 -2.62728381e-04 9.99916893e-01 7.71212965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.652320588 meters 0.025226252849539593 Centerline is valid? [True, True] Translation: X:154.08, Y:-15.54, Z:0.77 [[ 9.60365164e-01 2.78442970e-01 1.29716593e-02 1.54080554e+02] [-2.78421561e-01 9.60452722e-01 -3.46453578e-03 -1.55414319e+01] [-1.34233411e-02 -2.84370159e-04 9.99909862e-01 7.71398481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.682320588 meters 0.02527493017486036 Centerline is valid? [True, True] Translation: X:154.11, Y:-15.55, Z:0.77 [[ 9.60052662e-01 2.79519810e-01 1.29445913e-02 1.54112010e+02] [-2.79498486e-01 9.60139881e-01 -3.46486609e-03 -1.55506621e+01] [-1.33971171e-02 -2.91539770e-04 9.99910212e-01 7.73045074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.712320588 meters 0.02503875808956029 Centerline is valid? [True, True] Translation: X:154.14, Y:-15.56, Z:0.77 [[ 9.60263435e-01 2.78730075e-01 1.42716979e-02 1.54144755e+02] [-2.78704043e-01 9.60369434e-01 -3.82178546e-03 -1.55554682e+01] [-1.47713490e-02 -3.07659057e-04 9.99890850e-01 7.74829045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74232058799998 meters 0.024731198907749212 Centerline is valid? [True, True] Translation: X:154.18, Y:-15.56, Z:0.77 [[ 9.60616860e-01 2.77524848e-01 1.39716826e-02 1.54175879e+02] [-2.77499653e-01 9.60718420e-01 -3.74957275e-03 -1.55618669e+01] [-1.44634524e-02 -2.75234271e-04 9.99895361e-01 7.74163328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77232058799999 meters 0.024668156214413862 Centerline is valid? [True, True] Translation: X:154.21, Y:-15.57, Z:0.77 [[ 9.61042213e-01 2.76100102e-01 1.29072823e-02 1.54207661e+02] [-2.76078460e-01 9.61128857e-01 -3.46481467e-03 -1.55694889e+01] [-1.33621972e-02 -2.33589466e-04 9.99910695e-01 7.73703210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.802320588 meters 0.024460336475802872 Centerline is valid? [True, True] Translation: X:154.24, Y:-15.58, Z:0.77 [[ 9.61003970e-01 2.76253368e-01 1.24677772e-02 1.54239717e+02] [-2.76233073e-01 9.61084819e-01 -3.35573080e-03 -1.55789929e+01] [-1.29096233e-02 -2.19141790e-04 9.99916643e-01 7.74159611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.832320588 meters 0.024371894085551977 Centerline is valid? [True, True] Translation: X:154.27, Y:-15.59, Z:0.77 [[ 9.61439079e-01 2.74721995e-01 1.27563021e-02 1.54270189e+02] [-2.74700537e-01 9.61523680e-01 -3.43921231e-03 -1.55903453e+01] [-1.32103138e-02 -1.97569932e-04 9.99912720e-01 7.73708915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.862320588 meters 0.02406764629076994 Centerline is valid? [True, True] Translation: X:154.30, Y:-15.60, Z:0.77 [[ 9.61787102e-01 2.73555010e-01 1.15423971e-02 1.54300755e+02] [-2.73537287e-01 9.61856347e-01 -3.11785127e-03 -1.55992140e+01] [-1.19550317e-02 -1.58566843e-04 9.99928523e-01 7.73006807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.892320588 meters 0.024204889550439965 Centerline is valid? [True, True] Translation: X:154.33, Y:-15.61, Z:0.77 [[ 9.62313468e-01 2.71700789e-01 1.14660617e-02 1.54331479e+02] [-2.71683100e-01 9.62381767e-01 -3.10295350e-03 -1.56080033e+01] [-1.18778036e-02 -1.29121244e-04 9.99929448e-01 7.72389257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.922320588 meters 0.02384893749990438 Centerline is valid? [True, True] Translation: X:154.36, Y:-15.62, Z:0.77 [[ 9.62941763e-01 2.69498163e-01 1.06724936e-02 1.54362867e+02] [-2.69482642e-01 9.63000899e-01 -2.89366924e-03 -1.56163132e+01] [-1.10574595e-02 -8.96168222e-05 9.99938860e-01 7.72074672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.952320588 meters 0.02365272828391777 Centerline is valid? [True, True] Translation: X:154.39, Y:-15.62, Z:0.77 [[ 9.63817043e-01 2.66268280e-01 1.25662934e-02 1.54394885e+02] [-2.66246393e-01 9.63898958e-01 -3.41437041e-03 -1.56247857e+01] [-1.30217757e-02 -5.49019122e-05 9.99915212e-01 7.72321969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.982320588 meters 0.023583667607141635 Centerline is valid? [True, True] Translation: X:154.43, Y:-15.63, Z:0.77 [[ 9.64072352e-01 2.65329331e-01 1.28392261e-02 1.54426484e+02] [-2.65306303e-01 9.64157842e-01 -3.49584308e-03 -1.56330797e+01] [-1.33065902e-02 -3.60819424e-05 9.99911463e-01 7.72673410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.012320588 meters 0.023774125390764525 Centerline is valid? [True, True] Translation: X:154.46, Y:-15.64, Z:0.77 [[ 9.63944477e-01 2.65743858e-01 1.38291873e-02 1.54457496e+02] [-2.65717073e-01 9.64043671e-01 -3.77314802e-03 -1.56434126e+01] [-1.43346314e-02 -3.75459838e-05 9.99897253e-01 7.72012964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.042320588 meters 0.023806877841354362 Centerline is valid? [True, True] Translation: X:154.49, Y:-15.65, Z:0.77 [[ 9.63977841e-01 2.65589275e-01 1.44588879e-02 1.54488690e+02] [-2.65559853e-01 9.64086270e-01 -3.95321689e-03 -1.56534300e+01] [-1.49895473e-02 -2.88866617e-05 9.99887650e-01 7.71831871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.072320588 meters 0.024075870976711343 Centerline is valid? [True, True] Translation: X:154.52, Y:-15.66, Z:0.77 [[ 9.63930173e-01 2.65548660e-01 1.79591176e-02 1.54519161e+02] [-2.65503112e-01 9.64097458e-01 -4.91827531e-03 -1.56638809e+01] [-1.86203810e-02 -2.73276250e-05 9.99826625e-01 7.72321816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.102320588 meters 0.02386978591336847 Centerline is valid? [True, True] Translation: X:154.55, Y:-15.67, Z:0.77 [[ 9.63885129e-01 2.65669603e-01 1.85774231e-02 1.54551234e+02] [-2.65620675e-01 9.64064138e-01 -5.09857919e-03 -1.56722822e+01] [-1.92643649e-02 -2.01029949e-05 9.99814425e-01 7.73181931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.132320588 meters 0.02389721506732418 Centerline is valid? [True, True] Translation: X:154.58, Y:-15.68, Z:0.77 [[ 9.64074135e-01 2.65037967e-01 1.77746630e-02 1.54582224e+02] [-2.64992905e-01 9.64237977e-01 -4.88713094e-03 -1.56817930e+01] [-1.84342803e-02 1.39695211e-06 9.99830074e-01 7.73047291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.162320588 meters 0.023929932215498967 Centerline is valid? [True, True] Translation: X:154.61, Y:-15.69, Z:0.77 [[ 9.64419221e-01 2.63964414e-01 1.47768133e-02 1.54611935e+02] [-2.63933026e-01 9.64532419e-01 -4.07070014e-03 -1.56948247e+01] [-1.53272354e-02 2.57724231e-05 9.99882531e-01 7.71622651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.192320588 meters 0.023966144493406824 Centerline is valid? [True, True] Translation: X:154.64, Y:-15.71, Z:0.77 [[ 9.64935320e-01 2.62011291e-01 1.58086075e-02 1.54642625e+02] [-2.61974977e-01 9.65064805e-01 -4.36263751e-03 -1.57054802e+01] [-1.63993910e-02 6.82034200e-05 9.99865519e-01 7.70224314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.222320588 meters 0.02410264566383634 Centerline is valid? [True, True] Translation: X:154.67, Y:-15.72, Z:0.77 [[ 9.65103864e-01 2.61388112e-01 1.58362337e-02 1.54673240e+02] [-2.61351431e-01 9.65233778e-01 -4.37976061e-03 -1.57170191e+01] [-1.64304850e-02 8.81015400e-05 9.99865007e-01 7.70588912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.252320588 meters 0.024005260820531053 Centerline is valid? [True, True] Translation: X:154.70, Y:-15.73, Z:0.77 [[ 9.65618299e-01 2.59454843e-01 1.62630115e-02 1.54703399e+02] [-2.59415754e-01 9.65755232e-01 -4.50549784e-03 -1.57290630e+01] [-1.68750617e-02 1.31709762e-04 9.99857597e-01 7.72011152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.282320588 meters 0.024172251927744044 Centerline is valid? [True, True] Translation: X:154.73, Y:-15.75, Z:0.77 [[ 9.66255630e-01 2.57058743e-01 1.64578387e-02 1.54732077e+02] [-2.57018224e-01 9.66395762e-01 -4.56766394e-03 -1.57456452e+01] [-1.70789435e-02 1.83566520e-04 9.99854127e-01 7.72735601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.312320588 meters 0.02419326865644575 Centerline is valid? [True, True] Translation: X:154.76, Y:-15.76, Z:0.77 [[ 9.66407037e-01 2.56596909e-01 1.46787081e-02 1.54761716e+02] [-2.56564510e-01 9.66518491e-01 -4.08143318e-03 -1.57583268e+01] [-1.52345260e-02 1.78290192e-04 9.99883932e-01 7.73399716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.342320588 meters 0.02420169210760142 Centerline is valid? [True, True] Translation: X:154.79, Y:-15.77, Z:0.77 [[ 9.66522270e-01 2.56220650e-01 1.36264803e-02 1.54792148e+02] [-2.56192677e-01 9.66618306e-01 -3.78991017e-03 -1.57708477e+01] [-1.41426586e-02 1.72028103e-04 9.99899973e-01 7.72792661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.372320588 meters 0.024115985983715227 Centerline is valid? [True, True] Translation: X:154.82, Y:-15.78, Z:0.77 [[ 9.66292774e-01 2.57095541e-01 1.34222609e-02 1.54823287e+02] [-2.57068351e-01 9.66385976e-01 -3.74266221e-03 -1.57828745e+01] [-1.39333065e-02 1.66068965e-04 9.99902913e-01 7.74930274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.402320588 meters 0.02401207084703672 Centerline is valid? [True, True] Translation: X:154.85, Y:-15.80, Z:0.78 [[ 9.65597488e-01 2.59543643e-01 1.60806991e-02 1.54852529e+02] [-2.59504834e-01 9.65731366e-01 -4.49113480e-03 -1.57964038e+01] [-1.66952810e-02 1.63609331e-04 9.99860611e-01 7.77981926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.432320588 meters 0.02401207084703672 Centerline is valid? [True, True] Translation: X:154.88, Y:-15.80, Z:0.78 [[ 9.65459161e-01 2.60057878e-01 1.60782150e-02 1.54883893e+02] [-2.60018993e-01 9.65593016e-01 -4.50002259e-03 -1.58048477e+01] [-1.66952784e-02 1.63946765e-04 9.99860611e-01 7.78145818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.462320588 meters 0.023905220336256854 Centerline is valid? [True, True] Translation: X:154.91, Y:-15.82, Z:0.78 [[ 9.64901664e-01 2.62156128e-01 1.54578014e-02 1.54914381e+02] [-2.62120334e-01 9.65025465e-01 -4.33391475e-03 -1.58165284e+01] [-1.60533343e-02 1.29997485e-04 9.99871128e-01 7.79352629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49232058799998 meters 0.023877464117604576 Centerline is valid? [True, True] Translation: X:154.94, Y:-15.83, Z:0.78 [[ 9.64249175e-01 2.64658952e-01 1.33853761e-02 1.54943961e+02] [-2.64632254e-01 9.64342072e-01 -3.76001069e-03 -1.58288307e+01] [-1.39032018e-02 8.33849466e-05 9.99903342e-01 7.78120467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52232058799999 meters 0.023700253859327395 Centerline is valid? [True, True] Translation: X:154.97, Y:-15.84, Z:0.78 [[ 9.63029742e-01 2.69208782e-01 1.00173261e-02 1.54973272e+02] [-2.69194017e-01 9.63081840e-01 -2.81962626e-03 -1.58437707e+01] [-1.04065730e-02 1.87796893e-05 9.99945850e-01 7.75995604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.552320588 meters 0.02371510887376351 Centerline is valid? [True, True] Translation: X:155.00, Y:-15.85, Z:0.78 [[ 9.62290139e-01 2.71847541e-01 9.82865692e-03 1.55004708e+02] [-2.71833401e-01 9.62340332e-01 -2.77264214e-03 -1.58545792e+01] [-1.02122489e-02 -3.67104533e-06 9.99947854e-01 7.75809526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.582320588 meters 0.02374254438032451 Centerline is valid? [True, True] Translation: X:155.04, Y:-15.86, Z:0.78 [[ 9.61508801e-01 2.74591300e-01 1.00221757e-02 1.55036581e+02] [-2.74576688e-01 9.61561031e-01 -2.83294509e-03 -1.58646284e+01] [-1.04148357e-02 -2.79541794e-05 9.99945764e-01 7.77119621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.612320588 meters 0.024026656083694087 Centerline is valid? [True, True] Translation: X:155.07, Y:-15.88, Z:0.78 [[ 9.59963661e-01 2.79823434e-01 1.29852062e-02 1.55066452e+02] [-2.79799309e-01 9.60051475e-01 -3.67581213e-03 -1.58759323e+01] [-1.34950447e-02 -1.04605657e-04 9.99908932e-01 7.77747941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.642320588 meters 0.024030941798753147 Centerline is valid? [True, True] Translation: X:155.10, Y:-15.89, Z:0.78 [[ 9.59355081e-01 2.81904709e-01 1.29446449e-02 1.55098238e+02] [-2.81880821e-01 9.59442400e-01 -3.67199870e-03 -1.58860894e+01] [-1.34547949e-02 -1.26096536e-04 9.99909472e-01 7.77167642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.672320588 meters 0.024209964863248 Centerline is valid? [True, True] Translation: X:155.13, Y:-15.90, Z:0.78 [[ 9.58908526e-01 2.83411968e-01 1.31184759e-02 1.55129403e+02] [-2.83387475e-01 9.58998246e-01 -3.72867438e-03 -1.58967312e+01] [-1.36373463e-02 -1.42154099e-04 9.99906997e-01 7.75364264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.702320588 meters 0.02443977526006566 Centerline is valid? [True, True] Translation: X:155.16, Y:-15.91, Z:0.77 [[ 9.58355189e-01 2.85301605e-01 1.25827832e-02 1.55160642e+02] [-2.85279140e-01 9.58437776e-01 -3.58361859e-03 -1.59067380e+01] [-1.30822269e-02 -1.55226091e-04 9.99914412e-01 7.73683297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.732320588 meters 0.02453536946793243 Centerline is valid? [True, True] Translation: X:155.19, Y:-15.92, Z:0.77 [[ 9.57862847e-01 2.87015237e-01 1.10009094e-02 1.55192737e+02] [-2.86998104e-01 9.57926005e-01 -3.13957285e-03 -1.59157460e+01] [-1.14391624e-02 -1.49959943e-04 9.99934559e-01 7.73969702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.762320588 meters 0.024719781129929924 Centerline is valid? [True, True] Translation: X:155.22, Y:-15.92, Z:0.78 [[ 9.57214533e-01 2.89134044e-01 1.19097579e-02 1.55224230e+02] [-2.89114063e-01 9.57288603e-01 -3.40420155e-03 -1.59240806e+01] [-1.23853460e-02 -1.84727283e-04 9.99923282e-01 7.75711837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.792320588 meters 0.024780776755641575 Centerline is valid? [True, True] Translation: X:155.26, Y:-15.93, Z:0.78 [[ 9.56621584e-01 2.90959926e-01 1.47467483e-02 1.55255470e+02] [-2.90929406e-01 9.56735208e-01 -4.22173044e-03 -1.59328920e+01] [-1.53370877e-02 -2.51664256e-04 9.99882348e-01 7.76758391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.822320588 meters 0.024848062597092768 Centerline is valid? [True, True] Translation: X:155.29, Y:-15.94, Z:0.78 [[ 9.56361716e-01 2.91769496e-01 1.55829611e-02 1.55287403e+02] [-2.91735379e-01 9.56488624e-01 -4.47001209e-03 -1.59421991e+01] [-1.62091382e-02 -2.71152631e-04 9.99868587e-01 7.77170375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.852320588 meters 0.02510237325322084 Centerline is valid? [True, True] Translation: X:155.32, Y:-15.95, Z:0.78 [[ 9.55869883e-01 2.93418936e-01 1.47680426e-02 1.55319171e+02] [-2.93388362e-01 9.55983918e-01 -4.24461894e-03 -1.59522783e+01] [-1.53634628e-02 -2.75468409e-04 9.99881937e-01 7.76578695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.882320588 meters 0.024812054810922714 Centerline is valid? [True, True] Translation: X:155.35, Y:-15.96, Z:0.77 [[ 9.56838240e-01 2.90310909e-01 1.34223455e-02 1.55350422e+02] [-2.90285259e-01 9.56932357e-01 -3.86416941e-03 -1.59605283e+01] [-1.39660872e-02 -1.98923980e-04 9.99902450e-01 7.74557931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.912320588 meters 0.02444999473905472 Centerline is valid? [True, True] Translation: X:155.38, Y:-15.97, Z:0.78 [[ 9.57509560e-01 2.88059537e-01 1.40408845e-02 1.55382189e+02] [-2.88031188e-01 9.57612486e-01 -4.04483474e-03 -1.59682011e+01] [-1.46108795e-02 -1.71244717e-04 9.99893241e-01 7.76531583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.942320588 meters 0.024339497734623346 Centerline is valid? [True, True] Translation: X:155.41, Y:-15.98, Z:0.78 [[ 9.57950554e-01 2.86548858e-01 1.48488187e-02 1.55414227e+02] [-2.86516820e-01 9.58065619e-01 -4.28736505e-03 -1.59760766e+01] [-1.54546822e-02 -1.47352588e-04 9.99880558e-01 7.76972210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.972320588 meters 0.024230758501025226 Centerline is valid? [True, True] Translation: X:155.44, Y:-15.98, Z:0.78 [[ 9.58536102e-01 2.84590008e-01 1.47332286e-02 1.55444983e+02] [-2.84558128e-01 9.58649318e-01 -4.26096685e-03 -1.59848951e+01] [-1.53366281e-02 -1.08169385e-04 9.99882381e-01 7.77885169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.002320588 meters 0.024067670937894817 Centerline is valid? [True, True] Translation: X:155.48, Y:-15.99, Z:0.78 [[ 9.59270804e-01 2.82210054e-01 1.25303968e-02 1.55475566e+02] [-2.82186706e-01 9.59352637e-01 -3.63046533e-03 -1.59943888e+01] [-1.30456230e-02 -5.33120061e-05 9.99914901e-01 7.77406880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.032320588 meters 0.023925565325790092 Centerline is valid? [True, True] Translation: X:155.51, Y:-16.00, Z:0.78 [[ 9.59440908e-01 2.81642178e-01 1.22811641e-02 1.55507336e+02] [-2.81619607e-01 9.59519506e-01 -3.56575989e-03 -1.60028630e+01] [-1.27882849e-02 -3.74806999e-05 9.99918226e-01 7.78130555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.062320588 meters 0.023910400961767136 Centerline is valid? [True, True] Translation: X:155.54, Y:-16.01, Z:0.78 [[ 9.59785624e-01 2.80400250e-01 1.36841241e-02 1.55539548e+02] [-2.80371993e-01 9.59883170e-01 -3.98066366e-03 -1.60114336e+01] [-1.42513395e-02 -1.60614000e-05 9.99898444e-01 7.77500331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.092320588 meters 0.023702765010250683 Centerline is valid? [True, True] Translation: X:155.57, Y:-16.02, Z:0.78 [[ 9.60066043e-01 2.79401069e-01 1.44303591e-02 1.55570982e+02] [-2.79369411e-01 9.60174486e-01 -4.20588798e-03 -1.60201235e+01] [-1.50307923e-02 6.52929867e-06 9.99887031e-01 7.79254475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.122320588 meters 0.023697290510755517 Centerline is valid? [True, True] Translation: X:155.60, Y:-16.03, Z:0.78 [[ 9.60602775e-01 2.77528642e-01 1.48378620e-02 1.55602541e+02] [-2.77494814e-01 9.60717363e-01 -4.33324715e-03 -1.60302618e+01] [-1.54575918e-02 4.50994946e-05 9.99880523e-01 7.79833555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.152320588 meters 0.023712916758003782 Centerline is valid? [True, True] Translation: X:155.63, Y:-16.04, Z:0.78 [[ 9.60691004e-01 2.77279905e-01 1.37349664e-02 1.55633487e+02] [-2.77250797e-01 9.60789182e-01 -4.01795967e-03 -1.60387834e+01] [-1.43105066e-02 5.19873454e-05 9.99897598e-01 7.79223420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.182320588 meters 0.023734587738005138 Centerline is valid? [True, True] Translation: X:155.67, Y:-16.05, Z:0.78 [[ 9.61246934e-01 2.75414642e-01 1.22925515e-02 1.55665351e+02] [-2.75391075e-01 9.61325527e-01 -3.60373312e-03 -1.60481657e+01] [-1.28096644e-02 7.88184326e-05 9.99917950e-01 7.78079816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.212320588 meters 0.023775313941207465 Centerline is valid? [True, True] Translation: X:155.70, Y:-16.06, Z:0.78 [[ 9.61201317e-01 2.75578498e-01 1.21869076e-02 1.55696112e+02] [-2.75555256e-01 9.61278568e-01 -3.57995074e-03 -1.60598571e+01] [-1.27015706e-02 8.28869131e-05 9.99919328e-01 7.78139707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24232058799998 meters 0.023799620536632458 Centerline is valid? [True, True] Translation: X:155.73, Y:-16.07, Z:0.78 [[ 9.61525321e-01 2.74407491e-01 1.30224949e-02 1.55726236e+02] [-2.74380764e-01 9.61613496e-01 -3.83141738e-03 -1.60718420e+01] [-1.35739764e-02 1.10882732e-04 9.99907863e-01 7.78029942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27232058799999 meters 0.023861507113222814 Centerline is valid? [True, True] Translation: X:155.76, Y:-16.08, Z:0.78 [[ 9.61654244e-01 2.73894830e-01 1.42385978e-02 1.55756430e+02] [-2.73862717e-01 9.61759639e-01 -4.19623661e-03 -1.60836853e+01] [-1.48434362e-02 1.35907649e-04 9.99889821e-01 7.79263212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.302320588 meters 0.024041373335077505 Centerline is valid? [True, True] Translation: X:155.79, Y:-16.09, Z:0.78 [[ 9.61705411e-01 2.73646239e-01 1.55060881e-02 1.55786860e+02] [-2.73607998e-01 9.61830396e-01 -4.57740971e-03 -1.60939346e+01] [-1.61668178e-02 1.59529970e-04 9.99869296e-01 7.80691391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.332320588 meters 0.024022318559860836 Centerline is valid? [True, True] Translation: X:155.82, Y:-16.10, Z:0.78 [[ 9.61279585e-01 2.75084208e-01 1.64388988e-02 1.55818965e+02] [-2.75041271e-01 9.61420124e-01 -4.86254006e-03 -1.61025458e+01] [-1.71422961e-02 1.52884889e-04 9.99853048e-01 7.79888892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.362320588 meters 0.023956016186392804 Centerline is valid? [True, True] Translation: X:155.85, Y:-16.11, Z:0.78 [[ 9.60853680e-01 2.76567565e-01 1.64495544e-02 1.55850294e+02] [-2.76524625e-01 9.60994466e-01 -4.87524693e-03 -1.61110881e+01] [-1.71562659e-02 1.35692088e-04 9.99852811e-01 7.79052747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.392320588 meters 0.02376694263724469 Centerline is valid? [True, True] Translation: X:155.88, Y:-16.12, Z:0.78 [[ 9.60380436e-01 2.78243622e-01 1.58083843e-02 1.55880795e+02] [-2.78204064e-01 9.60510528e-01 -4.69300187e-03 -1.61202876e+01] [-1.64899174e-02 1.09110412e-04 9.99864026e-01 7.78738352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.422320588 meters 0.02370626123651035 Centerline is valid? [True, True] Translation: X:155.91, Y:-16.14, Z:0.78 [[ 9.59756407e-01 2.80517544e-01 1.33246419e-02 1.55909608e+02] [-2.80489558e-01 9.59848896e-01 -3.96291902e-03 -1.61359746e+01] [-1.39013111e-02 6.60140234e-05 9.99903370e-01 7.78473642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.452320588 meters 0.023772166463568497 Centerline is valid? [True, True] Translation: X:155.94, Y:-16.15, Z:0.78 [[ 9.59479735e-01 2.81481058e-01 1.29248881e-02 1.55940166e+02] [-2.81454707e-01 9.59566783e-01 -3.85192322e-03 -1.61498084e+01] [-1.34865367e-02 5.80716751e-05 9.99909051e-01 7.78606830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.482320588 meters 0.02386925493759336 Centerline is valid? [True, True] Translation: X:155.97, Y:-16.16, Z:0.78 [[ 9.59185181e-01 2.82478736e-01 1.30212393e-02 1.55970761e+02] [-2.82451980e-01 9.59273559e-01 -3.88817187e-03 -1.61621920e+01] [-1.35892564e-02 5.16020261e-05 9.99907660e-01 7.78883510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.512320588 meters 0.02380013067370805 Centerline is valid? [True, True] Translation: X:156.00, Y:-16.17, Z:0.78 [[ 9.58899930e-01 2.83388436e-01 1.42098089e-02 1.56002027e+02] [-2.83356553e-01 9.59005210e-01 -4.25111105e-03 -1.61719851e+01] [-1.48319965e-02 4.99476271e-05 9.99889999e-01 7.79075299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.542320588 meters 0.023910980346365813 Centerline is valid? [True, True] Translation: X:156.03, Y:-16.18, Z:0.78 [[ 9.58682050e-01 2.84092224e-01 1.48437181e-02 1.56033730e+02] [-2.84057386e-01 9.58796957e-01 -4.44926913e-03 -1.61807545e+01] [-1.54961146e-02 4.89666814e-05 9.99879927e-01 7.78780651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.572320588 meters 0.023857585264205467 Centerline is valid? [True, True] Translation: X:156.06, Y:-16.19, Z:0.78 [[ 9.58046411e-01 2.86247908e-01 1.44640752e-02 1.56064787e+02] [-2.86214945e-01 9.58155590e-01 -4.34401362e-03 -1.61917160e+01] [-1.51022993e-02 2.19321768e-05 9.99885954e-01 7.78785507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.602320588 meters 0.023706036079038307 Centerline is valid? [True, True] Translation: X:156.09, Y:-16.20, Z:0.78 [[ 9.57585409e-01 2.87875636e-01 1.25619838e-02 1.56094645e+02] [-2.87850829e-01 9.57667802e-01 -3.77915003e-03 -1.62042105e+01] [-1.31181326e-02 2.88147069e-06 9.99913954e-01 7.78548191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.632320588 meters 0.02381320013923707 Centerline is valid? [True, True] Translation: X:156.12, Y:-16.22, Z:0.78 [[ 9.57103903e-01 2.89526669e-01 1.12439547e-02 1.56124461e+02] [-2.89506839e-01 9.57169947e-01 -3.38855746e-03 -1.62173036e+01] [-1.17434533e-02 -1.20002154e-05 9.99931043e-01 7.78378736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.662320588 meters 0.023845727653885315 Centerline is valid? [True, True] Translation: X:156.15, Y:-16.23, Z:0.78 [[ 9.56006234e-01 2.93129772e-01 1.12702326e-02 1.56154011e+02] [-2.93110019e-01 9.56072662e-01 -3.40329438e-03 -1.62338076e+01] [-1.17727682e-02 -4.98474516e-05 9.99930697e-01 7.78782418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.692320588 meters 0.02393278017177863 Centerline is valid? [True, True] Translation: X:156.18, Y:-16.25, Z:0.78 [[ 9.55531111e-01 2.94596725e-01 1.31554547e-02 1.56184278e+02] [-2.94569872e-01 9.55621664e-01 -3.97826367e-03 -1.62454832e+01] [-1.37436209e-02 -7.38458927e-05 9.99905549e-01 7.81341959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.722320588 meters 0.02386362384070328 Centerline is valid? [True, True] Translation: X:156.21, Y:-16.26, Z:0.78 [[ 9.55044058e-01 2.96160593e-01 1.34071170e-02 1.56214835e+02] [-2.96132745e-01 9.55138155e-01 -4.06229308e-03 -1.62565661e+01] [-1.40087402e-02 -9.06175111e-05 9.99901869e-01 7.84100092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.752320588 meters 0.024040250550573745 Centerline is valid? [True, True] Translation: X:156.25, Y:-16.27, Z:0.78 [[ 9.54481543e-01 2.97988820e-01 1.29479040e-02 1.56245905e+02] [-2.97962914e-01 9.54569354e-01 -3.93061299e-03 -1.62687951e+01] [-1.35309510e-02 -1.06297653e-04 9.99908447e-01 7.83086527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.782320588 meters 0.02412334684871006 Centerline is valid? [True, True] Translation: X:156.28, Y:-16.28, Z:0.78 [[ 9.53711773e-01 3.00506260e-01 1.13948112e-02 1.56276890e+02] [-3.00486296e-01 9.53779835e-01 -3.46585049e-03 -1.62808703e+01] [-1.19096510e-02 -1.18562214e-04 9.99929071e-01 7.81011693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.812320588 meters 0.024357067996687177 Centerline is valid? [True, True] Translation: X:156.31, Y:-16.29, Z:0.78 [[ 9.52708573e-01 3.03693675e-01 1.07947943e-02 1.56307286e+02] [-3.03675892e-01 9.52769716e-01 -3.28958137e-03 -1.62939179e+01] [-1.12839781e-02 -1.44106404e-04 9.99936324e-01 7.79355137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.842320588 meters 0.02471788498135509 Centerline is valid? [True, True] Translation: X:156.34, Y:-16.31, Z:0.78 [[ 9.51380108e-01 3.07780644e-01 1.21228998e-02 1.56337232e+02] [-3.07758482e-01 9.51457319e-01 -3.69947677e-03 -1.63066528e+01] [-1.26730491e-02 -2.11316620e-04 9.99919671e-01 7.80312378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.872320588 meters 0.02574693865062631 Centerline is valid? [True, True] Translation: X:156.37, Y:-16.32, Z:0.78 [[ 9.49241395e-01 3.14205744e-01 1.46807154e-02 1.56367777e+02] [-3.14174012e-01 9.49354844e-01 -4.47990655e-03 -1.63167195e+01] [-1.53448207e-02 -3.59786518e-04 9.99882197e-01 7.83464844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.902320588 meters 0.025913055323864675 Centerline is valid? [True, True] Translation: X:156.40, Y:-16.32, Z:0.78 [[ 9.48430304e-01 3.16676786e-01 1.39918598e-02 1.56398840e+02] [-3.16648109e-01 9.48533433e-01 -4.27800205e-03 -1.63237309e+01] [-1.46264908e-02 -3.73109174e-04 9.99892958e-01 7.84740800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.932320588 meters 0.02615555671254692 Centerline is valid? [True, True] Translation: X:156.43, Y:-16.33, Z:0.78 [[ 9.47631163e-01 3.19157333e-01 1.15661084e-02 1.56430248e+02] [-3.19137837e-01 9.47701686e-01 -3.54337078e-03 -1.63323758e+01] [-1.20921132e-02 -3.33374236e-04 9.99926832e-01 7.83642691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.962320588 meters 0.026423629913849073 Centerline is valid? [True, True] Translation: X:156.46, Y:-16.34, Z:0.78 [[ 9.46962148e-01 3.21177884e-01 1.03661045e-02 1.56460477e+02] [-3.21162292e-01 9.47018831e-01 -3.18055590e-03 -1.63431319e+01] [-1.08384204e-02 -3.17335842e-04 9.99941212e-01 7.82439491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99232058799998 meters 0.027225567948800846 Centerline is valid? [True, True] Translation: X:156.49, Y:-16.36, Z:0.78 [[ 9.45737423e-01 3.24712686e-01 1.19330504e-02 1.56489941e+02] [-3.24692241e-01 9.45812617e-01 -3.66641723e-03 -1.63568882e+01] [-1.24769618e-02 -4.07100895e-04 9.99922077e-01 7.80579369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02232058799999 meters 0.027529896178107943 Centerline is valid? [True, True] Translation: X:156.52, Y:-16.37, Z:0.78 [[ 9.45357866e-01 3.25757538e-01 1.34361805e-02 1.56520995e+02] [-3.25731639e-01 9.45453229e-01 -4.13427128e-03 -1.63657796e+01] [-1.40500502e-02 -4.68223206e-04 9.99901184e-01 7.80914943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.052320588 meters 0.027443093615416084 Centerline is valid? [True, True] Translation: X:156.55, Y:-16.37, Z:0.78 [[ 9.45325821e-01 3.25835411e-01 1.37977429e-02 1.56553528e+02] [-3.25807998e-01 9.45426390e-01 -4.25312544e-03 -1.63736189e+01] [-1.44305691e-02 -4.74825694e-04 9.99895761e-01 7.80563631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.082320588 meters 0.02732277774765325 Centerline is valid? [True, True] Translation: X:156.59, Y:-16.38, Z:0.78 [[ 9.45030758e-01 3.26700266e-01 1.35573771e-02 1.56585024e+02] [-3.26673785e-01 9.45127882e-01 -4.18636689e-03 -1.63824749e+01] [-1.41811422e-02 -4.72594207e-04 9.99899331e-01 7.81822921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.112320588 meters 0.02777646081444898 Centerline is valid? [True, True] Translation: X:156.62, Y:-16.39, Z:0.78 [[ 9.44420428e-01 3.28558017e-01 1.09400855e-02 1.56615341e+02] [-3.28540825e-01 9.44483706e-01 -3.38454068e-03 -1.63949918e+01] [-1.14447505e-02 -3.97835366e-04 9.99934428e-01 7.81447290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.142320588 meters 0.027754348967127425 Centerline is valid? [True, True] Translation: X:156.65, Y:-16.40, Z:0.78 [[ 9.44209739e-01 3.29188685e-01 1.01379897e-02 1.56647052e+02] [-3.29173899e-01 9.44264090e-01 -3.14197090e-03 -1.64043288e+01] [-1.06072409e-02 -3.70482063e-04 9.99943673e-01 7.81151913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.172320588 meters 0.028069417044062253 Centerline is valid? [True, True] Translation: X:156.68, Y:-16.41, Z:0.78 [[ 9.43860252e-01 3.30210518e-01 9.42537925e-03 1.56678796e+02] [-3.30197737e-01 9.43907247e-01 -2.92633753e-03 -1.64131330e+01] [-9.86299121e-03 -3.50185216e-04 9.99951298e-01 7.80747870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.202320588 meters 0.028281001478797706 Centerline is valid? [True, True] Translation: X:156.71, Y:-16.42, Z:0.78 [[ 9.43650817e-01 3.30808603e-01 9.42360584e-03 1.56710386e+02] [-3.30795808e-01 9.43697803e-01 -2.93078676e-03 -1.64209348e+01] [-9.86256560e-03 -3.51649987e-04 9.99951302e-01 7.81102511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.232320588 meters 0.028097144366996268 Centerline is valid? [True, True] Translation: X:156.74, Y:-16.43, Z:0.78 [[ 9.43357716e-01 3.31605388e-01 1.06810718e-02 1.56741504e+02] [-3.31588953e-01 9.43418096e-01 -3.32612832e-03 -1.64281779e+01] [-1.11796785e-02 -4.03996588e-04 9.99937424e-01 7.83296432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.262320588 meters 0.02832494125947291 Centerline is valid? [True, True] Translation: X:156.77, Y:-16.44, Z:0.78 [[ 9.43066486e-01 3.32426832e-01 1.08629366e-02 1.56773521e+02] [-3.32409818e-01 9.43128957e-01 -3.38881871e-03 -1.64377454e+01] [-1.13716843e-02 -4.15065418e-04 9.99935254e-01 7.83491688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.292320588 meters 0.02832494125947291 Centerline is valid? [True, True] Translation: X:156.80, Y:-16.45, Z:0.78 [[ 9.42905837e-01 3.32882282e-01 1.08613006e-02 1.56804599e+02] [-3.32865238e-01 9.42968300e-01 -3.39406041e-03 -1.64471166e+01] [-1.13716847e-02 -4.15070032e-04 9.99935254e-01 7.83655697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.322320588 meters 0.0282489225415577 Centerline is valid? [True, True] Translation: X:156.84, Y:-16.46, Z:0.78 [[ 9.42702083e-01 3.33499976e-01 9.51567670e-03 1.56836412e+02] [-3.33486871e-01 9.42750037e-01 -2.97892562e-03 -1.64564365e+01] [-9.96437619e-03 -3.65113867e-04 9.99950288e-01 7.83205356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.352320588 meters 0.027678194299192913 Centerline is valid? [True, True] Translation: X:156.87, Y:-16.46, Z:0.78 [[ 9.43573631e-01 3.30950725e-01 1.18499473e-02 1.56868530e+02] [-3.30930143e-01 9.43647945e-01 -3.71430937e-03 -1.64625827e+01] [-1.24114318e-02 -4.16780390e-04 9.99922888e-01 7.82178159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.382320588 meters 0.02774954655273471 Centerline is valid? [True, True] Translation: X:156.90, Y:-16.47, Z:0.78 [[ 9.43720438e-01 3.30493752e-01 1.28691383e-02 1.56900633e+02] [-3.30469340e-01 9.43808077e-01 -4.04087991e-03 -1.64703011e+01] [-1.34814822e-02 -4.39394673e-04 9.99909024e-01 7.82259068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.412320588 meters 0.027598802383855557 Centerline is valid? [True, True] Translation: X:156.93, Y:-16.48, Z:0.78 [[ 9.43892441e-01 3.29936970e-01 1.44449253e-02 1.56932907e+02] [-3.29906035e-01 9.44002843e-01 -4.54313836e-03 -1.64765174e+01] [-1.51349999e-02 -4.77234086e-04 9.99885345e-01 7.82997717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.442320588 meters 0.02719311018415205 Centerline is valid? [True, True] Translation: X:156.97, Y:-16.48, Z:0.79 [[ 9.44201787e-01 3.29082282e-01 1.37053540e-02 1.56966894e+02] [-3.29054253e-01 9.44301151e-01 -4.31683525e-03 -1.64765797e+01] [-1.43625756e-02 -4.33841479e-04 9.99896759e-01 7.85606957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.472320588 meters 0.02721011496504853 Centerline is valid? [True, True] Translation: X:157.00, Y:-16.48, Z:0.79 [[ 9.44195309e-01 3.29137609e-01 1.27926955e-02 1.56999347e+02] [-3.29113110e-01 9.44281883e-01 -4.03559973e-03 -1.64805512e+01] [-1.34081782e-02 -3.99849465e-04 9.99910026e-01 7.85283302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.502320588 meters 0.027307927045390867 Centerline is valid? [True, True] Translation: X:157.03, Y:-16.49, Z:0.78 [[ 9.44002153e-01 3.29638465e-01 1.40860668e-02 1.57031009e+02] [-3.29608722e-01 9.44107138e-01 -4.45005438e-03 -1.64859198e+01] [-1.47656653e-02 -4.42029566e-04 9.99890884e-01 7.84063013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.532320588 meters 0.027514419818500623 Centerline is valid? [True, True] Translation: X:157.06, Y:-16.49, Z:0.78 [[ 9.44075058e-01 3.29384155e-01 1.51117071e-02 1.57063119e+02] [-3.29349757e-01 9.44195883e-01 -4.78246746e-03 -1.64933951e+01] [-1.58436806e-02 -4.62028828e-04 9.99874374e-01 7.82816638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.562320588 meters 0.026918765841526197 Centerline is valid? [True, True] Translation: X:157.09, Y:-16.50, Z:0.78 [[ 9.44498147e-01 3.28188170e-01 1.46893227e-02 1.57094538e+02] [-3.28155421e-01 9.44612273e-01 -4.65548237e-03 -1.65007331e+01] [-1.54035887e-02 -4.23286404e-04 9.99881268e-01 7.83199451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.592320588 meters 0.026578076761495265 Centerline is valid? [True, True] Translation: X:157.13, Y:-16.51, Z:0.78 [[ 9.45381130e-01 3.25661343e-01 1.41141224e-02 1.57125377e+02] [-3.25630725e-01 9.45486414e-01 -4.48008329e-03 -1.65085356e+01] [-1.48037009e-02 -3.60605706e-04 9.99890354e-01 7.81646769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.622320588 meters 0.026136459601097627 Centerline is valid? [True, True] Translation: X:157.16, Y:-16.52, Z:0.78 [[ 9.46441559e-01 3.22590967e-01 1.35441692e-02 1.57157099e+02] [-3.22562363e-01 9.46538421e-01 -4.30577262e-03 -1.65158259e+01] [-1.42090799e-02 -2.93677081e-04 9.99899003e-01 7.80974568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.652320588 meters 0.025309055378880254 Centerline is valid? [True, True] Translation: X:157.19, Y:-16.52, Z:0.78 [[ 9.48827241e-01 3.15426698e-01 1.52599282e-02 1.57189968e+02] [-3.15389416e-01 9.48949922e-01 -4.85400965e-03 -1.65185778e+01] [-1.60119919e-02 -2.07203269e-04 9.99871778e-01 7.81050063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.682320588 meters 0.025049266214914327 Centerline is valid? [True, True] Translation: X:157.22, Y:-16.52, Z:0.78 [[ 9.49846265e-01 3.12407560e-01 1.39136329e-02 1.57221307e+02] [-3.12376123e-01 9.49948155e-01 -4.43392742e-03 -1.65245840e+01] [-1.46024223e-02 -1.34737297e-04 9.99893370e-01 7.81881321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.712320588 meters 0.02485176526451928 Centerline is valid? [True, True] Translation: X:157.25, Y:-16.53, Z:0.78 [[ 9.50756791e-01 3.09660173e-01 1.31187836e-02 1.57252631e+02] [-3.09631871e-01 9.50847291e-01 -4.18733338e-03 -1.65314356e+01] [-1.37706102e-02 -8.08578614e-05 9.99905177e-01 7.81710140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74232058799998 meters 0.02466719128385754 Centerline is valid? [True, True] Translation: X:157.28, Y:-16.54, Z:0.78 [[ 9.51452356e-01 3.07572102e-01 1.17394733e-02 1.57283803e+02] [-3.07549204e-01 9.51524777e-01 -3.75328223e-03 -1.65404346e+01] [-1.23248046e-02 -3.93964323e-05 9.99924046e-01 7.81407380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77232058799999 meters 0.024791287811043422 Centerline is valid? [True, True] Translation: X:157.31, Y:-16.55, Z:0.78 [[ 9.52890859e-01 3.03002665e-01 1.37257176e-02 1.57313553e+02] [-3.02970791e-01 9.52989708e-01 -4.39494120e-03 -1.65513124e+01] [-1.44121465e-02 2.94077964e-05 9.99896139e-01 7.80194253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.802320588 meters 0.024884022144163746 Centerline is valid? [True, True] Translation: X:157.34, Y:-16.56, Z:0.78 [[ 9.53138732e-01 3.02124397e-01 1.57291291e-02 1.57343330e+02] [-3.02082290e-01 9.53268506e-01 -5.04425121e-03 -1.65622834e+01] [-1.65180747e-02 5.63798738e-05 9.99863566e-01 7.80380256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.832320588 meters 0.025011745603113273 Centerline is valid? [True, True] Translation: X:157.37, Y:-16.57, Z:0.78 [[ 9.53786884e-01 2.99991879e-01 1.71887357e-02 1.57373513e+02] [-2.99941094e-01 9.53941749e-01 -5.52082766e-03 -1.65741400e+01] [-1.80532561e-02 1.10084806e-04 9.99837021e-01 7.82347255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.862320588 meters 0.024892420693380022 Centerline is valid? [True, True] Translation: X:157.40, Y:-16.58, Z:0.78 [[ 9.54013748e-01 2.99374189e-01 1.52598617e-02 1.57403999e+02] [-2.99333956e-01 9.54135777e-01 -4.90934420e-03 -1.65834835e+01] [-1.60297109e-02 1.15787102e-04 9.99871509e-01 7.82784195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.892320588 meters 0.02472013216004635 Centerline is valid? [True, True] Translation: X:157.44, Y:-16.59, Z:0.78 [[ 9.54126485e-01 2.99134603e-01 1.26940580e-02 1.57435028e+02] [-2.99106718e-01 9.54210919e-01 -4.08567376e-03 -1.65936337e+01] [-1.33349751e-02 1.01371538e-04 9.99911080e-01 7.82839523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.922320588 meters 0.024620007239447097 Centerline is valid? [True, True] Translation: X:157.47, Y:-16.60, Z:0.78 [[ 9.54099772e-01 2.99263291e-01 1.16235960e-02 1.57465830e+02] [-2.99239812e-01 9.54170568e-01 -3.74989849e-03 -1.66045072e+01] [-1.22131002e-02 9.95346005e-05 9.99925412e-01 7.82090391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.952320588 meters 0.02490645159145525 Centerline is valid? [True, True] Translation: X:157.50, Y:-16.62, Z:0.78 [[ 9.53748650e-01 3.00245411e-01 1.47039663e-02 1.57495048e+02] [-3.00207856e-01 9.53861982e-01 -4.75008623e-03 -1.66193970e+01] [-1.54517460e-02 1.16142143e-04 9.99880608e-01 7.82606797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.982320588 meters 0.024766099633042753 Centerline is valid? [True, True] Translation: X:157.53, Y:-16.63, Z:0.78 [[ 9.53732439e-01 3.00283228e-01 1.49806151e-02 1.57526177e+02] [-3.00244108e-01 9.53850076e-01 -4.84851860e-03 -1.66314696e+01] [-1.57451897e-02 1.26348040e-04 9.99876029e-01 7.83888670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.012320588 meters 0.024816450960488557 Centerline is valid? [True, True] Translation: X:157.56, Y:-16.64, Z:0.78 [[ 9.53783640e-01 3.00138105e-01 1.46248639e-02 1.57557356e+02] [-3.00100671e-01 9.53895749e-01 -4.74208302e-03 -1.66421016e+01] [-1.53738753e-02 1.33989718e-04 9.99881806e-01 7.84564613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.042320588 meters 0.02485519922707785 Centerline is valid? [True, True] Translation: X:157.59, Y:-16.65, Z:0.78 [[ 9.53296305e-01 3.01683434e-01 1.46034412e-02 1.57588620e+02] [-3.01646159e-01 9.53408145e-01 -4.74376071e-03 -1.66519193e+01] [-1.53541538e-02 1.17137610e-04 9.99882111e-01 7.83720753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.072320588 meters 0.024733844565851964 Centerline is valid? [True, True] Translation: X:157.62, Y:-16.66, Z:0.78 [[ 9.53011825e-01 3.02591549e-01 1.43810980e-02 1.57619940e+02] [-3.02555374e-01 9.53120319e-01 -4.68006709e-03 -1.66619567e+01] [-1.51230655e-02 1.09080782e-04 9.99885634e-01 7.83202669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.102320588 meters 0.02466898931328611 Centerline is valid? [True, True] Translation: X:157.65, Y:-16.67, Z:0.78 [[ 9.52175722e-01 3.05245106e-01 1.36681884e-02 1.57649611e+02] [-3.05212604e-01 9.52273816e-01 -4.45494473e-03 -1.66748116e+01] [-1.43757080e-02 7.01868312e-05 9.99896662e-01 7.83220873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.132320588 meters 0.024708380232598217 Centerline is valid? [True, True] Translation: X:157.68, Y:-16.69, Z:0.78 [[ 9.51331668e-01 3.07900163e-01 1.28665125e-02 1.57679719e+02] [-3.07871512e-01 9.51418671e-01 -4.20043332e-03 -1.66873579e+01] [-1.35347543e-02 3.47725872e-05 9.99908400e-01 7.83910868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.162320588 meters 0.024575733137068834 Centerline is valid? [True, True] Translation: X:157.71, Y:-16.70, Z:0.78 [[ 9.50648569e-01 3.10010546e-01 1.26791187e-02 1.57711062e+02] [-3.09982807e-01 9.50733118e-01 -4.14708151e-03 -1.66987660e+01] [-1.33400971e-02 1.21082995e-05 9.99911017e-01 7.83697814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.192320588 meters 0.024605775625654944 Centerline is valid? [True, True] Translation: X:157.74, Y:-16.71, Z:0.78 [[ 9.49925327e-01 3.12227612e-01 1.24816939e-02 1.57742385e+02] [-3.12200823e-01 9.50007325e-01 -4.08993058e-03 -1.67092438e+01] [-1.31346899e-02 -1.16664762e-05 9.99913736e-01 7.83748382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.222320588 meters 0.024689543380349538 Centerline is valid? [True, True] Translation: X:157.77, Y:-16.72, Z:0.78 [[ 9.49241192e-01 3.14260106e-01 1.34812934e-02 1.57773668e+02] [-3.14228951e-01 9.49336918e-01 -4.42516048e-03 -1.67201207e+01] [-1.41889409e-02 -3.56680680e-05 9.99899331e-01 7.82903617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.252320588 meters 0.024753985998578764 Centerline is valid? [True, True] Translation: X:157.80, Y:-16.73, Z:0.78 [[ 9.48269556e-01 3.17232581e-01 1.21794780e-02 1.57804308e+02] [-3.17207303e-01 9.48347766e-01 -4.00515367e-03 -1.67339212e+01] [-1.28209460e-02 -6.54540837e-05 9.99917806e-01 7.83082132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.282320588 meters 0.024799719069812664 Centerline is valid? [True, True] Translation: X:157.83, Y:-16.74, Z:0.78 [[ 9.47906856e-01 3.18382299e-01 1.02617632e-02 1.57834839e+02] [-3.18364366e-01 9.47962398e-01 -3.37980397e-03 -1.67449280e+01] [-1.08038355e-02 -6.32403913e-05 9.99941635e-01 7.84182304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.312320588 meters 0.024623321167656514 Centerline is valid? [True, True] Translation: X:157.87, Y:-16.75, Z:0.79 [[ 9.47788528e-01 3.18746163e-01 9.88888527e-03 1.57866220e+02] [-3.18729465e-01 9.47840113e-01 -3.26319531e-03 -1.67540738e+01] [-1.04132131e-02 -5.90600290e-05 9.99945779e-01 7.85557137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.342320588 meters 0.024661202490299492 Centerline is valid? [True, True] Translation: X:157.90, Y:-16.76, Z:0.78 [[ 9.47701411e-01 3.18971647e-01 1.09144310e-02 1.57897605e+02] [-3.18951250e-01 9.47764256e-01 -3.60775739e-03 -1.67626075e+01] [-1.14950799e-02 -6.20946379e-05 9.99933927e-01 7.84474336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.372320588 meters 0.0246212170167736 Centerline is valid? [True, True] Translation: X:157.93, Y:-16.77, Z:0.78 [[ 9.47849871e-01 3.18498521e-01 1.18031564e-02 1.57928255e+02] [-3.18474547e-01 9.47923356e-01 -3.90819244e-03 -1.67732862e+01] [-1.24332411e-02 -5.46251718e-05 9.99922703e-01 7.84929831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.402320588 meters 0.024598849906249828 Centerline is valid? [True, True] Translation: X:157.96, Y:-16.78, Z:0.79 [[ 9.47858153e-01 3.18534560e-01 1.00327227e-02 1.57958116e+02] [-3.18517186e-01 9.47911247e-01 -3.32714589e-03 -1.67841210e+01] [-1.05699416e-02 -4.19322418e-05 9.99944136e-01 7.85192238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.432320588 meters 0.02446667178526391 Centerline is valid? [True, True] Translation: X:157.99, Y:-16.79, Z:0.79 [[ 9.47990473e-01 3.18168737e-01 9.09497216e-03 1.57989291e+02] [-3.18154396e-01 9.48034099e-01 -3.02103546e-03 -1.67933767e+01] [-9.58354278e-03 -2.96925383e-05 9.99954076e-01 7.86547454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.462320588 meters 0.024457599315096928 Centerline is valid? [True, True] Translation: X:158.02, Y:-16.80, Z:0.79 [[ 9.47469919e-01 3.19685207e-01 1.01054690e-02 1.58020455e+02] [-3.19667524e-01 9.47523808e-01 -3.36266298e-03 -1.68036679e+01] [-1.06501661e-02 -4.43682274e-05 9.99943284e-01 7.86959096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49232058799998 meters 0.02453474792189272 Centerline is valid? [True, True] Translation: X:158.05, Y:-16.81, Z:0.79 [[ 9.47557843e-01 3.19450327e-01 9.25320518e-03 1.58052089e+02] [-3.19435435e-01 9.47603022e-01 -3.08468386e-03 -1.68143437e+01] [-9.75376846e-03 -3.28852424e-05 9.99952430e-01 7.88645494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52232058799999 meters 0.024441190650673884 Centerline is valid? [True, True] Translation: X:158.08, Y:-16.83, Z:0.79 [[ 9.47578697e-01 3.19380818e-01 9.51343418e-03 1.58083094e+02] [-3.19365018e-01 9.47626452e-01 -3.17689894e-03 -1.68254082e+01] [-1.00298225e-02 -2.78963266e-05 9.99949700e-01 7.89425677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.552320588 meters 0.02421595259942418 Centerline is valid? [True, True] Translation: X:158.11, Y:-16.83, Z:0.79 [[ 9.48173401e-01 3.17604829e-01 9.71465075e-03 1.58114798e+02] [-3.17588202e-01 9.48223166e-01 -3.24983826e-03 -1.68343347e+01] [-1.02438212e-02 -3.84826640e-06 9.99947531e-01 7.88220748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.582320588 meters 0.024303230753427302 Centerline is valid? [True, True] Translation: X:158.15, Y:-16.84, Z:0.79 [[ 9.48223006e-01 3.17390692e-01 1.16738805e-02 1.58145733e+02] [-3.17366603e-01 9.48294864e-01 -3.91034297e-03 -1.68434707e+01] [-1.23113874e-02 2.97736757e-06 9.99924212e-01 7.87430176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.612320588 meters 0.02434180099565547 Centerline is valid? [True, True] Translation: X:158.18, Y:-16.85, Z:0.79 [[ 9.48350780e-01 3.16971370e-01 1.26470638e-02 1.58176529e+02] [-3.16942966e-01 9.48435106e-01 -4.24335766e-03 -1.68536323e+01] [-1.33399422e-02 1.57936305e-05 9.99911019e-01 7.87921093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.642320588 meters 0.024185153037374466 Centerline is valid? [True, True] Translation: X:158.21, Y:-16.86, Z:0.79 [[ 9.48707406e-01 3.15855721e-01 1.37630573e-02 1.58206709e+02] [-3.15821868e-01 9.48807231e-01 -4.62446885e-03 -1.68646323e+01] [-1.45191532e-02 4.05933940e-05 9.99894591e-01 7.88258133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.672320588 meters 0.02416017686787016 Centerline is valid? [True, True] Translation: X:158.24, Y:-16.88, Z:0.79 [[ 9.49371770e-01 3.14009708e-01 9.54704024e-03 1.58236245e+02] [-3.13993268e-01 9.49419770e-01 -3.21356774e-03 -1.68773359e+01] [-1.00732402e-02 5.31641258e-05 9.99949262e-01 7.89427452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.702320588 meters 0.024175843448641546 Centerline is valid? [True, True] Translation: X:158.27, Y:-16.89, Z:0.79 [[ 9.49698785e-01 3.12975734e-01 1.08815168e-02 1.58266594e+02] [-3.12954249e-01 9.49761119e-01 -3.66798595e-03 -1.68892136e+01] [-1.14828322e-02 7.80648684e-05 9.99934067e-01 7.88344138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.732320588 meters 0.024117043813091866 Centerline is valid? [True, True] Translation: X:158.30, Y:-16.90, Z:0.79 [[ 9.49654150e-01 3.13088488e-01 1.15149475e-02 1.58296588e+02] [-3.13064351e-01 9.49723955e-01 -3.88853086e-03 -1.69025582e+01] [-1.21534757e-02 8.78399066e-05 9.99926140e-01 7.89138972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.762320588 meters 0.024219009440407502 Centerline is valid? [True, True] Translation: X:158.33, Y:-16.92, Z:0.79 [[ 9.49766880e-01 3.12736677e-01 1.17747869e-02 1.58326701e+02] [-3.12711326e-01 9.49839861e-01 -3.98318126e-03 -1.69159933e+01] [-1.24298489e-02 1.00984398e-04 9.99922741e-01 7.89535386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.792320588 meters 0.024125975688843282 Centerline is valid? [True, True] Translation: X:158.36, Y:-16.93, Z:0.79 [[ 9.49571304e-01 3.13299194e-01 1.25679969e-02 1.58357420e+02] [-3.13270266e-01 9.49654466e-01 -4.25868273e-03 -1.69291291e+01] [-1.32694963e-02 1.06743174e-04 9.99911951e-01 7.89632843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.822320588 meters 0.023943180970747015 Centerline is valid? [True, True] Translation: X:158.39, Y:-16.94, Z:0.79 [[ 9.48952358e-01 3.15252071e-01 1.02739376e-02 1.58386806e+02] [-3.15232796e-01 9.49007970e-01 -3.48676654e-03 -1.69431362e+01] [-1.08492590e-02 7.00932662e-05 9.99941143e-01 7.90131200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.852320588 meters 0.02397971769197392 Centerline is valid? [True, True] Translation: X:158.42, Y:-16.96, Z:0.79 [[ 9.48441912e-01 3.16781389e-01 1.03677888e-02 1.58416988e+02] [-3.16761781e-01 9.48498576e-01 -3.52512070e-03 -1.69562890e+01] [-1.09505256e-02 5.92529667e-05 9.99940039e-01 7.88894954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.882320588 meters 0.02401520443987999 Centerline is valid? [True, True] Translation: X:158.45, Y:-16.97, Z:0.79 [[ 9.47747797e-01 3.18851711e-01 1.03778368e-02 1.58446426e+02] [-3.18832121e-01 9.47804613e-01 -3.53475152e-03 -1.69706571e+01] [-1.09632232e-02 4.12652537e-05 9.99939901e-01 7.87842616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.912320588 meters 0.02410032046011185 Centerline is valid? [True, True] Translation: X:158.48, Y:-16.99, Z:0.79 [[ 9.47224184e-01 3.20397723e-01 1.05661963e-02 1.58476030e+02] [-3.20377442e-01 9.47283114e-01 -3.60504028e-03 -1.69855629e+01] [-1.11642260e-02 2.96103936e-05 9.99937678e-01 7.87977581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.942320588 meters 0.02399294243021238 Centerline is valid? [True, True] Translation: X:158.50, Y:-17.00, Z:0.79 [[ 9.45994450e-01 3.24008918e-01 1.06170296e-02 1.58504475e+02] [-3.23988600e-01 9.46054026e-01 -3.62855851e-03 -1.70030393e+01] [-1.12199690e-02 -7.20036058e-06 9.99937054e-01 7.87643133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.972320588 meters 0.024154175548632317 Centerline is valid? [True, True] Translation: X:158.53, Y:-17.02, Z:0.79 [[ 9.45197440e-01 3.26344275e-01 1.00605390e-02 1.58534651e+02] [-3.26326098e-01 9.45250979e-01 -3.44442976e-03 -1.70160497e+01] [-1.06338043e-02 -2.73502573e-05 9.99943459e-01 7.87611832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.002320588 meters 0.024145376989338514 Centerline is valid? [True, True] Translation: X:158.56, Y:-17.03, Z:0.79 [[ 9.44376749e-01 3.28716518e-01 9.89980218e-03 1.58564832e+02] [-3.28698986e-01 9.44428636e-01 -3.39527049e-03 -1.70285367e+01] [-1.04657382e-02 -4.76404360e-05 9.99945232e-01 7.88995907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.032320588 meters 0.024438681521300517 Centerline is valid? [True, True] Translation: X:158.59, Y:-17.04, Z:0.79 [[ 9.43345684e-01 3.31609489e-01 1.15787841e-02 1.58594848e+02] [-3.31585661e-01 9.43416737e-01 -3.97621492e-03 -1.70409639e+01] [-1.22421693e-02 -8.84136039e-05 9.99925058e-01 7.88116761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.062320588 meters 0.024950163636876202 Centerline is valid? [True, True] Translation: X:158.62, Y:-17.05, Z:0.79 [[ 9.41368420e-01 3.37195432e-01 1.11686413e-02 1.58624488e+02] [-3.37173589e-01 9.41434659e-01 -3.84098126e-03 -1.70545225e+01] [-1.18097074e-02 -1.49992418e-04 9.99930252e-01 7.90190970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.092320588 meters 0.024976106861561435 Centerline is valid? [True, True] Translation: X:158.65, Y:-17.07, Z:0.79 [[ 9.40480596e-01 3.39668015e-01 1.10403481e-02 1.58654155e+02] [-3.39646777e-01 9.40545379e-01 -3.80231515e-03 -1.70654962e+01] [-1.16754733e-02 -1.73815037e-04 9.99931824e-01 7.90884874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.122320588 meters 0.025277850973755744 Centerline is valid? [True, True] Translation: X:158.69, Y:-17.08, Z:0.79 [[ 9.39441121e-01 3.42592817e-01 8.97445924e-03 1.58685505e+02] [-3.42578861e-01 9.39483972e-01 -3.09668301e-03 -1.70770176e+01] [-9.49226197e-03 -1.65308667e-04 9.99954934e-01 7.91616844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.152320588 meters 0.025598832468107745 Centerline is valid? [True, True] Translation: X:158.72, Y:-17.09, Z:0.79 [[ 9.38251356e-01 3.45882883e-01 7.03023780e-03 1.58716636e+02] [-3.45874384e-01 9.38277682e-01 -2.42948621e-03 -1.70859881e+01] [-7.43663292e-03 -1.52110442e-04 9.99972336e-01 7.91881281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.182320588 meters 0.025562598177229362 Centerline is valid? [True, True] Translation: X:158.75, Y:-17.10, Z:0.79 [[ 9.38008841e-01 3.46519396e-01 7.98259704e-03 1.58747763e+02] [-3.46508423e-01 9.38042791e-01 -2.76315159e-03 -1.70960259e+01] [-8.44550323e-03 -1.74176487e-04 9.99964321e-01 7.91544127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.212320588 meters 0.025642424743005432 Centerline is valid? [True, True] Translation: X:158.78, Y:-17.11, Z:0.79 [[ 9.37789823e-01 3.47075384e-01 9.43007041e-03 1.58778173e+02] [-3.47060061e-01 9.37837211e-01 -3.26797808e-03 -1.71070654e+01] [-9.97810568e-03 -2.08124223e-04 9.99950196e-01 7.91896202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24232058799998 meters 0.025642424743005432 Centerline is valid? [True, True] Translation: X:158.81, Y:-17.12, Z:0.79 [[ 9.37616087e-01 3.47544500e-01 9.42833295e-03 1.58808914e+02] [-3.47529150e-01 9.37663467e-01 -3.27298956e-03 -1.71173850e+01] [-9.97811288e-03 -2.07812875e-04 9.99950196e-01 7.92060067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27232058799999 meters 0.025825822327841648 Centerline is valid? [True, True] Translation: X:158.84, Y:-17.13, Z:0.79 [[ 9.37463478e-01 3.47936669e-01 1.01144830e-02 1.58840089e+02] [-3.47918968e-01 9.37518013e-01 -3.51665470e-03 -1.71285014e+01] [-1.07060831e-02 -2.22285146e-04 9.99942664e-01 7.92872351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.302320588 meters 0.025597885770862777 Centerline is valid? [True, True] Translation: X:158.87, Y:-17.14, Z:0.79 [[ 9.37165870e-01 3.48696512e-01 1.14400014e-02 1.58871945e+02] [-3.48673863e-01 9.37235657e-01 -3.98252294e-03 -1.71357878e+01] [-1.21106691e-02 -2.56544923e-04 9.99926630e-01 7.94534715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.332320588 meters 0.025769221021447058 Centerline is valid? [True, True] Translation: X:158.90, Y:-17.14, Z:0.79 [[ 9.36510156e-01 3.50459730e-01 1.12563378e-02 1.58902572e+02] [-3.50437862e-01 9.36577762e-01 -3.92424446e-03 -1.71442712e+01] [-1.19177253e-02 -2.69552158e-04 9.99928945e-01 7.93029204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.362320588 meters 0.026088996366846817 Centerline is valid? [True, True] Translation: X:158.93, Y:-17.15, Z:0.79 [[ 9.36004461e-01 3.51845393e-01 1.00234087e-02 1.58934332e+02] [-3.51828067e-01 9.36058095e-01 -3.50066044e-03 -1.71542846e+01] [-1.06141841e-02 -2.49882735e-04 9.99943637e-01 7.91909520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.392320588 meters 0.026240521861913568 Centerline is valid? [True, True] Translation: X:158.97, Y:-17.16, Z:0.79 [[ 9.35508474e-01 3.53182652e-01 9.26871207e-03 1.58965346e+02] [-3.53167849e-01 9.35554358e-01 -3.24243469e-03 -1.71649831e+01] [-9.81655565e-03 -2.40085979e-04 9.99951788e-01 7.91359099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.422320588 meters 0.02623006733782874 Centerline is valid? [True, True] Translation: X:159.00, Y:-17.18, Z:0.79 [[ 9.35547692e-01 3.53039964e-01 1.06442477e-02 1.58996096e+02] [-3.53020370e-01 9.35608204e-01 -3.72921335e-03 -1.71755153e+01] [-1.12754068e-02 -2.68779328e-04 9.99936394e-01 7.91676772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.452320588 meters 0.025980562750926063 Centerline is valid? [True, True] Translation: X:159.03, Y:-17.18, Z:0.79 [[ 9.36148179e-01 3.51339682e-01 1.36753371e-02 1.59028313e+02] [-3.51307059e-01 9.36248007e-01 -4.79797509e-03 -1.71839913e+01] [-1.44892262e-02 -3.12626820e-04 9.99894977e-01 7.92062256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.482320588 meters 0.025761910261903862 Centerline is valid? [True, True] Translation: X:159.06, Y:-17.20, Z:0.79 [[ 9.36632346e-01 3.49985429e-01 1.51673081e-02 1.59059300e+02] [-3.49944989e-01 9.36755091e-01 -5.32964446e-03 -1.71957294e+01] [-1.60733510e-02 -3.15806068e-04 9.99870765e-01 7.92765088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.512320588 meters 0.02543773960079408 Centerline is valid? [True, True] Translation: X:159.09, Y:-17.21, Z:0.79 [[ 9.37083539e-01 3.48812380e-01 1.42956068e-02 1.59088597e+02] [-3.48776214e-01 9.37192536e-01 -5.03015465e-03 -1.72093473e+01] [-1.51523162e-02 -2.72292516e-04 9.99885160e-01 7.93396855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.542320588 meters 0.0253779385661717 Centerline is valid? [True, True] Translation: X:159.12, Y:-17.22, Z:0.79 [[ 9.37402068e-01 3.48013573e-01 1.28029828e-02 1.59117780e+02] [-3.47984403e-01 9.37489468e-01 -4.51148542e-03 -1.72233305e+01] [-1.35727197e-02 -2.26162571e-04 9.99907861e-01 7.92232837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.572320588 meters 0.024990878135000418 Centerline is valid? [True, True] Translation: X:159.15, Y:-17.23, Z:0.79 [[ 9.38093642e-01 3.46260790e-01 9.15340061e-03 1.59147797e+02] [-3.46245746e-01 9.38138287e-01 -3.23065388e-03 -1.72341238e+01] [-9.70580433e-03 -1.38670159e-04 9.99952888e-01 7.91490291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.602320588 meters 0.024871071507121822 Centerline is valid? [True, True] Translation: X:159.18, Y:-17.24, Z:0.79 [[ 9.37889951e-01 3.46795597e-01 9.75979102e-03 1.59179188e+02] [-3.46778462e-01 9.37940719e-01 -3.45048964e-03 -1.72442781e+01] [-1.03507200e-02 -1.48305761e-04 9.99946419e-01 7.91554178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.632320588 meters 0.024828867509368663 Centerline is valid? [True, True] Translation: X:159.21, Y:-17.26, Z:0.79 [[ 9.37482897e-01 3.47890506e-01 9.90018413e-03 1.59210456e+02] [-3.47872877e-01 9.37535157e-01 -3.50575171e-03 -1.72556593e+01] [-1.05013884e-02 -1.57423271e-04 9.99944847e-01 7.92603763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.662320588 meters 0.025017578756698647 Centerline is valid? [True, True] Translation: X:159.24, Y:-17.27, Z:0.80 [[ 9.36576152e-01 3.50285934e-01 1.11747743e-02 1.59238473e+02] [-3.50263586e-01 9.36642794e-01 -3.96198510e-03 -1.72713921e+01] [-1.18545995e-02 -2.03415762e-04 9.99929711e-01 7.96731108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.692320588 meters 0.025386600424782545 Centerline is valid? [True, True] Translation: X:159.27, Y:-17.28, Z:0.80 [[ 9.35607202e-01 3.52888837e-01 1.04226985e-02 1.59268112e+02] [-3.52869498e-01 9.35665230e-01 -3.70063700e-03 -1.72846723e+01] [-1.10580700e-02 -2.15509743e-04 9.99938834e-01 7.97129427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.722320588 meters 0.025624846330778894 Centerline is valid? [True, True] Translation: X:159.30, Y:-17.30, Z:0.80 [[ 9.34899656e-01 3.54728702e-01 1.14096645e-02 1.59297648e+02] [-3.54705606e-01 9.34969242e-01 -4.05587536e-03 -1.72959685e+01] [-1.21064207e-02 -2.55235475e-04 9.99926682e-01 7.96014484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.752320588 meters 0.025841855071358815 Centerline is valid? [True, True] Translation: X:159.33, Y:-17.31, Z:0.80 [[ 9.33904040e-01 3.57338495e-01 1.15084406e-02 1.59327372e+02] [-3.57315187e-01 9.33974901e-01 -4.09163850e-03 -1.73070733e+01] [-1.22106946e-02 -2.90942871e-04 9.99925404e-01 7.95762092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.782320588 meters 0.026997633189015522 Centerline is valid? [True, True] Translation: X:159.36, Y:-17.32, Z:0.80 [[ 9.31871307e-01 3.62554555e-01 1.30407812e-02 1.59357129e+02] [-3.62525115e-01 9.31962462e-01 -4.63801335e-03 -1.73198932e+01] [-1.38350515e-02 -4.05579154e-04 9.99904209e-01 7.95327676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.812320588 meters 0.027649874907990223 Centerline is valid? [True, True] Translation: X:159.39, Y:-17.33, Z:0.80 [[ 9.30540597e-01 3.66001383e-01 1.17126194e-02 1.59387823e+02] [-3.65977816e-01 9.30614219e-01 -4.17297501e-03 -1.73305053e+01] [-1.24272448e-02 -4.03436224e-04 9.99922697e-01 7.96362529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.842320588 meters 0.02803868165512161 Centerline is valid? [True, True] Translation: X:159.42, Y:-17.34, Z:0.80 [[ 9.29638986e-01 3.68304966e-01 1.10818548e-02 1.59419299e+02] [-3.68283968e-01 9.29704947e-01 -3.95364063e-03 -1.73389211e+01] [-1.17590007e-02 -4.05810990e-04 9.99930778e-01 7.95846687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.872320588 meters 0.02837216678659798 Centerline is valid? [True, True] Translation: X:159.45, Y:-17.35, Z:0.80 [[ 9.28591975e-01 3.70968632e-01 9.96076942e-03 1.59450716e+02] [-3.70951769e-01 9.28645315e-01 -3.55864606e-03 -1.73473644e+01] [-1.05701679e-02 -3.90434858e-04 9.99944058e-01 7.95477820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.902320588 meters 0.029060335421912498 Centerline is valid? [True, True] Translation: X:159.48, Y:-17.35, Z:0.79 [[ 9.27199826e-01 3.74395242e-01 1.13439612e-02 1.59482570e+02] [-3.74373629e-01 9.27269089e-01 -4.05242163e-03 -1.73538483e+01] [-1.20361119e-02 -4.89475298e-04 9.99927444e-01 7.93940636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.932320588 meters 0.029913698374358623 Centerline is valid? [True, True] Translation: X:159.51, Y:-17.36, Z:0.80 [[ 9.26097479e-01 3.77128722e-01 1.08345330e-02 1.59512811e+02] [-3.77109116e-01 9.26160722e-01 -3.87721371e-03 -1.73637906e+01] [-1.14967276e-02 -4.95123320e-04 9.99933788e-01 7.95343910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.962320588 meters 0.030653895980549684 Centerline is valid? [True, True] Translation: X:159.54, Y:-17.37, Z:0.79 [[ 9.25201685e-01 3.79268021e-01 1.25543046e-02 1.59543476e+02] [-3.79241820e-01 9.25286663e-01 -4.49811383e-03 -1.73733363e+01] [-1.33223213e-02 -5.99454837e-04 9.99911074e-01 7.94886695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99232058799998 meters 0.030956918863157108 Centerline is valid? [True, True] Translation: X:159.57, Y:-17.38, Z:0.80 [[ 9.24183772e-01 3.81755811e-01 1.21184447e-02 1.59574518e+02] [-3.81731538e-01 9.24263020e-01 -4.34761178e-03 -1.73819784e+01] [-1.28603564e-02 -6.08000296e-04 9.99917117e-01 7.96253165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02232058799999 meters 0.031522497397578536 Centerline is valid? [True, True] Translation: X:159.61, Y:-17.39, Z:0.80 [[ 9.23103316e-01 3.84378238e-01 1.15602164e-02 1.59607264e+02] [-3.84356287e-01 9.23175497e-01 -4.15283570e-03 -1.73867914e+01] [-1.22683682e-02 -6.09745457e-04 9.99924555e-01 7.95784350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.052320588 meters 0.03097805962038664 Centerline is valid? [True, True] Translation: X:159.64, Y:-17.39, Z:0.80 [[ 9.23054558e-01 3.84535766e-01 1.01256341e-02 1.59638739e+02] [-3.84518929e-01 9.23109938e-01 -3.63802078e-03 -1.73930082e+01] [-1.07460225e-02 -5.35406296e-04 9.99942116e-01 7.95848165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.082320588 meters 0.031022588300443316 Centerline is valid? [True, True] Translation: X:159.67, Y:-17.40, Z:0.80 [[ 9.23015738e-01 3.84681878e-01 7.86125908e-03 1.59670159e+02] [-3.84671690e-01 9.23049123e-01 -2.82977151e-03 -1.74011304e+01] [-8.34489012e-03 -4.12080174e-04 9.99965096e-01 7.96073018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.112320588 meters 0.03144933829093045 Centerline is valid? [True, True] Translation: X:159.70, Y:-17.41, Z:0.80 [[ 9.22811713e-01 3.85149250e-01 8.86552511e-03 1.59702057e+02] [-3.85136270e-01 9.22854181e-01 -3.19606186e-03 -1.74108227e+01] [-9.41254774e-03 -4.65071951e-04 9.99955593e-01 7.95535957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.142320588 meters 0.031106585682306283 Centerline is valid? [True, True] Translation: X:159.74, Y:-17.42, Z:0.80 [[ 9.22842251e-01 3.85032407e-01 1.05936071e-02 1.59735059e+02] [-3.85013808e-01 9.22902889e-01 -3.82414762e-03 -1.74159330e+01] [-1.12492914e-02 -5.49600038e-04 9.99936574e-01 7.97372712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.172320588 meters 0.030787245435251184 Centerline is valid? [True, True] Translation: X:159.77, Y:-17.42, Z:0.80 [[ 9.23029598e-01 3.84565702e-01 1.12063552e-02 1.59766712e+02] [-3.84544798e-01 9.23097446e-01 -4.05010049e-03 -1.74219730e+01] [-1.19020876e-02 -5.70982992e-04 9.99929005e-01 7.99018890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.202320588 meters 0.030669230407214546 Centerline is valid? [True, True] Translation: X:159.80, Y:-17.43, Z:0.80 [[ 9.23131516e-01 3.84319951e-01 1.12418206e-02 1.59798944e+02] [-3.84298834e-01 9.23199792e-01 -4.06817706e-03 -1.74282839e+01] [-1.19419281e-02 -5.64756104e-04 9.99928533e-01 8.00435728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.232320588 meters 0.03032855908573516 Centerline is valid? [True, True] Translation: X:159.83, Y:-17.44, Z:0.80 [[ 9.23124364e-01 3.84336466e-01 1.12645542e-02 1.59830818e+02] [-3.84315202e-01 9.23192919e-01 -4.08165993e-03 -1.74354588e+01] [-1.19680874e-02 -5.61259696e-04 9.99928222e-01 8.00940462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.262320588 meters 0.030041447283527978 Centerline is valid? [True, True] Translation: X:159.86, Y:-17.44, Z:0.80 [[ 9.23502616e-01 3.83442936e-01 1.06973377e-02 1.59862847e+02] [-3.83423641e-01 9.23564425e-01 -3.88131106e-03 -1.74412524e+01] [-1.13679419e-02 -5.17211260e-04 9.99935249e-01 8.00409837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.292320588 meters 0.02981224495314117 Centerline is valid? [True, True] Translation: X:159.89, Y:-17.45, Z:0.80 [[ 9.23196989e-01 3.84157006e-01 1.14330558e-02 1.59894607e+02] [-3.84134956e-01 9.23267612e-01 -4.15345589e-03 -1.74477517e+01] [-1.21513493e-02 -5.57378420e-04 9.99926014e-01 7.99400643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.322320588 meters 0.029479849121686975 Centerline is valid? [True, True] Translation: X:159.93, Y:-17.45, Z:0.80 [[ 9.23512568e-01 3.83420337e-01 1.06481396e-02 1.59926680e+02] [-3.83401103e-01 9.23573814e-01 -3.87353706e-03 -1.74526598e+01] [-1.13195358e-02 -5.05248300e-04 9.99935804e-01 7.98578340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.352320588 meters 0.029312423061521934 Centerline is valid? [True, True] Translation: X:159.96, Y:-17.46, Z:0.80 [[ 9.23988362e-01 3.82272485e-01 1.06421208e-02 1.59958805e+02] [-3.82253140e-01 9.24049517e-01 -3.87643479e-03 -1.74583052e+01] [-1.13157010e-02 -4.86203479e-04 9.99935857e-01 7.98190107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.382320588 meters 0.028320798869425904 Centerline is valid? [True, True] Translation: X:159.99, Y:-17.46, Z:0.80 [[ 9.25649921e-01 3.78268960e-01 9.20968027e-03 1.59991511e+02] [-3.78254278e-01 9.25695658e-01 -3.35413914e-03 -1.74612072e+01] [-9.79412775e-03 -3.78842336e-04 9.99951965e-01 7.97937308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.412320588 meters 0.027906133888405522 Centerline is valid? [True, True] Translation: X:160.02, Y:-17.47, Z:0.80 [[ 9.25996747e-01 3.77407079e-01 9.69124694e-03 1.60023124e+02] [-3.77390709e-01 9.26047380e-01 -3.53592176e-03 -1.74695297e+01] [-1.03090357e-02 -3.83134506e-04 9.99946787e-01 7.98707578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.442320588 meters 0.027734808514272558 Centerline is valid? [True, True] Translation: X:160.05, Y:-17.48, Z:0.80 [[ 9.26348329e-01 3.76488075e-01 1.16405205e-02 1.60054473e+02] [-3.76464322e-01 9.26421358e-01 -4.25227936e-03 -1.74762540e+01] [-1.23849593e-02 -4.43148764e-04 9.99923205e-01 7.99548120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.472320588 meters 0.027571306353364272 Centerline is valid? [True, True] Translation: X:160.09, Y:-17.48, Z:0.80 [[ 9.26586940e-01 3.75866246e-01 1.26967957e-02 1.60086933e+02] [-3.75837847e-01 9.26673807e-01 -4.64409350e-03 -1.74818488e+01] [-1.35113460e-02 -4.68779981e-04 9.99908608e-01 7.99989245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.502320588 meters 0.026853417016893116 Centerline is valid? [True, True] Translation: X:160.12, Y:-17.48, Z:0.80 [[ 9.27877457e-01 3.72633323e-01 1.37051840e-02 1.60120979e+02] [-3.72599870e-01 9.27978556e-01 -5.01365825e-03 -1.74835441e+01] [-1.45863730e-02 -4.54489304e-04 9.99893510e-01 7.97636955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.532320588 meters 0.026466458670220013 Centerline is valid? [True, True] Translation: X:160.15, Y:-17.49, Z:0.80 [[ 9.28575678e-01 3.70946523e-01 1.20783856e-02 1.60152457e+02] [-3.70920369e-01 9.28654153e-01 -4.42076446e-03 -1.74927141e+01] [-1.28565102e-02 -3.75104895e-04 9.99917281e-01 7.97113970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.562320588 meters 0.02630560417269773 Centerline is valid? [True, True] Translation: X:160.18, Y:-17.50, Z:0.80 [[ 9.29068284e-01 3.69752846e-01 1.07217503e-02 1.60183207e+02] [-3.69732079e-01 9.29130096e-01 -3.93116259e-03 -1.75021761e+01] [-1.14154594e-02 -3.11856536e-04 9.99934793e-01 7.97196980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.592320588 meters 0.025651165698303377 Centerline is valid? [True, True] Translation: X:160.22, Y:-17.51, Z:0.80 [[ 9.29798558e-01 3.67881930e-01 1.17271771e-02 1.60215944e+02] [-3.67856932e-01 9.29872457e-01 -4.30015962e-03 -1.75050938e+01] [-1.24867300e-02 -3.15641154e-04 9.99921988e-01 7.99764184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.622320588 meters 0.025767326825795113 Centerline is valid? [True, True] Translation: X:160.25, Y:-17.51, Z:0.80 [[ 9.29333169e-01 3.69003519e-01 1.32764144e-02 1.60248262e+02] [-3.68971480e-01 9.29427925e-01 -4.87635033e-03 -1.75111197e+01] [-1.41388607e-02 -3.66864156e-04 9.99899974e-01 8.00650115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.652320588 meters 0.02587489608124186 Centerline is valid? [True, True] Translation: X:160.28, Y:-17.52, Z:0.80 [[ 9.28769641e-01 3.70387972e-01 1.41316533e-02 1.60280502e+02] [-3.70351728e-01 9.28877056e-01 -5.19738284e-03 -1.75178341e+01] [-1.50516166e-02 -4.06510836e-04 9.99886635e-01 8.01768776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.682320588 meters 0.026207082555382216 Centerline is valid? [True, True] Translation: X:160.31, Y:-17.53, Z:0.80 [[ 9.28276262e-01 3.71607106e-01 1.45375602e-02 1.60311844e+02] [-3.71568787e-01 9.28389989e-01 -5.35391220e-03 -1.75258365e+01] [-1.54860771e-02 -4.31793991e-04 9.99879990e-01 8.02400874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.712320588 meters 0.026351854769388026 Centerline is valid? [True, True] Translation: X:160.34, Y:-17.53, Z:0.80 [[ 9.27658554e-01 3.73136516e-01 1.47901293e-02 1.60343231e+02] [-3.73096934e-01 9.27776336e-01 -5.45413867e-03 -1.75338035e+01] [-1.57570703e-02 -4.58573518e-04 9.99875745e-01 8.02525258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74232058799998 meters 0.02598102910508796 Centerline is valid? [True, True] Translation: X:160.38, Y:-17.54, Z:0.80 [[ 9.27873308e-01 3.72678513e-01 1.27220804e-02 1.60376019e+02] [-3.72649093e-01 9.27960441e-01 -4.69813404e-03 -1.75387458e+01] [-1.35564809e-02 -3.81598553e-04 9.99908034e-01 8.01660850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77232058799999 meters 0.025937367196702345 Centerline is valid? [True, True] Translation: X:160.41, Y:-17.55, Z:0.80 [[ 9.28101593e-01 3.72194433e-01 9.93661147e-03 1.60407185e+02] [-3.72176401e-01 9.28154740e-01 -3.67499478e-03 -1.75478195e+01] [-1.05905256e-02 -2.87403783e-04 9.99943878e-01 8.00334798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.802320588 meters 0.02581708152176019 Centerline is valid? [True, True] Translation: X:160.44, Y:-17.56, Z:0.80 [[ 9.28446083e-01 3.71379245e-01 8.08257306e-03 1.60438034e+02] [-3.71367244e-01 9.28481237e-01 -2.99376705e-03 -1.75571646e+01] [-8.61634038e-03 -2.22051601e-04 9.99962854e-01 7.98685821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.832320588 meters 0.025408217839683823 Centerline is valid? [True, True] Translation: X:160.47, Y:-17.57, Z:0.80 [[ 9.28805410e-01 3.70471208e-01 8.46130795e-03 1.60469193e+02] [-3.70457981e-01 9.28843924e-01 -3.13821601e-03 -1.75661541e+01] [-9.02185316e-03 -2.19767055e-04 9.99959278e-01 7.99241685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.862320588 meters 0.025260694120130316 Centerline is valid? [True, True] Translation: X:160.50, Y:-17.57, Z:0.80 [[ 9.29360052e-01 3.68984886e-01 1.18341286e-02 1.60501027e+02] [-3.68958813e-01 9.29435353e-01 -4.39546933e-03 -1.75739522e+01] [-1.26209192e-02 -2.81332435e-04 9.99920313e-01 7.99824951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.892320588 meters 0.024956919786134752 Centerline is valid? [True, True] Translation: X:160.53, Y:-17.58, Z:0.80 [[ 9.29783484e-01 3.67779133e-01 1.55300362e-02 1.60533541e+02] [-3.67733950e-01 9.29913110e-01 -5.77491434e-03 -1.75784332e+01] [-1.65654772e-02 -3.41501569e-04 9.99862725e-01 8.01521448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.922320588 meters 0.024821015492720016 Centerline is valid? [True, True] Translation: X:160.56, Y:-17.59, Z:0.80 [[ 9.29677975e-01 3.68135893e-01 1.32222327e-02 1.60564070e+02] [-3.68103077e-01 9.29771951e-01 -4.92384323e-03 -1.75879385e+01] [-1.41063045e-02 -2.89555939e-04 9.99900459e-01 8.01217325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.952320588 meters 0.024974240072600153 Centerline is valid? [True, True] Translation: X:160.59, Y:-17.60, Z:0.80 [[ 9.29129464e-01 3.69612777e-01 1.02388504e-02 1.60594022e+02] [-3.69593126e-01 9.29185848e-01 -3.81866329e-03 -1.75985455e+01] [-1.09252216e-02 -2.36176139e-04 9.99940290e-01 7.99695207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.982320588 meters 0.02533749079415445 Centerline is valid? [True, True] Translation: X:160.62, Y:-17.61, Z:0.80 [[ 9.28174779e-01 3.72037097e-01 8.94306090e-03 1.60624725e+02] [-3.72022171e-01 9.28217834e-01 -3.34029168e-03 -1.76082741e+01] [-9.54382103e-03 -2.26642441e-04 9.99954431e-01 7.96870234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.012320588 meters 0.025467650825375287 Centerline is valid? [True, True] Translation: X:160.66, Y:-17.62, Z:0.80 [[ 9.27669197e-01 3.73221962e-01 1.16287714e-02 1.60655581e+02] [-3.73196753e-01 9.27742030e-01 -4.34857657e-03 -1.76170412e+01] [-1.24114843e-02 -3.05779193e-04 9.99922928e-01 7.97568841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.042320588 meters 0.02562163724941375 Centerline is valid? [True, True] Translation: X:160.69, Y:-17.63, Z:0.80 [[ 9.27435740e-01 3.73698496e-01 1.45733742e-02 1.60686457e+02] [-3.73658856e-01 9.27550153e-01 -5.45646709e-03 -1.76259958e+01] [-1.55566090e-02 -3.84947725e-04 9.99878915e-01 8.00052118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.072320588 meters 0.025643657737303073 Centerline is valid? [True, True] Translation: X:160.72, Y:-17.64, Z:0.80 [[ 9.27137164e-01 3.74379640e-01 1.60175965e-02 1.60716812e+02] [-3.74331721e-01 9.27275418e-01 -6.00506681e-03 -1.76353572e+01] [-1.71008982e-02 -4.28373840e-04 9.99853677e-01 8.02090862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.102320588 meters 0.025643657737303073 Centerline is valid? [True, True] Translation: X:160.75, Y:-17.65, Z:0.80 [[ 9.26947354e-01 3.74849490e-01 1.60144401e-02 1.60747353e+02] [-3.74801496e-01 9.27085582e-01 -6.01348116e-03 -1.76464844e+01] [-1.71009069e-02 -4.28055658e-04 9.99853677e-01 8.02254806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.132320588 meters 0.025673616965792786 Centerline is valid? [True, True] Translation: X:160.78, Y:-17.65, Z:0.80 [[ 9.26838680e-01 3.75193735e-01 1.41322913e-02 1.60779052e+02] [-3.75156293e-01 9.26946341e-01 -5.31383093e-03 -1.76530480e+01] [-1.50935918e-02 -3.76753982e-04 9.99886014e-01 8.02378786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.162320588 meters 0.0254977958831384 Centerline is valid? [True, True] Translation: X:160.81, Y:-17.66, Z:0.80 [[ 9.26650506e-01 3.75688705e-01 1.32980095e-02 1.60811566e+02] [-3.75655488e-01 9.26745850e-01 -5.00833197e-03 -1.76612325e+01] [-1.42054488e-02 -3.54496878e-04 9.99899035e-01 8.00589162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.192320588 meters 0.025477968529972802 Centerline is valid? [True, True] Translation: X:160.84, Y:-17.67, Z:0.80 [[ 9.26807435e-01 3.75241545e-01 1.48916506e-02 1.60843411e+02] [-3.75199698e-01 9.26926986e-01 -5.61689751e-03 -1.76698897e+01] [-1.59111661e-02 -3.81560435e-04 9.99873337e-01 7.99021394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.222320588 meters 0.025450426126569465 Centerline is valid? [True, True] Translation: X:160.87, Y:-17.68, Z:0.80 [[ 9.27128605e-01 3.74278530e-01 1.86582668e-02 1.60874983e+02] [-3.74212470e-01 9.27316224e-01 -7.04607921e-03 -1.76769252e+01] [-1.99393097e-02 -4.49534516e-04 9.99801091e-01 7.99556630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.252320588 meters 0.02533318847687842 Centerline is valid? [True, True] Translation: X:160.91, Y:-17.69, Z:0.80 [[ 9.27121547e-01 3.74323631e-01 1.80957752e-02 1.60906420e+02] [-3.74261324e-01 9.27298030e-01 -6.84292444e-03 -1.76856965e+01] [-1.93416451e-02 -4.28326107e-04 9.99812841e-01 8.01633727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.282320588 meters 0.025152250366993655 Centerline is valid? [True, True] Translation: X:160.94, Y:-17.69, Z:0.80 [[ 9.27099525e-01 3.74404489e-01 1.75427926e-02 1.60937533e+02] [-3.74345777e-01 9.27265394e-01 -6.64287697e-03 -1.76938494e+01] [-1.87539475e-02 -4.08462255e-04 9.99824046e-01 8.02532314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.312320588 meters 0.02528397385171456 Centerline is valid? [True, True] Translation: X:160.97, Y:-17.70, Z:0.80 [[ 9.26922128e-01 3.74951248e-01 1.50641842e-02 1.60968554e+02] [-3.74907897e-01 9.27044463e-01 -5.71243085e-03 -1.77021945e+01] [-1.61070516e-02 -3.52703030e-04 9.99870211e-01 8.01744143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.342320588 meters 0.024892803731482217 Centerline is valid? [True, True] Translation: X:161.00, Y:-17.71, Z:0.80 [[ 9.27528818e-01 3.73497172e-01 1.37896350e-02 1.61001177e+02] [-3.73460578e-01 9.27631272e-01 -5.23643261e-03 -1.77061219e+01] [-1.47474895e-02 -2.92942919e-04 9.99891207e-01 8.01479297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.372320588 meters 0.024738012883645726 Centerline is valid? [True, True] Translation: X:161.03, Y:-17.71, Z:0.80 [[ 9.27791282e-01 3.72863286e-01 1.32780726e-02 1.61033318e+02] [-3.72829252e-01 9.27886252e-01 -5.04498206e-03 -1.77135404e+01] [-1.42016296e-02 -2.69763505e-04 9.99899115e-01 8.02062359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.402320588 meters 0.02468836961589494 Centerline is valid? [True, True] Translation: X:161.07, Y:-17.72, Z:0.80 [[ 9.28005897e-01 3.72294354e-01 1.42115658e-02 1.61065592e+02] [-3.72255147e-01 9.28114670e-01 -5.40962410e-03 -1.77212301e+01] [-1.52039352e-02 -2.70165462e-04 9.99884377e-01 8.01018588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.432320588 meters 0.024708603584505735 Centerline is valid? [True, True] Translation: X:161.10, Y:-17.73, Z:0.80 [[ 9.27832569e-01 3.72743369e-01 1.37515378e-02 1.61097311e+02] [-3.72706586e-01 9.27934433e-01 -5.24289980e-03 -1.77311102e+01] [-1.47147816e-02 -2.60755521e-04 9.99891698e-01 8.00942683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.462320588 meters 0.024840914324141365 Centerline is valid? [True, True] Translation: X:161.13, Y:-17.74, Z:0.80 [[ 9.28106923e-01 3.71974048e-01 1.59011420e-02 1.61128358e+02] [-3.71924624e-01 9.28243087e-01 -6.07002002e-03 -1.77406363e+01] [-1.70180151e-02 -2.80398673e-04 9.99855144e-01 7.99158684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49232058799998 meters 0.024636792403099485 Centerline is valid? [True, True] Translation: X:161.16, Y:-17.75, Z:0.80 [[ 9.28454234e-01 3.71069847e-01 1.67303550e-02 1.61160210e+02] [-3.71014803e-01 9.28604920e-01 -6.39682462e-03 -1.77488298e+01] [-1.79095587e-02 -2.68050455e-04 9.99839575e-01 8.00223679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52232058799999 meters 0.024732853592843867 Centerline is valid? [True, True] Translation: X:161.19, Y:-17.76, Z:0.80 [[ 9.28361064e-01 3.71251083e-01 1.78428786e-02 1.61192619e+02] [-3.71188305e-01 9.28532474e-01 -6.83279280e-03 -1.77565615e+01] [-1.91043739e-02 -2.79769064e-04 9.99817456e-01 8.01164032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.552320588 meters 0.02436234779204949 Centerline is valid? [True, True] Translation: X:161.22, Y:-17.76, Z:0.80 [[ 9.28512033e-01 3.70931084e-01 1.65992778e-02 1.61224690e+02] [-3.70876550e-01 9.28660363e-01 -6.36513051e-03 -1.77631826e+01] [-1.77761161e-02 -2.46182599e-04 9.99841962e-01 8.01946586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.582320588 meters 0.02436887760433152 Centerline is valid? [True, True] Translation: X:161.26, Y:-17.77, Z:0.80 [[ 9.28559196e-01 3.70929956e-01 1.37399668e-02 1.61256414e+02] [-3.70892543e-01 9.28660825e-01 -5.27201085e-03 -1.77704966e+01] [-1.47153156e-02 -2.00677041e-04 9.99891704e-01 8.03810273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.612320588 meters 0.024390005178648085 Centerline is valid? [True, True] Translation: X:161.29, Y:-17.78, Z:0.80 [[ 9.28256609e-01 3.71675856e-01 1.40259373e-02 1.61288817e+02] [-3.71636801e-01 9.28362545e-01 -5.39190478e-03 -1.77775208e+01] [-1.50251957e-02 -2.07483235e-04 9.99887094e-01 8.02797582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.642320588 meters 0.024483253862341892 Centerline is valid? [True, True] Translation: X:161.32, Y:-17.79, Z:0.80 [[ 9.28492334e-01 3.70990245e-01 1.63775368e-02 1.61319345e+02] [-3.70936752e-01 9.28636737e-01 -6.30373314e-03 -1.77870599e+01] [-1.75474058e-02 -2.22062392e-04 9.99846008e-01 8.02098842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.672320588 meters 0.024380598817556703 Centerline is valid? [True, True] Translation: X:161.35, Y:-17.80, Z:0.80 [[ 9.29096823e-01 3.69373976e-01 1.84921323e-02 1.61350330e+02] [-3.69305267e-01 9.29280809e-01 -7.12721905e-03 -1.77960793e+01] [-1.98169929e-02 -2.07365273e-04 9.99803603e-01 8.02102239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.702320588 meters 0.02454715141863035 Centerline is valid? [True, True] Translation: X:161.38, Y:-17.81, Z:0.80 [[ 9.29317619e-01 3.68743750e-01 1.99200813e-02 1.61381265e+02] [-3.68663650e-01 9.29531068e-01 -7.68805345e-03 -1.78057766e+01] [-2.13512561e-02 -1.99166361e-04 9.99772016e-01 8.00741137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.732320588 meters 0.024203151528011644 Centerline is valid? [True, True] Translation: X:161.41, Y:-17.81, Z:0.80 [[ 9.30701029e-01 3.65338475e-01 1.79831357e-02 1.61412800e+02] [-3.65272371e-01 9.30874744e-01 -6.95026471e-03 -1.78137880e+01] [-1.92792459e-02 -1.00124086e-04 9.99814133e-01 8.00330187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.762320588 meters 0.02408073853789317 Centerline is valid? [True, True] Translation: X:161.44, Y:-17.82, Z:0.80 [[ 9.30809761e-01 3.65192385e-01 1.50901082e-02 1.61443809e+02] [-3.65145686e-01 9.30932069e-01 -5.84051344e-03 -1.78227443e+01] [-1.61807767e-02 -7.36809829e-05 9.99869080e-01 8.00970698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.792320588 meters 0.02422250138811604 Centerline is valid? [True, True] Translation: X:161.48, Y:-17.83, Z:0.80 [[ 9.30555021e-01 3.65901849e-01 1.35347968e-02 1.61475467e+02] [-3.65864311e-01 9.30653443e-01 -5.24160313e-03 -1.78314203e+01] [-1.45141175e-02 -7.42989909e-05 9.99894662e-01 8.00865289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.822320588 meters 0.024112136337945397 Centerline is valid? [True, True] Translation: X:161.51, Y:-17.84, Z:0.80 [[ 9.30561385e-01 3.65937295e-01 1.20584269e-02 1.61507139e+02] [-3.65907486e-01 9.30639507e-01 -4.67119559e-03 -1.78397913e+01] [-1.29314131e-02 -6.54344114e-05 9.99916384e-01 8.02222797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.852320588 meters 0.024017296464756796 Centerline is valid? [True, True] Translation: X:161.54, Y:-17.85, Z:0.80 [[ 9.30219484e-01 3.66724501e-01 1.43126578e-02 1.61538859e+02] [-3.66682566e-01 9.30329583e-01 -5.54650190e-03 -1.78479174e+01] [-1.53495271e-02 -8.87379359e-05 9.99882185e-01 8.03960859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.882320588 meters 0.02423131144903868 Centerline is valid? [True, True] Translation: X:161.57, Y:-17.86, Z:0.80 [[ 9.30107954e-01 3.66901727e-01 1.68023034e-02 1.61568491e+02] [-3.66843785e-01 9.30259702e-01 -6.52104869e-03 -1.78591851e+01] [-1.80230898e-02 -9.85413179e-05 9.99837566e-01 8.02968992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.912320588 meters 0.024396936221050623 Centerline is valid? [True, True] Translation: X:161.60, Y:-17.87, Z:0.80 [[ 9.30152254e-01 3.66664413e-01 1.93388971e-02 1.61598312e+02] [-3.66587582e-01 9.30353264e-01 -7.50652287e-03 -1.78715473e+01] [-2.07443809e-02 -1.07190377e-04 9.99784806e-01 8.01520066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.942320588 meters 0.024697111778239748 Centerline is valid? [True, True] Translation: X:161.63, Y:-17.88, Z:0.80 [[ 9.31875626e-01 3.62196630e-01 2.05284941e-02 1.61628503e+02] [-3.62108900e-01 9.32101712e-01 -7.97142535e-03 -1.78826343e+01] [-2.20218679e-02 -5.17341173e-06 9.99757489e-01 7.99067272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.972320588 meters 0.024657734996779077 Centerline is valid? [True, True] Translation: X:161.66, Y:-17.89, Z:0.80 [[ 9.32956902e-01 3.59576162e-01 1.72163401e-02 1.61658994e+02] [-3.59513811e-01 9.33115738e-01 -6.69620250e-03 -1.78923386e+01] [-1.84726327e-02 5.77562999e-05 9.99829365e-01 7.99272808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.002320588 meters 0.02440753923056156 Centerline is valid? [True, True] Translation: X:161.69, Y:-17.90, Z:0.80 [[ 9.33774564e-01 3.57553101e-01 1.48608215e-02 1.61689329e+02] [-3.57506377e-01 9.33892806e-01 -5.78083366e-03 -1.79030030e+01] [-1.59453693e-02 8.51569848e-05 9.99872861e-01 7.99880154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.032320588 meters 0.024454475259336975 Centerline is valid? [True, True] Translation: X:161.72, Y:-17.91, Z:0.80 [[ 9.34496945e-01 3.55719593e-01 1.33802619e-02 1.61719625e+02] [-3.55681498e-01 9.34592724e-01 -5.20698029e-03 -1.79142878e+01] [-1.43573203e-02 1.06795586e-04 9.99896923e-01 7.99954151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.062320588 meters 0.024526791425821728 Centerline is valid? [True, True] Translation: X:161.75, Y:-17.93, Z:0.80 [[ 9.34516043e-01 3.55655717e-01 1.37395732e-02 1.61750040e+02] [-3.55615491e-01 9.34617033e-01 -5.35024743e-03 -1.79273345e+01] [-1.47440852e-02 1.13886998e-04 9.99891294e-01 8.00328855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.092320588 meters 0.02443887107167529 Centerline is valid? [True, True] Translation: X:161.78, Y:-17.94, Z:0.80 [[ 9.34451314e-01 3.55817650e-01 1.39477965e-02 1.61781009e+02] [-3.55776165e-01 9.34555395e-01 -5.43449167e-03 -1.79397300e+01] [-1.49686765e-02 1.15974346e-04 9.99887956e-01 8.01658266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.122320588 meters 0.02452052985518593 Centerline is valid? [True, True] Translation: X:161.81, Y:-17.95, Z:0.80 [[ 9.34198745e-01 3.56405110e-01 1.57512990e-02 1.61811122e+02] [-3.56352254e-01 9.34331517e-01 -6.13904924e-03 -1.79505686e+01] [-1.69049236e-02 1.22081172e-04 9.99857094e-01 8.02394859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.152320588 meters 0.024494675783327844 Centerline is valid? [True, True] Translation: X:161.84, Y:-17.96, Z:0.80 [[ 9.33776555e-01 3.57423813e-01 1.75944151e-02 1.61840984e+02] [-3.57357996e-01 9.33942292e-01 -6.85996001e-03 -1.79615138e+01] [-1.88840814e-02 1.18164903e-04 9.99821673e-01 8.02519598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.182320588 meters 0.02450160369054978 Centerline is valid? [True, True] Translation: X:161.87, Y:-17.97, Z:0.80 [[ 9.33291441e-01 3.58689827e-01 1.75696935e-02 1.61870254e+02] [-3.58624369e-01 9.33456801e-01 -6.85295094e-03 -1.79747636e+01] [-1.88586336e-02 9.48802305e-05 9.99822156e-01 8.00944878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.212320588 meters 0.02451183714124801 Centerline is valid? [True, True] Translation: X:161.90, Y:-17.99, Z:0.80 [[ 9.33052327e-01 3.59365669e-01 1.64216591e-02 1.61899061e+02] [-3.59308547e-01 9.33196823e-01 -6.40767909e-03 -1.79890469e+01] [-1.76273400e-02 7.82574203e-05 9.99844623e-01 7.99403179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24232058799998 meters 0.024174761383457352 Centerline is valid? [True, True] Translation: X:161.93, Y:-18.00, Z:0.80 [[ 9.33115173e-01 3.59356726e-01 1.26023181e-02 1.61928009e+02] [-3.59322969e-01 9.33200267e-01 -4.92596530e-03 -1.80038920e+01] [-1.35306654e-02 6.81906036e-05 9.99908454e-01 8.00381466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27232058799999 meters 0.024300078625417016 Centerline is valid? [True, True] Translation: X:161.96, Y:-18.02, Z:0.80 [[ 9.32966497e-01 3.59710476e-01 1.34866253e-02 1.61957699e+02] [-3.59671851e-01 9.33063968e-01 -5.27171787e-03 -1.80165778e+01] [-1.44801762e-02 6.75766845e-05 9.99895154e-01 8.00090763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.302320588 meters 0.02442816384447346 Centerline is valid? [True, True] Translation: X:161.99, Y:-18.03, Z:0.80 [[ 9.33292734e-01 3.58890905e-01 1.27276045e-02 1.61987765e+02] [-3.58856393e-01 9.33379512e-01 -4.97762877e-03 -1.80293808e+01] [-1.36661110e-02 7.82025230e-05 9.99906611e-01 8.01823655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.332320588 meters 0.024490266576722715 Centerline is valid? [True, True] Translation: X:162.02, Y:-18.04, Z:0.80 [[ 9.33243415e-01 3.59013897e-01 1.28743937e-02 1.62017521e+02] [-3.58978553e-01 9.33332211e-01 -5.03817474e-03 -1.80439103e+01] [-1.38248611e-02 8.02121755e-05 9.99904429e-01 8.00846122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.362320588 meters 0.024419026223636692 Centerline is valid? [True, True] Translation: X:162.05, Y:-18.06, Z:0.80 [[ 9.33580460e-01 3.58199106e-01 1.09966156e-02 1.62045780e+02] [-3.58173247e-01 9.33645219e-01 -4.30477578e-03 -1.80600605e+01] [-1.18089044e-02 8.01610470e-05 9.99930269e-01 8.00448729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.392320588 meters 0.024501469342987622 Centerline is valid? [True, True] Translation: X:162.07, Y:-18.08, Z:0.80 [[ 9.33347496e-01 3.58812554e-01 1.07704647e-02 1.62072418e+02] [-3.58787769e-01 9.33409635e-01 -4.21790785e-03 -1.80790705e+01] [-1.15666938e-02 7.24627405e-05 9.99933101e-01 7.99504665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.422320588 meters 0.024721931594005573 Centerline is valid? [True, True] Translation: X:162.10, Y:-18.09, Z:0.80 [[ 9.32757536e-01 3.60301862e-01 1.20809026e-02 1.62102474e+02] [-3.60270781e-01 9.32835765e-01 -4.73286309e-03 -1.80917711e+01] [-1.29747574e-02 6.22175142e-05 9.99915822e-01 7.99317097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.452320588 meters 0.024514500688763576 Centerline is valid? [True, True] Translation: X:162.13, Y:-18.10, Z:0.80 [[ 9.31174220e-01 3.64390666e-01 1.15764946e-02 1.62132273e+02] [-3.64362343e-01 9.31246177e-01 -4.54321979e-03 -1.81040121e+01] [-1.24360733e-02 1.24904370e-05 9.99922669e-01 8.01070001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.482320588 meters 0.02438358610139158 Centerline is valid? [True, True] Translation: X:162.16, Y:-18.12, Z:0.80 [[ 9.29471903e-01 3.68673144e-01 1.27316460e-02 1.62161840e+02] [-3.68639197e-01 9.29559095e-01 -5.00311862e-03 -1.81168128e+01] [-1.36793328e-02 -4.31255799e-05 9.99906433e-01 8.00816707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.512320588 meters 0.024855071869439214 Centerline is valid? [True, True] Translation: X:162.19, Y:-18.13, Z:0.80 [[ 9.26883492e-01 3.75188882e-01 1.09678915e-02 1.62190411e+02] [-3.75164135e-01 9.26948374e-01 -4.31084105e-03 -1.81331745e+01] [-1.17840488e-02 -1.19112108e-04 9.99930559e-01 8.01342397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.542320588 meters 0.024936911645319717 Centerline is valid? [True, True] Translation: X:162.22, Y:-18.15, Z:0.80 [[ 9.25771405e-01 3.77890353e-01 1.20907549e-02 1.62220224e+02] [-3.77860405e-01 9.25850341e-01 -4.76022210e-03 -1.81462521e+01] [-1.29930716e-02 -1.61740037e-04 9.99915573e-01 8.01465151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.572320588 meters 0.025169883446473366 Centerline is valid? [True, True] Translation: X:162.25, Y:-18.16, Z:0.80 [[ 9.24989611e-01 3.79805461e-01 1.19176936e-02 1.62250674e+02] [-3.79776424e-01 9.25066365e-01 -4.69978268e-03 -1.81589899e+01] [-1.28096606e-02 -1.78808913e-04 9.99917937e-01 8.01690023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.602320588 meters 0.02520724414728082 Centerline is valid? [True, True] Translation: X:162.28, Y:-18.17, Z:0.80 [[ 9.24536989e-01 3.80926424e-01 1.12434721e-02 1.62280994e+02] [-3.80900577e-01 9.24605336e-01 -4.44099195e-03 -1.81725539e+01] [-1.20874655e-02 -1.76783678e-04 9.99926928e-01 8.01923677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.632320588 meters 0.025341528033041263 Centerline is valid? [True, True] Translation: X:162.31, Y:-18.19, Z:0.80 [[ 9.23520071e-01 3.83443149e-01 9.05704215e-03 1.62310264e+02] [-3.83426439e-01 9.23564467e-01 -3.58345264e-03 -1.81871739e+01] [-9.73881267e-03 -1.63318981e-04 9.99952563e-01 8.04153984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.662320588 meters 0.025414952310403416 Centerline is valid? [True, True] Translation: X:162.34, Y:-18.20, Z:0.80 [[ 9.23142863e-01 3.84333983e-01 9.72852029e-03 1.62342263e+02] [-3.84314693e-01 9.23194106e-01 -3.85480655e-03 -1.81960394e+01] [-1.04628457e-02 -1.80276136e-04 9.99945247e-01 8.03982849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.692320588 meters 0.025475895128428024 Centerline is valid? [True, True] Translation: X:162.37, Y:-18.20, Z:0.80 [[ 9.22038717e-01 3.86957640e-01 1.04110399e-02 1.62373981e+02] [-3.86935660e-01 9.22097466e-01 -4.13026088e-03 -1.82035678e+01] [-1.11982295e-02 -2.20142163e-04 9.99937274e-01 8.04294475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.722320588 meters 0.025513582717591084 Centerline is valid? [True, True] Translation: X:162.40, Y:-18.21, Z:0.80 [[ 9.21464375e-01 3.88296277e-01 1.13757216e-02 1.62404901e+02] [-3.88270064e-01 9.21534556e-01 -4.51880586e-03 -1.82118413e+01] [-1.22377560e-02 -2.52933516e-04 9.99925084e-01 8.02619346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.752320588 meters 0.025885859638375325 Centerline is valid? [True, True] Translation: X:162.43, Y:-18.23, Z:0.80 [[ 9.20863417e-01 3.89602651e-01 1.48438892e-02 1.62433985e+02] [-3.89558074e-01 9.20982983e-01 -5.90361100e-03 -1.82264078e+01] [-1.59710319e-02 -3.46137503e-04 9.99872395e-01 8.02032863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.782320588 meters 0.02589734940655211 Centerline is valid? [True, True] Translation: X:162.46, Y:-18.24, Z:0.80 [[ 9.20984878e-01 3.89270964e-01 1.59677897e-02 1.62463850e+02] [-3.89219162e-01 9.21123221e-01 -6.36039031e-03 -1.82404098e+01] [-1.71842171e-02 -3.57146418e-04 9.99852277e-01 8.02465903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.812320588 meters 0.025480244744220358 Centerline is valid? [True, True] Translation: X:162.49, Y:-18.25, Z:0.80 [[ 9.21655003e-01 3.87709560e-01 1.52759038e-02 1.62493867e+02] [-3.87661807e-01 9.21781538e-01 -6.09263601e-03 -1.82507910e+01] [-1.64432194e-02 -3.06576022e-04 9.99864754e-01 8.03395261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.842320588 meters 0.024968611608154626 Centerline is valid? [True, True] Translation: X:162.53, Y:-18.26, Z:0.80 [[ 9.23270659e-01 3.83913575e-01 1.34780274e-02 1.62526221e+02] [-3.83875888e-01 9.23369008e-01 -5.38306125e-03 -1.82566870e+01] [-1.45118231e-02 -2.03867238e-04 9.99894677e-01 8.02103233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.872320588 meters 0.024912515710595905 Centerline is valid? [True, True] Translation: X:162.56, Y:-18.27, Z:0.80 [[ 9.23952928e-01 3.82265623e-01 1.35639174e-02 1.62556941e+02] [-3.82227169e-01 9.24052468e-01 -5.42465129e-03 -1.82672000e+01] [-1.46074291e-02 -1.72375314e-04 9.99893291e-01 8.01546999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.902320588 meters 0.024716283923651383 Centerline is valid? [True, True] Translation: X:162.59, Y:-18.28, Z:0.80 [[ 9.24307824e-01 3.81401637e-01 1.37054148e-02 1.62587605e+02] [-3.81362152e-01 9.24409416e-01 -5.49004825e-03 -1.82784607e+01] [-1.47633279e-02 -1.52231947e-04 9.99891005e-01 8.02350505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.932320588 meters 0.024616091515561263 Centerline is valid? [True, True] Translation: X:162.62, Y:-18.29, Z:0.80 [[ 9.24782118e-01 3.80192863e-01 1.52125293e-02 1.62618901e+02] [-3.80143903e-01 9.24907221e-01 -6.10289361e-03 -1.82900259e+01] [-1.63904548e-02 -1.39103366e-04 9.99865658e-01 8.03116579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.962320588 meters 0.024393334151238538 Centerline is valid? [True, True] Translation: X:162.65, Y:-18.30, Z:0.80 [[ 9.25377019e-01 3.78673709e-01 1.68402531e-02 1.62649893e+02] [-3.78613275e-01 9.25530231e-01 -6.76600777e-03 -1.83015628e+01] [-1.81482726e-02 -1.14835297e-04 9.99835300e-01 8.04005689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99232058799998 meters 0.024286973156144726 Centerline is valid? [True, True] Translation: X:162.68, Y:-18.31, Z:0.80 [[ 9.25805239e-01 3.77688423e-01 1.53659982e-02 1.62679251e+02] [-3.77637835e-01 9.25932745e-01 -6.18192915e-03 -1.83142328e+01] [-1.65627239e-02 -7.95198861e-05 9.99862826e-01 8.03945276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02232058799999 meters 0.024286973156144726 Centerline is valid? [True, True] Translation: X:162.71, Y:-18.33, Z:0.80 [[ 9.25604799e-01 3.78179516e-01 1.53625992e-02 1.62709543e+02] [-3.78128856e-01 9.25732276e-01 -6.19037313e-03 -1.83260851e+01] [-1.65627262e-02 -7.92029678e-05 9.99862826e-01 8.04109191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.052320588 meters 0.02407567818392234 Centerline is valid? [True, True] Translation: X:162.74, Y:-18.34, Z:0.80 [[ 9.26597516e-01 3.75709392e-01 1.61088626e-02 1.62740054e+02] [-3.75653146e-01 9.26737531e-01 -6.50091869e-03 -1.83393016e+01] [-1.73711438e-02 -2.76098184e-05 9.99849110e-01 8.04031601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.082320588 meters 0.024178377627045004 Centerline is valid? [True, True] Translation: X:162.77, Y:-18.35, Z:0.80 [[ 9.27343842e-01 3.73799979e-01 1.75207070e-02 1.62769814e+02] [-3.73732932e-01 9.27509340e-01 -7.07953002e-03 -1.83520115e+01] [-1.88969475e-02 1.70933665e-05 9.99821437e-01 8.03719815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.112320588 meters 0.02418666836820199 Centerline is valid? [True, True] Translation: X:162.80, Y:-18.36, Z:0.80 [[ 9.30102669e-01 3.66863328e-01 1.78975980e-02 1.62800182e+02] [-3.66791894e-01 9.30274836e-01 -7.24130088e-03 -1.83626097e+01] [-1.93062528e-02 1.70459402e-04 9.99813602e-01 8.03798967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.142320588 meters 0.0243917435048655 Centerline is valid? [True, True] Translation: X:162.83, Y:-18.38, Z:0.80 [[ 9.31049049e-01 3.64461570e-01 1.77604231e-02 1.62829199e+02] [-3.64390611e-01 9.31218402e-01 -7.19514153e-03 -1.83758343e+01] [-1.91611854e-02 2.27298254e-04 9.99816382e-01 8.03626129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.172320588 meters 0.02463150229381195 Centerline is valid? [True, True] Translation: X:162.86, Y:-18.39, Z:0.80 [[ 9.31876581e-01 3.62347383e-01 1.76184999e-02 1.62858186e+02] [-3.62277001e-01 9.32043077e-01 -7.14684604e-03 -1.83904387e+01] [-1.90108419e-02 2.77201124e-04 9.99819239e-01 8.03718724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.202320588 meters 0.02477542199599838 Centerline is valid? [True, True] Translation: X:162.89, Y:-18.41, Z:0.80 [[ 9.32951087e-01 3.59582193e-01 1.74044625e-02 1.62886311e+02] [-3.59512860e-01 9.33113355e-01 -7.06903078e-03 -1.84068723e+01] [-1.87822340e-02 3.37931866e-04 9.99823541e-01 8.04345718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.232320588 meters 0.024824882167704555 Centerline is valid? [True, True] Translation: X:162.92, Y:-18.42, Z:0.81 [[ 9.33458445e-01 3.58356362e-01 1.53639036e-02 1.62915923e+02] [-3.58302033e-01 9.33584817e-01 -6.24844174e-03 -1.84192104e+01] [-1.65826760e-02 3.27742825e-04 9.99862444e-01 8.05094531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.262320588 meters 0.024772831736692945 Centerline is valid? [True, True] Translation: X:162.95, Y:-18.43, Z:0.80 [[ 9.33570508e-01 3.58117672e-01 1.40655427e-02 1.62946222e+02] [-3.58071976e-01 9.33676408e-01 -5.72928341e-03 -1.84332576e+01] [-1.51844230e-02 3.12213358e-04 9.99884661e-01 8.04505502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.292320588 meters 0.02485373268575138 Centerline is valid? [True, True] Translation: X:162.97, Y:-18.45, Z:0.80 [[ 9.33477504e-01 3.58403698e-01 1.29049968e-02 1.62974812e+02] [-3.58365168e-01 9.33566659e-01 -5.26307840e-03 -1.84490473e+01] [-1.39339815e-02 2.88263956e-04 9.99902876e-01 8.04015766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.322320588 meters 0.025023189691948833 Centerline is valid? [True, True] Translation: X:163.00, Y:-18.47, Z:0.80 [[ 9.33416181e-01 3.58384880e-01 1.71613443e-02 1.63001017e+02] [-3.58316587e-01 9.33573845e-01 -7.00704276e-03 -1.84693787e+01] [-1.85326004e-02 3.91292772e-04 9.99828180e-01 8.04374930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.352320588 meters 0.024938956091547896 Centerline is valid? [True, True] Translation: X:163.03, Y:-18.49, Z:0.80 [[ 9.33149533e-01 3.59073926e-01 1.72587861e-02 1.63030782e+02] [-3.59004777e-01 9.33309040e-01 -7.05735480e-03 -1.84850737e+01] [-1.86418931e-02 3.89580701e-04 9.99826149e-01 8.04384760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.382320588 meters 0.024953472120259727 Centerline is valid? [True, True] Translation: X:163.06, Y:-18.50, Z:0.80 [[ 9.32884926e-01 3.59801894e-01 1.63802499e-02 1.63059694e+02] [-3.59739570e-01 9.33028652e-01 -6.70647898e-03 -1.84998212e+01] [-1.76962463e-02 3.63749078e-04 9.99843343e-01 8.04941566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.412320588 meters 0.024832066659980327 Centerline is valid? [True, True] Translation: X:163.09, Y:-18.52, Z:0.80 [[ 9.32392557e-01 3.61140979e-01 1.48766114e-02 1.63085171e+02] [-3.61089615e-01 9.32511177e-01 -6.09879113e-03 -1.85215772e+01] [-1.60751298e-02 3.14677552e-04 9.99870737e-01 8.02848357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.442320588 meters 0.024886835675924746 Centerline is valid? [True, True] Translation: X:163.11, Y:-18.54, Z:0.80 [[ 9.31884366e-01 3.62483105e-01 1.40544086e-02 1.63112942e+02] [-3.62437301e-01 9.31990300e-01 -5.76926321e-03 -1.85379737e+01] [-1.51898330e-02 2.82444258e-04 9.99884588e-01 8.03121586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.472320588 meters 0.024612911534264908 Centerline is valid? [True, True] Translation: X:163.14, Y:-18.55, Z:0.80 [[ 9.31308339e-01 3.63959718e-01 1.40748616e-02 1.63141318e+02] [-3.63913836e-01 9.31414652e-01 -5.78500618e-03 -1.85525999e+01] [-1.52150415e-02 2.65587618e-04 9.99884209e-01 8.03620008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.502320588 meters 0.024233883417420346 Centerline is valid? [True, True] Translation: X:163.17, Y:-18.57, Z:0.80 [[ 9.30605782e-01 3.65800401e-01 1.27650018e-02 1.63170538e+02] [-3.65762740e-01 9.30693300e-01 -5.25357497e-03 -1.85667149e+01] [-1.38020615e-02 2.20045203e-04 9.99904723e-01 8.04698298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.532320588 meters 0.023809097955560878 Centerline is valid? [True, True] Translation: X:163.20, Y:-18.58, Z:0.81 [[ 9.28732523e-01 3.70588797e-01 1.09473453e-02 1.63198495e+02] [-3.70561356e-01 9.28797032e-01 -4.51174091e-03 -1.85823147e+01] [-1.18398625e-02 1.33537398e-04 9.99929897e-01 8.05450163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.562320588 meters 0.023602711503860868 Centerline is valid? [True, True] Translation: X:163.23, Y:-18.60, Z:0.81 [[ 9.27630243e-01 3.73365618e-01 1.00123700e-02 1.63226954e+02] [-3.73342820e-01 9.27684271e-01 -4.12694566e-03 -1.85983922e+01] [-1.08291778e-02 9.02331702e-05 9.99941359e-01 8.06195142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.592320588 meters 0.023538623355630745 Centerline is valid? [True, True] Translation: X:163.25, Y:-18.61, Z:0.81 [[ 9.26505619e-01 3.76175450e-01 8.90898192e-03 1.63254979e+02] [-3.76157466e-01 9.26548449e-01 -3.67874440e-03 -1.86142983e+01] [-9.63845670e-03 5.71972951e-05 9.99953547e-01 8.07358394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.622320588 meters 0.023522872024617506 Centerline is valid? [True, True] Translation: X:163.28, Y:-18.63, Z:0.81 [[ 9.25116663e-01 3.79514739e-01 1.13014181e-02 1.63282955e+02] [-3.79485980e-01 9.25185691e-01 -4.67218856e-03 -1.86296627e+01] [-1.22290747e-02 3.35897819e-05 9.99925222e-01 8.07096042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.652320588 meters 0.02386697735291377 Centerline is valid? [True, True] Translation: X:163.31, Y:-18.64, Z:0.81 [[ 9.22540830e-01 3.85669559e-01 1.33195039e-02 1.63311716e+02] [-3.85630152e-01 9.22636976e-01 -5.51338247e-03 -1.86448756e+01] [-1.44154106e-02 -5.00818855e-05 9.99896091e-01 8.07238250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.682320588 meters 0.023897269886756153 Centerline is valid? [True, True] Translation: X:163.34, Y:-18.66, Z:0.81 [[ 9.21042490e-01 3.89221707e-01 1.36819413e-02 1.63341421e+02] [-3.89180408e-01 9.21144100e-01 -5.67075235e-03 -1.86574355e+01] [-1.48102195e-02 -1.01739651e-04 9.99890318e-01 8.06821948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.712320588 meters 0.024238293562621426 Centerline is valid? [True, True] Translation: X:163.37, Y:-18.67, Z:0.81 [[ 9.19787193e-01 3.92240124e-01 1.17985583e-02 1.63372009e+02] [-3.92209558e-01 9.19862854e-01 -4.89813806e-03 -1.86690814e+01] [-1.27743017e-02 -1.22262671e-04 9.99918398e-01 8.07273583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74232058799998 meters 0.024219542878789427 Centerline is valid? [True, True] Translation: X:163.40, Y:-18.68, Z:0.81 [[ 9.17630006e-01 3.97370092e-01 7.22369162e-03 1.63404148e+02] [-3.97358750e-01 9.17658432e-01 -3.00439705e-03 -1.86780403e+01] [-7.82273906e-03 -1.13472184e-04 9.99969395e-01 8.09466294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77232058799999 meters 0.024357935215396333 Centerline is valid? [True, True] Translation: X:163.43, Y:-18.69, Z:0.81 [[ 9.16203773e-01 4.00654927e-01 6.80264848e-03 1.63434228e+02] [-4.00644934e-01 9.16229018e-01 -2.83273939e-03 -1.86888467e+01] [-7.36773493e-03 -1.30080128e-04 9.99972849e-01 8.10067533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.802320588 meters 0.02455323986892647 Centerline is valid? [True, True] Translation: X:163.47, Y:-18.70, Z:0.81 [[ 9.15270096e-01 4.02798055e-01 5.86325639e-03 1.63465173e+02] [-4.02790648e-01 9.15288868e-01 -2.44581864e-03 -1.87002298e+01] [-6.35174430e-03 -1.23080181e-04 9.99979820e-01 8.11730335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.832320588 meters 0.02473141044232625 Centerline is valid? [True, True] Translation: X:163.49, Y:-18.71, Z:0.81 [[ 9.14570641e-01 4.04344210e-01 8.14260569e-03 1.63494918e+02] [-4.04329961e-01 9.14606870e-01 -3.39947945e-03 -1.87124526e+01] [-8.82184293e-03 -1.83235342e-04 9.99961070e-01 8.11020701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.862320588 meters 0.024732834721727652 Centerline is valid? [True, True] Translation: X:163.53, Y:-18.72, Z:0.81 [[ 9.15239589e-01 4.02731787e-01 1.19834157e-02 1.63525576e+02] [-4.02700702e-01 9.15318005e-01 -5.00945505e-03 -1.87241907e+01] [-1.29861029e-02 -2.40878337e-04 9.99915648e-01 8.11736824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.892320588 meters 0.024492035880732337 Centerline is valid? [True, True] Translation: X:163.56, Y:-18.74, Z:0.81 [[ 9.16089884e-01 4.00760338e-01 1.30566368e-02 1.63556303e+02] [-4.00723146e-01 9.16182897e-01 -5.46443440e-03 -1.87351561e+01] [-1.41521959e-02 -2.26183477e-04 9.99899827e-01 8.11717645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.922320588 meters 0.02416357901339734 Centerline is valid? [True, True] Translation: X:163.59, Y:-18.75, Z:0.81 [[ 9.17057346e-01 3.98568457e-01 1.22069557e-02 1.63587097e+02] [-3.98535665e-01 9.17138569e-01 -5.11556683e-03 -1.87459424e+01] [-1.32343734e-02 -1.73639057e-04 9.99912407e-01 8.13650254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.952320588 meters 0.02394333360727335 Centerline is valid? [True, True] Translation: X:163.62, Y:-18.76, Z:0.81 [[ 9.17742816e-01 3.97023471e-01 1.09767064e-02 1.63617270e+02] [-3.96996770e-01 9.17808448e-01 -4.60624593e-03 -1.87569359e+01] [-1.19033016e-02 -1.30367876e-04 9.99929145e-01 8.13490413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.982320588 meters 0.023807073355633288 Centerline is valid? [True, True] Translation: X:163.65, Y:-18.77, Z:0.81 [[ 9.19200234e-01 3.93678211e-01 9.40193380e-03 1.63647914e+02] [-3.93658391e-01 9.19248313e-01 -3.95087438e-03 -1.87673737e+01] [-1.01980849e-02 -6.95054756e-05 9.99947996e-01 8.13459590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.012320588 meters 0.02383404718701835 Centerline is valid? [True, True] Translation: X:163.68, Y:-18.78, Z:0.81 [[ 9.19520445e-01 3.92899965e-01 1.05721271e-02 1.63678342e+02] [-3.92874775e-01 9.19581217e-01 -4.44936690e-03 -1.87790406e+01] [-1.14700856e-02 -6.22382115e-05 9.99934214e-01 8.12482418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.042320588 meters 0.0235163185017573 Centerline is valid? [True, True] Translation: X:163.71, Y:-18.79, Z:0.81 [[ 9.20150183e-01 3.91459299e-01 9.12456891e-03 1.63707845e+02] [-3.91440463e-01 9.20195423e-01 -3.84032476e-03 -1.87910569e+01] [-9.89971738e-03 -3.80499481e-05 9.99950996e-01 8.14023710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.072320588 meters 0.023548056446533825 Centerline is valid? [True, True] Translation: X:163.74, Y:-18.81, Z:0.82 [[ 9.20105457e-01 3.91585436e-01 8.17274774e-03 1.63737117e+02] [-3.91570264e-01 9.20141753e-01 -3.44708600e-03 -1.88056647e+01] [-8.86991511e-03 -2.85223538e-05 9.99960661e-01 8.15710033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.102320588 meters 0.023575802294732117 Centerline is valid? [True, True] Translation: X:163.77, Y:-18.82, Z:0.82 [[ 9.21031453e-01 3.89414974e-01 7.55257736e-03 1.63765126e+02] [-3.89401904e-01 9.21062418e-01 -3.19052165e-03 -1.88229454e+01] [-8.19883207e-03 -2.41721126e-06 9.99966389e-01 8.17427152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.132320588 meters 0.023437632755840456 Centerline is valid? [True, True] Translation: X:163.79, Y:-18.84, Z:0.82 [[ 9.21498294e-01 3.88319924e-01 6.96637991e-03 1.63794245e+02] [-3.88308776e-01 9.21524626e-01 -2.94246589e-03 -1.88360866e+01] [-7.56230877e-03 6.37084542e-06 9.99971405e-01 8.17448415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.162320588 meters 0.02357389622944103 Centerline is valid? [True, True] Translation: X:163.82, Y:-18.85, Z:0.82 [[ 9.22079195e-01 3.86940126e-01 6.87731127e-03 1.63824338e+02] [-3.86929174e-01 9.22104841e-01 -2.91133272e-03 -1.88484755e+01] [-7.46811346e-03 2.34469671e-05 9.99972113e-01 8.16497361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.192320588 meters 0.023732768037899817 Centerline is valid? [True, True] Translation: X:163.85, Y:-18.86, Z:0.81 [[ 9.22867117e-01 3.85025845e-01 8.44881487e-03 1.63853098e+02] [-3.85009202e-01 9.22905790e-01 -3.58020799e-03 -1.88624798e+01] [-9.17593277e-03 5.11847544e-05 9.99957899e-01 8.13072312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.222320588 meters 0.023865201026757238 Centerline is valid? [True, True] Translation: X:163.88, Y:-18.88, Z:0.81 [[ 9.22684979e-01 3.85427126e-01 9.91763491e-03 1.63881635e+02] [-3.85404163e-01 9.22738276e-01 -4.20760884e-03 -1.88784721e+01] [-1.07731079e-02 5.99996870e-05 9.99941967e-01 8.13942373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.252320588 meters 0.023732032042815307 Centerline is valid? [True, True] Translation: X:163.91, Y:-18.90, Z:0.82 [[ 9.22277378e-01 3.86392727e-01 1.02517569e-02 1.63910362e+02] [-3.86368175e-01 9.22334352e-01 -4.35613293e-03 -1.88950026e+01] [-1.11387256e-02 5.66102519e-05 9.99937961e-01 8.16563420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.282320588 meters 0.023728884714549738 Centerline is valid? [True, True] Translation: X:163.94, Y:-18.91, Z:0.82 [[ 9.21967636e-01 3.87106249e-01 1.11548025e-02 1.63939156e+02] [-3.87077151e-01 9.22035112e-01 -4.74670792e-03 -1.89115347e+01] [-1.21225998e-02 5.85419233e-05 9.99926517e-01 8.19316195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.312320588 meters 0.023637425267180653 Centerline is valid? [True, True] Translation: X:163.97, Y:-18.93, Z:0.82 [[ 9.20608602e-01 3.90387388e-01 8.80277812e-03 1.63966792e+02] [-3.90369367e-01 9.20650687e-01 -3.75103905e-03 -1.89288438e+01] [-9.56864206e-03 1.69039005e-05 9.99954219e-01 8.19632374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.342320588 meters 0.023727579356362813 Centerline is valid? [True, True] Translation: X:164.00, Y:-18.94, Z:0.82 [[ 9.19615115e-01 3.92735863e-01 8.15986267e-03 1.63996871e+02] [-3.92720419e-01 9.19651316e-01 -3.48283097e-03 -1.89432973e+01] [-8.87206107e-03 -1.68068633e-06 9.99960642e-01 8.18301730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.372320588 meters 0.024058287800340545 Centerline is valid? [True, True] Translation: X:164.03, Y:-18.96, Z:0.82 [[ 9.18499183e-01 3.95307067e-01 9.56940756e-03 1.64026321e+02] [-3.95285920e-01 9.18549031e-01 -4.08887175e-03 -1.89566550e+01] [-1.04063299e-02 -2.70267181e-05 9.99945852e-01 8.16157334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.402320588 meters 0.023955505395608902 Centerline is valid? [True, True] Translation: X:164.06, Y:-18.97, Z:0.82 [[ 9.17508051e-01 3.97601081e-01 9.61019560e-03 1.64057060e+02] [-3.97579813e-01 9.17558379e-01 -4.11270359e-03 -1.89697952e+01] [-1.04531309e-02 -4.73811161e-05 9.99945363e-01 8.15928067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.432320588 meters 0.024085155961048158 Centerline is valid? [True, True] Translation: X:164.09, Y:-18.98, Z:0.82 [[ 9.15893021e-01 4.01311111e-01 9.45332748e-03 1.64086850e+02] [-4.01290668e-01 9.15941802e-01 -4.05156310e-03 -1.89833932e+01] [-1.02846351e-02 -8.27337313e-05 9.99947108e-01 8.15140170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.462320588 meters 0.024331174918679303 Centerline is valid? [True, True] Translation: X:164.11, Y:-19.00, Z:0.82 [[ 9.14816082e-01 4.03746139e-01 1.00294841e-02 1.64114855e+02] [-4.03723220e-01 9.14871052e-01 -4.30343344e-03 -1.89986383e+01] [-1.09131793e-02 -1.12285482e-04 9.99940443e-01 8.15310224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49232058799998 meters 0.02427324258875633 Centerline is valid? [True, True] Translation: X:164.14, Y:-19.01, Z:0.82 [[ 9.13949570e-01 4.05743749e-01 8.25790236e-03 1.64144225e+02] [-4.05728240e-01 9.13986870e-01 -3.54915541e-03 -1.90145758e+01] [-8.98766196e-03 -1.06715128e-04 9.99959604e-01 8.16240243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52232058799999 meters 0.024705792250251806 Centerline is valid? [True, True] Translation: X:164.17, Y:-19.03, Z:0.82 [[ 9.12497978e-01 4.09020645e-01 7.03938842e-03 1.64174407e+02] [-4.09009443e-01 9.12525122e-01 -3.02927508e-03 -1.90268570e+01] [-7.66265482e-03 -1.14968950e-04 9.99970635e-01 8.16982775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.552320588 meters 0.024797864917817283 Centerline is valid? [True, True] Translation: X:164.21, Y:-19.04, Z:0.82 [[ 9.11926591e-01 4.10268902e-01 8.32590210e-03 1.64205483e+02] [-4.10253247e-01 9.11964587e-01 -3.58693867e-03 -1.90367641e+01] [-9.06453726e-03 -1.44703623e-04 9.99958906e-01 8.16301600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.582320588 meters 0.024836741257389296 Centerline is valid? [True, True] Translation: X:164.24, Y:-19.05, Z:0.82 [[ 9.11440909e-01 4.11310342e-01 9.96350373e-03 1.64236227e+02] [-4.11287932e-01 9.11495348e-01 -4.29731748e-03 -1.90473830e+01] [-1.08492184e-02 -1.81117897e-04 9.99941129e-01 8.16977986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.612320588 meters 0.025147339005019018 Centerline is valid? [True, True] Translation: X:164.27, Y:-19.06, Z:0.82 [[ 9.10862010e-01 4.12558296e-01 1.12272040e-02 1.64266435e+02] [-4.12529867e-01 9.10931175e-01 -4.84799838e-03 -1.90587843e+01] [-1.22272920e-02 -2.15699409e-04 9.99925221e-01 8.17060056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.642320588 meters 0.025350205138544548 Centerline is valid? [True, True] Translation: X:164.30, Y:-19.07, Z:0.82 [[ 9.09878722e-01 4.14733141e-01 1.08227663e-02 1.64297357e+02] [-4.14706808e-01 9.09943058e-01 -4.67921653e-03 -1.90676090e+01] [-1.17887272e-02 -2.30755298e-04 9.99930484e-01 8.15826344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.672320588 meters 0.02553775096739901 Centerline is valid? [True, True] Translation: X:164.33, Y:-19.08, Z:0.81 [[ 9.08942620e-01 4.16771614e-01 1.11685160e-02 1.64328166e+02] [-4.16743654e-01 9.09011196e-01 -4.83451636e-03 -1.90776003e+01] [-1.21671953e-02 -2.60110213e-04 9.99925943e-01 8.13777573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.702320588 meters 0.02583152588027179 Centerline is valid? [True, True] Translation: X:164.36, Y:-19.09, Z:0.81 [[ 9.08219284e-01 4.18350842e-01 1.09683615e-02 1.64359492e+02] [-4.18323906e-01 9.08285473e-01 -4.75491389e-03 -1.90886949e+01] [-1.19516257e-02 -2.69823342e-04 9.99928540e-01 8.12389200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.732320588 meters 0.02569861186197533 Centerline is valid? [True, True] Translation: X:164.39, Y:-19.10, Z:0.81 [[ 9.07761332e-01 4.19391243e-01 8.96374561e-03 1.64391597e+02] [-4.19373257e-01 9.07805559e-01 -3.89072890e-03 -1.90961863e+01] [-9.76907572e-03 -2.27301941e-04 9.99952256e-01 8.14054231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.762320588 meters 0.025622885207673553 Centerline is valid? [True, True] Translation: X:164.42, Y:-19.10, Z:0.82 [[ 9.07660718e-01 4.19635861e-01 7.60037323e-03 1.64423126e+02] [-4.19622903e-01 9.07692518e-01 -3.30334940e-03 -1.91041280e+01] [-8.28500578e-03 -1.90970188e-04 9.99965661e-01 8.15500215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.792320588 meters 0.025219818083316463 Centerline is valid? [True, True] Translation: X:164.46, Y:-19.11, Z:0.82 [[ 9.08331988e-01 4.18169296e-01 8.21217286e-03 1.64455901e+02] [-4.18154070e-01 9.08369090e-01 -3.57343999e-03 -1.91100699e+01] [-8.95398688e-03 -1.88083654e-04 9.99959895e-01 8.17870244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.822320588 meters 0.025028397287541138 Centerline is valid? [True, True] Translation: X:164.49, Y:-19.12, Z:0.82 [[ 9.09037638e-01 4.16601954e-01 9.66360496e-03 1.64486498e+02] [-4.16580731e-01 9.09088979e-01 -4.20974702e-03 -1.91208926e+01] [-1.05388656e-02 -1.98853135e-04 9.99944445e-01 8.18017166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.852320588 meters 0.024772899739618444 Centerline is valid? [True, True] Translation: X:164.52, Y:-19.13, Z:0.82 [[ 9.09922486e-01 4.14687463e-01 8.68198137e-03 1.64516667e+02] [-4.14670199e-01 9.09963892e-01 -3.78705539e-03 -1.91314700e+01] [-9.47073395e-03 -1.54232090e-04 9.99955140e-01 8.16735808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.882320588 meters 0.02450989866982718 Centerline is valid? [True, True] Translation: X:164.55, Y:-19.14, Z:0.81 [[ 9.11100696e-01 4.12134146e-01 6.40049537e-03 1.64549114e+02] [-4.12124672e-01 9.11123173e-01 -2.79602507e-03 -1.91380228e+01] [-6.98397706e-03 -9.03416591e-05 9.99975608e-01 8.11400387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.912320588 meters 0.02450989866982718 Centerline is valid? [True, True] Translation: X:164.58, Y:-19.15, Z:0.81 [[ 9.10884159e-01 4.12612533e-01 6.39888685e-03 1.64579017e+02] [-4.12603044e-01 9.10906631e-01 -2.79970636e-03 -1.91507473e+01] [-6.98398239e-03 -8.99920210e-05 9.99975608e-01 8.11564268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.942320588 meters 0.0244637239989751 Centerline is valid? [True, True] Translation: X:164.62, Y:-19.14, Z:0.80 [[ 9.17460811e-01 3.97795812e-01 -4.91457652e-03 1.64620206e+02] [-3.97790012e-01 9.17473973e-01 2.14822148e-03 -1.91375081e+01] [ 5.36354956e-03 -1.59395735e-05 9.99985616e-01 7.99043763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.972320588 meters 0.024345713557496082 Centerline is valid? [True, True] Translation: X:164.65, Y:-19.15, Z:0.80 [[ 9.15931085e-01 4.01245833e-01 -8.48695970e-03 1.64650685e+02] [-4.01228620e-01 9.15970404e-01 3.71661019e-03 -1.91508232e+01] [ 9.26507826e-03 1.05232661e-06 9.99957078e-01 7.98473061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.002320588 meters 0.024345713557496082 Centerline is valid? [True, True] Translation: X:164.68, Y:-19.16, Z:0.80 [[ 9.15848900e-01 4.01433416e-01 -8.48553107e-03 1.64680473e+02] [-4.01416181e-01 9.15888210e-01 3.71986971e-03 -1.91638255e+01] [ 9.26507786e-03 -6.09114983e-07 9.99957078e-01 7.98636918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.032320588 meters 0.024345713557496082 Centerline is valid? [True, True] Translation: X:164.71, Y:-19.18, Z:0.80 [[ 9.15766674e-01 4.01620974e-01 -8.48476899e-03 1.64710259e+02] [-4.01603731e-01 9.15805980e-01 3.72160736e-03 -1.91768324e+01] [ 9.26507776e-03 -6.09114999e-07 9.99957078e-01 7.98800732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.062320588 meters 0.024345713557496082 Centerline is valid? [True, True] Translation: X:164.74, Y:-19.19, Z:0.80 [[ 9.15684410e-01 4.01808516e-01 -8.48400656e-03 1.64740042e+02] [-4.01791264e-01 9.15723712e-01 3.72334486e-03 -1.91898454e+01] [ 9.26507765e-03 -6.09114990e-07 9.99957078e-01 7.98964546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.092320588 meters 0.02438237891226685 Centerline is valid? [True, True] Translation: X:164.77, Y:-19.20, Z:0.80 [[ 9.14755222e-01 4.03861344e-01 -1.09040297e-02 1.64769109e+02] [-4.03832963e-01 9.14820209e-01 4.78787353e-03 -1.92040245e+01] [ 1.19088637e-02 2.36742959e-05 9.99929087e-01 7.96642638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.122320588 meters 0.02438237891226685 Centerline is valid? [True, True] Translation: X:164.80, Y:-19.22, Z:0.80 [[ 9.14672132e-01 4.04049515e-01 -1.09031876e-02 1.64798887e+02] [-4.04021125e-01 9.14737114e-01 4.78979057e-03 -1.92170499e+01] [ 1.19088629e-02 2.40301663e-05 9.99929087e-01 7.96806446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.152320588 meters 0.02438237891226685 Centerline is valid? [True, True] Translation: X:164.83, Y:-19.23, Z:0.80 [[ 9.14589005e-01 4.04237671e-01 -1.09022020e-02 1.64828662e+02] [-4.04209267e-01 9.14653981e-01 4.79203324e-03 -1.92300817e+01] [ 1.19088628e-02 2.40301661e-05 9.99929087e-01 7.96970264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.182320588 meters 0.024497566122053005 Centerline is valid? [True, True] Translation: X:164.86, Y:-19.25, Z:0.80 [[ 9.13783511e-01 4.06020828e-01 -1.21153979e-02 1.64856731e+02] [-4.05985874e-01 9.13863822e-01 5.32776544e-03 -1.92460586e+01] [ 1.32350076e-02 5.02561997e-05 9.99912412e-01 7.95993615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.212320588 meters 0.024497566122053005 Centerline is valid? [True, True] Translation: X:164.89, Y:-19.26, Z:0.80 [[ 9.13700413e-01 4.06207822e-01 -1.21144468e-02 1.64886502e+02] [-4.06172857e-01 9.13780719e-01 5.32992756e-03 -1.92591007e+01] [ 1.32350062e-02 5.06024452e-05 9.99912412e-01 7.96157425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24232058799998 meters 0.024497566122053005 Centerline is valid? [True, True] Translation: X:164.92, Y:-19.27, Z:0.80 [[ 9.13617279e-01 4.06394802e-01 -1.21133558e-02 1.64916270e+02] [-4.06359820e-01 9.13697577e-01 5.33240640e-03 -1.92721491e+01] [ 1.32350061e-02 5.06024447e-05 9.99912412e-01 7.96321245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27232058799999 meters 0.024410073291050126 Centerline is valid? [True, True] Translation: X:164.95, Y:-19.29, Z:0.80 [[ 9.13673615e-01 4.06252944e-01 -1.26122799e-02 1.64945205e+02] [-4.06214964e-01 9.13760659e-01 5.55516608e-03 -1.92886145e+01] [ 1.37814078e-02 4.76881662e-05 9.99905031e-01 7.95422275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.302320588 meters 0.024410073291050126 Centerline is valid? [True, True] Translation: X:164.97, Y:-19.30, Z:0.80 [[ 9.13590558e-01 4.06439727e-01 -1.26111433e-02 1.64974966e+02] [-4.06401729e-01 9.13677594e-01 5.55774561e-03 -1.93016749e+01] [ 1.37814077e-02 4.76865443e-05 9.99905031e-01 7.95586093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.332320588 meters 0.024410073291050126 Centerline is valid? [True, True] Translation: X:165.00, Y:-19.31, Z:0.80 [[ 9.13507462e-01 4.06626493e-01 -1.26100069e-02 1.65004725e+02] [-4.06588477e-01 9.13594490e-01 5.56032343e-03 -1.93147413e+01] [ 1.37814076e-02 4.76865439e-05 9.99905031e-01 7.95749912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.362320588 meters 0.024410073291050126 Centerline is valid? [True, True] Translation: X:165.03, Y:-19.33, Z:0.80 [[ 9.13424328e-01 4.06813242e-01 -1.26088698e-02 1.65034481e+02] [-4.06775208e-01 9.13511349e-01 5.56290101e-03 -1.93278138e+01] [ 1.37814075e-02 4.76865436e-05 9.99905031e-01 7.95913730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.392320588 meters 0.024618929656216038 Centerline is valid? [True, True] Translation: X:165.06, Y:-19.34, Z:0.80 [[ 9.13718005e-01 4.06181674e-01 -1.16556465e-02 1.65063339e+02] [-4.06149091e-01 9.13792343e-01 5.14481473e-03 -1.93433124e+01] [ 1.27405700e-02 3.30203964e-05 9.99918835e-01 7.96433741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.422320588 meters 0.024618929656216038 Centerline is valid? [True, True] Translation: X:165.09, Y:-19.36, Z:0.80 [[ 9.13634744e-01 4.06368950e-01 -1.16546644e-02 1.65093089e+02] [-4.06336354e-01 9.13709076e-01 5.14703903e-03 -1.93563951e+01] [ 1.27405695e-02 3.32001417e-05 9.99918835e-01 7.96597551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.452320588 meters 0.024469526139621008 Centerline is valid? [True, True] Translation: X:165.12, Y:-19.37, Z:0.80 [[ 9.14662766e-01 4.04082991e-01 -1.04384818e-02 1.65122745e+02] [-4.04056672e-01 9.14722328e-01 4.61189784e-03 -1.93687242e+01] [ 1.14119019e-02 -5.93006881e-07 9.99934882e-01 7.97917307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.482320588 meters 0.024469526139621008 Centerline is valid? [True, True] Translation: X:165.15, Y:-19.38, Z:0.80 [[ 9.14579059e-01 4.04272433e-01 -1.04376707e-02 1.65152491e+02] [-4.04246106e-01 9.14638617e-01 4.61373303e-03 -1.93818168e+01] [ 1.14119018e-02 -2.35872200e-07 9.99934882e-01 7.98081108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.512320588 meters 0.024469526139621008 Centerline is valid? [True, True] Translation: X:165.18, Y:-19.39, Z:0.80 [[ 9.14495314e-01 4.04461860e-01 -1.04367148e-02 1.65182234e+02] [-4.04435520e-01 9.14554866e-01 4.61589469e-03 -1.93949158e+01] [ 1.14119017e-02 -2.35872256e-07 9.99934882e-01 7.98244923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.542320588 meters 0.024469526139621008 Centerline is valid? [True, True] Translation: X:165.21, Y:-19.41, Z:0.80 [[ 9.14411529e-01 4.04651270e-01 -1.04357585e-02 1.65211975e+02] [-4.04624918e-01 9.14471076e-01 4.61805615e-03 -1.94080210e+01] [ 1.14119016e-02 -2.35872242e-07 9.99934882e-01 7.98408737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.572320588 meters 0.024521455094459424 Centerline is valid? [True, True] Translation: X:165.24, Y:-19.42, Z:0.80 [[ 9.15230755e-01 4.02807513e-01 -9.93842687e-03 1.65243512e+02] [-4.02783478e-01 9.15284714e-01 4.40038427e-03 -1.94192098e+01] [ 1.08689980e-02 -2.43328834e-05 9.99940930e-01 8.00489422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.602320588 meters 0.024521455094459424 Centerline is valid? [True, True] Translation: X:165.27, Y:-19.43, Z:0.80 [[ 9.15148889e-01 4.02993493e-01 -9.93752407e-03 1.65273248e+02] [-4.02969447e-01 9.15202843e-01 4.40242244e-03 -1.94323257e+01] [ 1.08689979e-02 -2.43534296e-05 9.99940930e-01 8.00653238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.632320588 meters 0.024406507826762458 Centerline is valid? [True, True] Translation: X:165.30, Y:-19.44, Z:0.80 [[ 9.15606736e-01 4.01940993e-01 -1.03799300e-02 1.65304676e+02] [-4.01914661e-01 9.15665570e-01 4.60098574e-03 -1.94435321e+01] [ 1.13538693e-02 -4.08474862e-05 9.99935542e-01 8.02069464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.662320588 meters 0.024147320537810563 Centerline is valid? [True, True] Translation: X:165.33, Y:-19.45, Z:0.81 [[ 9.14197915e-01 4.05152256e-01 -9.68611960e-03 1.65334283e+02] [-4.05129487e-01 9.14249227e-01 4.29530982e-03 -1.94549647e+01] [ 1.05957818e-02 -2.63061725e-06 9.99943863e-01 8.05405051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.692320588 meters 0.024147320537810563 Centerline is valid? [True, True] Translation: X:165.36, Y:-19.47, Z:0.81 [[ 9.14114948e-01 4.05339432e-01 -9.68538395e-03 1.65364013e+02] [-4.05316655e-01 9.14166257e-01 4.29696818e-03 -1.94680965e+01] [ 1.05957818e-02 -2.27541633e-06 9.99943863e-01 8.05568852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.722320588 meters 0.024147320537810563 Centerline is valid? [True, True] Translation: X:165.39, Y:-19.48, Z:0.81 [[ 9.14031944e-01 4.05526591e-01 -9.68450388e-03 1.65393740e+02] [-4.05503804e-01 9.14083248e-01 4.29895105e-03 -1.94812346e+01] [ 1.05957817e-02 -2.27541630e-06 9.99943863e-01 8.05732663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.752320588 meters 0.024147320537810563 Centerline is valid? [True, True] Translation: X:165.42, Y:-19.49, Z:0.81 [[ 9.13948901e-01 4.05713734e-01 -9.68362341e-03 1.65423464e+02] [-4.05690937e-01 9.14000200e-01 4.30093374e-03 -1.94943788e+01] [ 1.05957816e-02 -2.27541627e-06 9.99943863e-01 8.05896475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.782320588 meters 0.02424872417007226 Centerline is valid? [True, True] Translation: X:165.45, Y:-19.51, Z:0.81 [[ 9.13885763e-01 4.05920349e-01 -6.44069710e-03 1.65452187e+02] [-4.05910262e-01 9.13908458e-01 2.86165436e-03 -1.95083651e+01] [ 7.04781130e-03 -8.80131263e-07 9.99975164e-01 8.06412209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.812320588 meters 0.02424872417007226 Centerline is valid? [True, True] Translation: X:165.48, Y:-19.52, Z:0.81 [[ 9.13666536e-01 4.06413568e-01 -6.43997765e-03 1.65482011e+02] [-4.06403481e-01 9.13689232e-01 2.86327248e-03 -1.95212884e+01] [ 7.04781101e-03 1.15308617e-06 9.99975164e-01 8.06576021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.842320588 meters 0.02424872417007226 Centerline is valid? [True, True] Translation: X:165.51, Y:-19.53, Z:0.81 [[ 9.13447044e-01 4.06906677e-01 -6.43843057e-03 1.65511828e+02] [-4.06896578e-01 9.13469735e-01 2.86674778e-03 -1.95342295e+01] [ 7.04781028e-03 1.15308590e-06 9.99975164e-01 8.06739896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.872320588 meters 0.02436107146223957 Centerline is valid? [True, True] Translation: X:165.54, Y:-19.55, Z:0.81 [[ 9.12392526e-01 4.09294051e-01 -4.27302945e-03 1.65541751e+02] [-4.09289621e-01 9.12402532e-01 1.90435332e-03 -1.95486473e+01] [ 4.67816337e-03 1.13888678e-05 9.99989057e-01 8.06532406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.902320588 meters 0.02436107146223957 Centerline is valid? [True, True] Translation: X:165.57, Y:-19.56, Z:0.81 [[ 9.12169648e-01 4.09790537e-01 -4.27199936e-03 1.65571552e+02] [-4.09786101e-01 9.12179651e-01 1.90666117e-03 -1.95616214e+01] [ 4.67816259e-03 1.14075150e-05 9.99989057e-01 8.06696280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.932320588 meters 0.02436107146223957 Centerline is valid? [True, True] Translation: X:165.60, Y:-19.57, Z:0.81 [[ 9.11946499e-01 4.10286901e-01 -4.27096040e-03 1.65601347e+02] [-4.10282461e-01 9.11956500e-01 1.90898548e-03 -1.95746117e+01] [ 4.67816184e-03 1.14075133e-05 9.99989057e-01 8.06860154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.962320588 meters 0.02436107146223957 Centerline is valid? [True, True] Translation: X:165.63, Y:-19.59, Z:0.81 [[ 9.11723081e-01 4.10783145e-01 -4.26992018e-03 1.65631134e+02] [-4.10778698e-01 9.11733079e-01 1.91130923e-03 -1.95876182e+01] [ 4.67816110e-03 1.14075115e-05 9.99989057e-01 8.07024028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99232058799998 meters 0.024296669663968564 Centerline is valid? [True, True] Translation: X:165.66, Y:-19.60, Z:0.81 [[ 9.10454035e-01 4.13595891e-01 -3.44799804e-03 1.65661723e+02] [-4.13593006e-01 9.10460564e-01 1.54507586e-03 -1.96006637e+01] [ 3.77830327e-03 1.93473190e-05 9.99992862e-01 8.07543374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02232058799999 meters 0.024296669663968564 Centerline is valid? [True, True] Translation: X:165.69, Y:-19.61, Z:0.81 [[ 9.10230242e-01 4.14088183e-01 -3.44715713e-03 1.65691495e+02] [-4.14085294e-01 9.10236769e-01 1.54694928e-03 -1.96137039e+01] [ 3.77830258e-03 1.93370582e-05 9.99992862e-01 8.07707247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.052320588 meters 0.024296669663968564 Centerline is valid? [True, True] Translation: X:165.72, Y:-19.63, Z:0.81 [[ 9.10006183e-01 4.14580354e-01 -3.44631940e-03 1.65721261e+02] [-4.14577461e-01 9.10012709e-01 1.54881288e-03 -1.96267601e+01] [ 3.77830184e-03 1.93370545e-05 9.99992862e-01 8.07871119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.082320588 meters 0.024296669663968564 Centerline is valid? [True, True] Translation: X:165.75, Y:-19.64, Z:0.81 [[ 9.09781858e-01 4.15072403e-01 -3.44548067e-03 1.65751019e+02] [-4.15069507e-01 9.09788382e-01 1.55067602e-03 -1.96398325e+01] [ 3.77830111e-03 1.93370509e-05 9.99992862e-01 8.08034991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.112320588 meters 0.024296669663968564 Centerline is valid? [True, True] Translation: X:165.78, Y:-19.65, Z:0.81 [[ 9.09557266e-01 4.15564332e-01 -3.44464093e-03 1.65780770e+02] [-4.15561432e-01 9.09563789e-01 1.55253872e-03 -1.96529209e+01] [ 3.77830037e-03 1.93370472e-05 9.99992862e-01 8.08198863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.142320588 meters 0.02438215886900862 Centerline is valid? [True, True] Translation: X:165.81, Y:-19.66, Z:0.81 [[ 9.08150951e-01 4.18635421e-01 -2.49693405e-03 1.65811463e+02] [-4.18633907e-01 9.08154383e-01 1.12620266e-03 -1.96645149e+01] [ 2.73906992e-03 2.25392401e-05 9.99996248e-01 8.09883773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.172320588 meters 0.02438215886900862 Centerline is valid? [True, True] Translation: X:165.84, Y:-19.68, Z:0.81 [[ 9.07923256e-01 4.19129013e-01 -2.49632955e-03 1.65841200e+02] [-4.19127497e-01 9.07926687e-01 1.12754019e-03 -1.96776401e+01] [ 2.73906903e-03 2.25603972e-05 9.99996248e-01 8.10047647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.202320588 meters 0.02438215886900862 Centerline is valid? [True, True] Translation: X:165.87, Y:-19.69, Z:0.81 [[ 9.07695292e-01 4.19622482e-01 -2.49571559e-03 1.65870929e+02] [-4.19620964e-01 9.07698723e-01 1.12889667e-03 -1.96907814e+01] [ 2.73906828e-03 2.25603914e-05 9.99996248e-01 8.10211522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.232320588 meters 0.02438215886900862 Centerline is valid? [True, True] Translation: X:165.90, Y:-19.70, Z:0.81 [[ 9.07467061e-01 4.20115827e-01 -2.49510090e-03 1.65900652e+02] [-4.20114307e-01 9.07470491e-01 1.13025282e-03 -1.97039389e+01] [ 2.73906754e-03 2.25603856e-05 9.99996248e-01 8.10375398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.262320588 meters 0.02438215886900862 Centerline is valid? [True, True] Translation: X:165.93, Y:-19.72, Z:0.81 [[ 9.07238561e-01 4.20609048e-01 -2.49448547e-03 1.65930367e+02] [-4.20607526e-01 9.07241990e-01 1.13160863e-03 -1.97171126e+01] [ 2.73906679e-03 2.25603798e-05 9.99996248e-01 8.10539273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.292320588 meters 0.02445513815709269 Centerline is valid? [True, True] Translation: X:165.96, Y:-19.73, Z:0.81 [[ 9.05493103e-01 4.24345029e-01 -3.67934973e-03 1.65960615e+02] [-4.24341733e-01 9.05500577e-01 1.67303662e-03 -1.97275903e+01] [ 4.04159807e-03 4.63785247e-05 9.99991832e-01 8.13307924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.322320588 meters 0.02445513815709269 Centerline is valid? [True, True] Translation: X:165.99, Y:-19.74, Z:0.81 [[ 9.05264090e-01 4.24833374e-01 -3.67858668e-03 1.65990318e+02] [-4.24830076e-01 9.05271562e-01 1.67471245e-03 -1.97407973e+01] [ 4.04159365e-03 4.67172156e-05 9.99991832e-01 8.13471795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.352320588 meters 0.02445513815709269 Centerline is valid? [True, True] Translation: X:166.02, Y:-19.75, Z:0.81 [[ 9.05034813e-01 4.25321598e-01 -3.67768217e-03 1.66020014e+02] [-4.25318296e-01 9.05042284e-01 1.67669606e-03 -1.97540206e+01] [ 4.04159292e-03 4.67172073e-05 9.99991832e-01 8.13635675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.382320588 meters 0.02445513815709269 Centerline is valid? [True, True] Translation: X:166.05, Y:-19.77, Z:0.81 [[ 9.04805273e-01 4.25809698e-01 -3.67677659e-03 1.66049703e+02] [-4.25806392e-01 9.04812742e-01 1.67867918e-03 -1.97672599e+01] [ 4.04159219e-03 4.67171989e-05 9.99991832e-01 8.13799555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.412320588 meters 0.02476889912500522 Centerline is valid? [True, True] Translation: X:166.08, Y:-19.78, Z:0.81 [[ 9.02731568e-01 4.30180533e-01 -4.51940830e-03 1.66079970e+02] [-4.30175574e-01 9.02742877e-01 2.06703148e-03 -1.97775887e+01] [ 4.96906035e-03 7.81644943e-05 9.99987651e-01 8.14618946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.442320588 meters 0.02476889912500522 Centerline is valid? [True, True] Translation: X:166.11, Y:-19.79, Z:0.81 [[ 9.02501884e-01 4.30662203e-01 -4.51844196e-03 1.66109648e+02] [-4.30657239e-01 9.02513191e-01 2.06914167e-03 -1.97908615e+01] [ 4.96905459e-03 7.84954830e-05 9.99987651e-01 8.14782828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.472320588 meters 0.02476889912500522 Centerline is valid? [True, True] Translation: X:166.14, Y:-19.80, Z:0.81 [[ 9.02271943e-01 4.31143752e-01 -4.51733651e-03 1.66139319e+02] [-4.31138782e-01 9.02283248e-01 2.07155227e-03 -1.98041505e+01] [ 4.96905387e-03 7.84954716e-05 9.99987651e-01 8.14946718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.502320588 meters 0.02491516712981403 Centerline is valid? [True, True] Translation: X:166.17, Y:-19.81, Z:0.82 [[ 9.00416555e-01 4.34996566e-01 -5.29289788e-03 1.66170112e+02] [-4.34989787e-01 9.00432105e-01 2.43107541e-03 -1.98136490e+01] [ 5.82340463e-03 1.13375972e-04 9.99983037e-01 8.16048558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.532320588 meters 0.02491516712981403 Centerline is valid? [True, True] Translation: X:166.20, Y:-19.83, Z:0.82 [[ 9.00186647e-01 4.35472155e-01 -5.29174896e-03 1.66199773e+02] [-4.35465370e-01 9.00202194e-01 2.43357392e-03 -1.98269706e+01] [ 5.82339770e-03 1.13702671e-04 9.99983037e-01 8.16212452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.562320588 meters 0.02544283663164621 Centerline is valid? [True, True] Translation: X:166.23, Y:-19.84, Z:0.82 [[ 8.97850458e-01 4.40273537e-01 -4.87522187e-03 1.66230755e+02] [-4.40267833e-01 8.97863684e-01 2.24488653e-03 -1.98361116e+01] [ 5.36564880e-03 1.30830970e-04 9.99985596e-01 8.15186838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.592320588 meters 0.02544283663164621 Centerline is valid? [True, True] Translation: X:166.26, Y:-19.85, Z:0.82 [[ 8.97620766e-01 4.40741650e-01 -4.87418320e-03 1.66260407e+02] [-4.40735941e-01 8.97633990e-01 2.24713956e-03 -1.98494666e+01] [ 5.36564051e-03 1.31148586e-04 9.99985596e-01 8.15350752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.622320588 meters 0.025222244237493783 Centerline is valid? [True, True] Translation: X:166.31, Y:-19.83, Z:0.82 [[ 8.99966989e-01 4.35899184e-01 7.16375426e-03 1.66306124e+02] [-4.35886646e-01 8.99995489e-01 -3.30929573e-03 -1.98283092e+01] [-7.88986583e-03 -1.44327909e-04 9.99968864e-01 8.18938166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.652320588 meters 0.024715721363466933 Centerline is valid? [True, True] Translation: X:166.34, Y:-19.84, Z:0.82 [[ 9.02477710e-01 4.30682119e-01 6.84798343e-03 1.66338273e+02] [-4.30670503e-01 9.02503686e-01 -3.16441615e-03 -1.98359697e+01] [-7.54318775e-03 -9.34094290e-05 9.99971545e-01 8.18384651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.682320588 meters 0.024715721363466933 Centerline is valid? [True, True] Translation: X:166.37, Y:-19.85, Z:0.82 [[ 9.02390495e-01 4.30864840e-01 6.84719897e-03 1.66367813e+02] [-4.30853217e-01 9.02416468e-01 -3.16611358e-03 -1.98495626e+01] [-7.54319212e-03 -9.30669051e-05 9.99971545e-01 8.18548496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.712320588 meters 0.024715721363466933 Centerline is valid? [True, True] Translation: X:166.40, Y:-19.86, Z:0.82 [[ 9.02303241e-01 4.31047545e-01 6.84655787e-03 1.66397350e+02] [-4.31035917e-01 9.02329211e-01 -3.16749992e-03 -1.98631617e+01] [-7.54319223e-03 -9.30669063e-05 9.99971545e-01 8.18712331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74232058799998 meters 0.024715721363466933 Centerline is valid? [True, True] Translation: X:166.43, Y:-19.88, Z:0.82 [[ 9.02215950e-01 4.31230232e-01 6.84591649e-03 1.66426884e+02] [-4.31218599e-01 9.02241918e-01 -3.16888613e-03 -1.98767668e+01] [-7.54319233e-03 -9.30669077e-05 9.99971545e-01 8.18876166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77232058799999 meters 0.024591731600823005 Centerline is valid? [True, True] Translation: X:166.46, Y:-19.88, Z:0.82 [[ 9.04582958e-01 4.26200296e-01 9.10929456e-03 1.66459131e+02] [-4.26179435e-01 9.04628821e-01 -4.21732104e-03 -1.98845317e+01] [-1.00379539e-02 -6.72772654e-05 9.99949616e-01 8.17683471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.802320588 meters 0.024591731600823005 Centerline is valid? [True, True] Translation: X:166.49, Y:-19.90, Z:0.82 [[ 9.04497295e-01 4.26382085e-01 9.10830719e-03 1.66488664e+02] [-4.26361212e-01 9.04543151e-01 -4.21945337e-03 -1.98981441e+01] [-1.00379562e-02 -6.69447366e-05 9.99949616e-01 8.17847318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.832320588 meters 0.024591731600823005 Centerline is valid? [True, True] Translation: X:166.52, Y:-19.91, Z:0.82 [[ 9.04411592e-01 4.26563859e-01 9.10745914e-03 1.66518193e+02] [-4.26542977e-01 9.04457445e-01 -4.22128379e-03 -1.99117627e+01] [-1.00379563e-02 -6.69447374e-05 9.99949616e-01 8.18011153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.862320588 meters 0.024591731600823005 Centerline is valid? [True, True] Translation: X:166.55, Y:-19.93, Z:0.82 [[ 9.04325853e-01 4.26745616e-01 9.10661071e-03 1.66547720e+02] [-4.26724725e-01 9.04371702e-01 -4.22311404e-03 -1.99253872e+01] [-1.00379564e-02 -6.69447381e-05 9.99949616e-01 8.18174988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.892320588 meters 0.024591731600823005 Centerline is valid? [True, True] Translation: X:166.58, Y:-19.94, Z:0.82 [[ 9.04240078e-01 4.26927356e-01 9.10576191e-03 1.66577244e+02] [-4.26906455e-01 9.04285922e-01 -4.22494412e-03 -1.99390177e+01] [-1.00379565e-02 -6.69447388e-05 9.99949616e-01 8.18338823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.922320588 meters 0.024591731600823005 Centerline is valid? [True, True] Translation: X:166.61, Y:-19.95, Z:0.82 [[ 9.04154266e-01 4.27109078e-01 9.10491275e-03 1.66606765e+02] [-4.27088168e-01 9.04200106e-01 -4.22677403e-03 -1.99526541e+01] [-1.00379566e-02 -6.69447395e-05 9.99949616e-01 8.18502657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.952320588 meters 0.024584683352384753 Centerline is valid? [True, True] Translation: X:166.64, Y:-19.96, Z:0.82 [[ 9.06100221e-01 4.22897473e-01 1.18371042e-02 1.66638532e+02] [-4.22861755e-01 9.06177536e-01 -5.49635918e-03 -1.99609360e+01] [-1.30509144e-02 -2.52064034e-05 9.99914833e-01 8.18085627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.982320588 meters 0.024584683352384753 Centerline is valid? [True, True] Translation: X:166.67, Y:-19.97, Z:0.82 [[ 9.06015872e-01 4.23078187e-01 1.18358689e-02 1.66668052e+02] [-4.23042449e-01 9.06093178e-01 -5.49901913e-03 -1.99745802e+01] [-1.30509151e-02 -2.48763612e-05 9.99914833e-01 8.18249480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.012320588 meters 0.024584683352384753 Centerline is valid? [True, True] Translation: X:166.70, Y:-19.99, Z:0.82 [[ 9.05931484e-01 4.23258886e-01 1.18347721e-02 1.66697569e+02] [-4.23223133e-01 9.06008783e-01 -5.50137956e-03 -1.99882306e+01] [-1.30509152e-02 -2.48763614e-05 9.99914833e-01 8.18413320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.042320588 meters 0.02471212418211703 Centerline is valid? [True, True] Translation: X:166.73, Y:-20.00, Z:0.82 [[ 9.08091110e-01 4.18516315e-01 1.46502376e-02 1.66728623e+02] [-4.18460879e-01 9.08209277e-01 -6.81186390e-03 -1.99974565e+01] [-1.61563579e-02 5.52417248e-05 9.99869476e-01 8.18637088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.072320588 meters 0.02471212418211703 Centerline is valid? [True, True] Translation: X:166.76, Y:-20.01, Z:0.82 [[ 9.08008207e-01 4.18696202e-01 1.46487482e-02 1.66758138e+02] [-4.18640738e-01 9.08126361e-01 -6.81506656e-03 -2.00111171e+01] [-1.61563569e-02 5.55735953e-05 9.99869476e-01 8.18800952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.102320588 meters 0.02471212418211703 Centerline is valid? [True, True] Translation: X:166.79, Y:-20.02, Z:0.82 [[ 9.07925266e-01 4.18876075e-01 1.46473981e-02 1.66787651e+02] [-4.18820587e-01 9.08043408e-01 -6.81796807e-03 -2.00247838e+01] [-1.61563570e-02 5.55735956e-05 9.99869476e-01 8.18964801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.132320588 meters 0.02471212418211703 Centerline is valid? [True, True] Translation: X:166.82, Y:-20.04, Z:0.82 [[ 9.07842288e-01 4.19055931e-01 1.46460474e-02 1.66817161e+02] [-4.19000420e-01 9.07960420e-01 -6.82086932e-03 -2.00384564e+01] [-1.61563571e-02 5.55735959e-05 9.99869476e-01 8.19128651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.162320588 meters 0.02471212418211703 Centerline is valid? [True, True] Translation: X:166.85, Y:-20.05, Z:0.82 [[ 9.07759275e-01 4.19235770e-01 1.46446961e-02 1.66846668e+02] [-4.19180236e-01 9.07877396e-01 -6.82377030e-03 -2.00521349e+01] [-1.61563572e-02 5.55735962e-05 9.99869476e-01 8.19292500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.192320588 meters 0.024904630237249117 Centerline is valid? [True, True] Translation: X:166.88, Y:-20.06, Z:0.82 [[ 9.09288137e-01 4.15872389e-01 1.56601514e-02 1.66876543e+02] [-4.15808351e-01 9.09422971e-01 -7.29896958e-03 -2.00641324e+01] [-1.72771413e-02 1.25244746e-04 9.99850731e-01 8.20020181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.222320588 meters 0.024904630237249117 Centerline is valid? [True, True] Translation: X:166.91, Y:-20.08, Z:0.82 [[ 9.09206926e-01 4.16049965e-01 1.56585886e-02 1.66906047e+02] [-4.15985896e-01 9.09341746e-01 -7.30232189e-03 -2.00778209e+01] [-1.72771390e-02 1.25569638e-04 9.99850731e-01 8.20184052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.252320588 meters 0.024904630237249117 Centerline is valid? [True, True] Translation: X:166.94, Y:-20.09, Z:0.82 [[ 9.09125678e-01 4.16227527e-01 1.56571624e-02 1.66935548e+02] [-4.16163432e-01 9.09260485e-01 -7.30537949e-03 -2.00915155e+01] [-1.72771391e-02 1.25569638e-04 9.99850731e-01 8.20347908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.282320588 meters 0.02502772544695051 Centerline is valid? [True, True] Translation: X:166.97, Y:-20.11, Z:0.82 [[ 9.10633657e-01 4.12961264e-01 1.44685072e-02 1.66965938e+02] [-4.12906063e-01 9.10748573e-01 -6.75427956e-03 -2.01050936e+01] [-1.59664281e-02 1.76539937e-04 9.99872513e-01 8.21905636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.312320588 meters 0.02529985758880591 Centerline is valid? [True, True] Translation: X:167.00, Y:-20.12, Z:0.82 [[ 9.12216032e-01 4.09474395e-01 1.38791279e-02 1.66995618e+02] [-4.09423167e-01 9.12321581e-01 -6.48098245e-03 -2.01174276e+01] [-1.53160242e-02 2.29619602e-04 9.99882676e-01 8.22963615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.342320588 meters 0.025372328692448067 Centerline is valid? [True, True] Translation: X:167.03, Y:-20.12, Z:0.83 [[ 9.14347798e-01 4.04751113e-01 1.20266923e-02 1.67027651e+02] [-4.04712213e-01 9.14426850e-01 -5.61789799e-03 -2.01243423e+01] [-1.32713808e-02 2.69363409e-04 9.99911895e-01 8.26676241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.372320588 meters 0.0257523306082049 Centerline is valid? [True, True] Translation: X:167.06, Y:-20.13, Z:0.83 [[ 9.14751290e-01 4.03848591e-01 1.16786982e-02 1.67058351e+02] [-4.03811813e-01 9.14825797e-01 -5.45717882e-03 -2.01341474e+01] [-1.28878483e-02 2.75965093e-04 9.99916910e-01 8.27239504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.402320588 meters 0.025902462706865678 Centerline is valid? [True, True] Translation: X:167.09, Y:-20.15, Z:0.83 [[ 9.15036393e-01 4.03223163e-01 1.09307263e-02 1.67087940e+02] [-4.03190880e-01 9.15101639e-01 -5.10937127e-03 -2.01473575e+01] [-1.20629424e-02 2.68091495e-04 9.99927204e-01 8.26199871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.432320588 meters 0.025673702479685884 Centerline is valid? [True, True] Translation: X:167.12, Y:-20.16, Z:0.83 [[ 9.14847129e-01 4.03644696e-01 1.12111448e-02 1.67116094e+02] [-4.03610746e-01 9.14915781e-01 -5.24213233e-03 -2.01637818e+01] [-1.23732122e-02 2.70811186e-04 9.99923412e-01 8.26623565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.462320588 meters 0.02595781808546885 Centerline is valid? [True, True] Translation: X:167.14, Y:-20.18, Z:0.83 [[ 9.15244806e-01 4.02720027e-01 1.19802305e-02 1.67144350e+02] [-4.02681156e-01 9.15323160e-01 -5.60352937e-03 -2.01800653e+01] [-1.32224360e-02 3.04388078e-04 9.99912533e-01 8.27341888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49232058799998 meters 0.02574148337547448 Centerline is valid? [True, True] Translation: X:167.17, Y:-20.20, Z:0.83 [[ 9.11123303e-01 4.12052233e-01 8.20271872e-03 1.67171335e+02] [-4.12034378e-01 9.11160219e-01 -3.83766529e-03 -2.01969683e+01] [-9.05530953e-03 1.16784173e-04 9.99958993e-01 8.33199758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52232058799999 meters 0.02551633219500494 Centerline is valid? [True, True] Translation: X:167.20, Y:-20.22, Z:0.83 [[ 9.09753002e-01 4.15057552e-01 8.75802927e-03 1.67198694e+02] [-4.15037322e-01 9.09795153e-01 -4.09899012e-03 -2.02150947e+01] [-9.66932938e-03 9.41595503e-05 9.99953247e-01 8.32140102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.552320588 meters 0.02538607210597994 Centerline is valid? [True, True] Translation: X:167.23, Y:-20.23, Z:0.83 [[ 9.08475421e-01 4.17852099e-01 8.48724336e-03 1.67226062e+02] [-4.17833210e-01 9.08515063e-01 -3.97361198e-03 -2.02335617e+01] [-9.37117054e-03 6.36766825e-05 9.99956088e-01 8.32903714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.582320588 meters 0.025404257025937363 Centerline is valid? [True, True] Translation: X:167.25, Y:-20.25, Z:0.83 [[ 9.06988016e-01 4.21057771e-01 9.11552894e-03 1.67253952e+02] [-4.21036118e-01 9.07033821e-01 -4.27025725e-03 -2.02515349e+01] [-1.00661180e-02 3.51052295e-05 9.99949335e-01 8.32964065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.612320588 meters 0.02534986002122632 Centerline is valid? [True, True] Translation: X:167.28, Y:-20.27, Z:0.83 [[ 9.05617492e-01 4.23982374e-01 9.79309520e-03 1.67282887e+02] [-4.23957528e-01 9.05670440e-01 -4.58998574e-03 -2.02679444e+01] [-1.08153899e-02 4.91493374e-06 9.99941512e-01 8.34868105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.642320588 meters 0.02550272919739411 Centerline is valid? [True, True] Translation: X:167.31, Y:-20.29, Z:0.84 [[ 9.01535509e-01 4.32484597e-01 1.38130002e-02 1.67310529e+02] [-4.32436126e-01 9.01641312e-01 -6.47622647e-03 -2.02855660e+01] [-1.52552398e-02 -1.34692182e-04 9.99883623e-01 8.37081075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.672320588 meters 0.02747293318610799 Centerline is valid? [True, True] Translation: X:167.37, Y:-20.22, Z:0.84 [[ 8.92201048e-01 4.51334392e-01 1.65697630e-02 1.67373315e+02] [-4.51267898e-01 8.92354731e-01 -7.76646600e-03 -2.02212566e+01] [-1.82913797e-02 -5.48153049e-04 9.99832548e-01 8.43629935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.702320588 meters 0.027207097166364932 Centerline is valid? [True, True] Translation: X:167.40, Y:-20.23, Z:0.84 [[ 8.93339231e-01 4.49099182e-01 1.59669281e-02 1.67399395e+02] [-4.49037278e-01 8.93481774e-01 -7.47277079e-03 -2.02326575e+01] [-1.76221745e-02 -4.94026645e-04 9.99844595e-01 8.43445332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.732320588 meters 0.027146322633225882 Centerline is valid? [True, True] Translation: X:167.43, Y:-20.24, Z:0.84 [[ 8.94600855e-01 4.46607583e-01 1.51979336e-02 1.67426063e+02] [-4.46551282e-01 8.94729837e-01 -7.10436145e-03 -2.02435008e+01] [-1.67709063e-02 -4.31088880e-04 9.99859266e-01 8.42749933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.762320588 meters 0.026885684061008375 Centerline is valid? [True, True] Translation: X:167.45, Y:-20.26, Z:0.84 [[ 8.95428706e-01 4.44971494e-01 1.44153610e-02 1.67452531e+02] [-4.44920759e-01 8.95544650e-01 -6.73045483e-03 -2.02557600e+01] [-1.59044600e-02 -3.87050919e-04 9.99873441e-01 8.42043438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.792320588 meters 0.027485583716217992 Centerline is valid? [True, True] Translation: X:167.50, Y:-20.22, Z:0.84 [[ 9.14989996e-01 4.03280035e-01 1.25905197e-02 1.67501338e+02] [-4.03237403e-01 9.15076569e-01 -5.87114349e-03 -2.02190904e+01] [-1.38890045e-02 2.95069085e-04 9.99903500e-01 8.36580156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.822320588 meters 0.026947199946259087 Centerline is valid? [True, True] Translation: X:167.48, Y:-20.34, Z:0.83 [[ 8.97824327e-01 4.40091245e-01 1.52044210e-02 1.67480376e+02] [-4.40034121e-01 8.97953003e-01 -7.09768341e-03 -2.03404290e+01] [-1.67764838e-02 -3.17991213e-04 9.99859214e-01 8.32064579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.852320588 meters 0.027361862112242244 Centerline is valid? [True, True] Translation: X:167.51, Y:-20.35, Z:0.83 [[ 8.96292294e-01 4.43204891e-01 1.51508289e-02 1.67511736e+02] [-4.43148578e-01 8.96420262e-01 -7.07477256e-03 -2.03494604e+01] [-1.67170838e-02 -3.73004181e-04 9.99860190e-01 8.31798079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.882320588 meters 0.02748292835017609 Centerline is valid? [True, True] Translation: X:167.54, Y:-20.36, Z:0.83 [[ 8.95764135e-01 4.44249397e-01 1.57825060e-02 1.67542841e+02] [-4.44188409e-01 8.95903068e-01 -7.37222773e-03 -2.03596689e+01] [-1.74147033e-02 -4.06629035e-04 9.99848270e-01 8.31847724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.912320588 meters 0.027449462268160738 Centerline is valid? [True, True] Translation: X:167.57, Y:-20.37, Z:0.83 [[ 8.95346025e-01 4.45042030e-01 1.71197765e-02 1.67573570e+02] [-4.44970362e-01 8.95509567e-01 -7.99955240e-03 -2.03704085e+01] [-1.88910606e-02 -4.55425682e-04 9.99821444e-01 8.32322272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.942320588 meters 0.02750425674664357 Centerline is valid? [True, True] Translation: X:167.60, Y:-20.38, Z:0.83 [[ 8.96274286e-01 4.43186325e-01 1.66818872e-02 1.67604133e+02] [-4.43117905e-01 8.96429428e-01 -7.79762822e-03 -2.03804475e+01] [-1.84099368e-02 -4.03229233e-04 9.99830441e-01 8.31348606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.972320588 meters 0.027101293711455376 Centerline is valid? [True, True] Translation: X:167.63, Y:-20.39, Z:0.83 [[ 8.98169658e-01 4.39424345e-01 1.40538350e-02 1.67634903e+02] [-4.39375311e-01 8.98279561e-01 -6.57007924e-03 -2.03879853e+01] [-1.55113255e-02 -2.73862295e-04 9.99879655e-01 8.32003139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.002320588 meters 0.026871683035890655 Centerline is valid? [True, True] Translation: X:167.67, Y:-20.40, Z:0.83 [[ 8.98951043e-01 4.37804049e-01 1.46505284e-02 1.67665318e+02] [-4.37750529e-01 8.99070381e-01 -6.85017243e-03 -2.03980239e+01] [-1.61708893e-02 -2.55306883e-04 9.99869210e-01 8.33176281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.032320588 meters 0.026981434099023482 Centerline is valid? [True, True] Translation: X:167.70, Y:-20.41, Z:0.83 [[ 9.00629648e-01 4.34238136e-01 1.74206531e-02 1.67695678e+02] [-4.34161802e-01 9.00798085e-01 -8.14497341e-03 -2.04056178e+01] [-1.92293490e-02 -2.27777589e-04 9.99815073e-01 8.34188450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.062320588 meters 0.026924154010789906 Centerline is valid? [True, True] Translation: X:167.73, Y:-20.42, Z:0.83 [[ 9.01365585e-01 4.32645422e-01 1.89214587e-02 1.67725439e+02] [-4.32554978e-01 9.01564138e-01 -8.84851569e-03 -2.04165937e+01] [-2.08871784e-02 -2.08823617e-04 9.99781817e-01 8.34510355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.092320588 meters 0.026822497756243308 Centerline is valid? [True, True] Translation: X:167.76, Y:-20.43, Z:0.83 [[ 9.03202198e-01 4.28819586e-01 1.84269276e-02 1.67755080e+02] [-4.28733017e-01 9.03390142e-01 -8.61690179e-03 -2.04254142e+01] [-2.03418010e-02 -1.17427618e-04 9.99793077e-01 8.33025055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.122320588 meters 0.026730358266738814 Centerline is valid? [True, True] Translation: X:167.78, Y:-20.44, Z:0.83 [[ 9.03987349e-01 4.27181840e-01 1.79596556e-02 1.67784146e+02] [-4.27099247e-01 9.04165732e-01 -8.40017503e-03 -2.04377800e+01] [-1.98269074e-02 -7.69034553e-05 9.99803425e-01 8.32726495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.152320588 meters 0.02696926718693361 Centerline is valid? [True, True] Translation: X:167.81, Y:-20.45, Z:0.83 [[ 9.05611229e-01 4.23674169e-01 1.91963512e-02 1.67812196e+02] [-4.23579029e-01 9.05814660e-01 -8.97822231e-03 -2.04491595e+01] [-2.11921772e-02 -3.92852523e-07 9.99775421e-01 8.32753047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.182320588 meters 0.02670295656396004 Centerline is valid? [True, True] Translation: X:167.84, Y:-20.46, Z:0.83 [[ 9.06552289e-01 4.21723999e-01 1.76582973e-02 1.67840849e+02] [-4.21643124e-01 9.06724251e-01 -8.25886736e-03 -2.04607617e+01] [-1.94941689e-02 4.15954960e-05 9.99809970e-01 8.33319596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.212320588 meters 0.02698803556450468 Centerline is valid? [True, True] Translation: X:167.87, Y:-20.47, Z:0.83 [[ 9.07374610e-01 4.19896299e-01 1.89318652e-02 1.67868470e+02] [-4.19802976e-01 9.07572086e-01 -8.85269310e-03 -2.04716318e+01] [-2.08992454e-02 8.50556023e-05 9.99781583e-01 8.32567099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24232058799998 meters 0.027055858955431836 Centerline is valid? [True, True] Translation: X:167.90, Y:-20.48, Z:0.83 [[ 9.08721459e-01 4.16948197e-01 1.94810133e-02 1.67896357e+02] [-4.16848736e-01 9.08930237e-01 -9.10797574e-03 -2.04817535e+01] [-2.15044361e-02 1.55977262e-04 9.99768741e-01 8.31269777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27232058799999 meters 0.027401501746487922 Centerline is valid? [True, True] Translation: X:167.92, Y:-20.49, Z:0.83 [[ 9.10260213e-01 4.13467534e-01 2.17012253e-02 1.67923408e+02] [-4.13343154e-01 9.10518824e-01 -1.01443569e-02 -2.04940624e+01] [-2.39537363e-02 2.63951588e-04 9.99713033e-01 8.31997390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.302320588 meters 0.027727463486995185 Centerline is valid? [True, True] Translation: X:167.95, Y:-20.51, Z:0.83 [[ 9.11592568e-01 4.10524896e-01 2.16402421e-02 1.67951640e+02] [-4.10400329e-01 9.11849325e-01 -1.01182034e-02 -2.05074771e+01] [-2.38864145e-02 3.42516507e-04 9.99714620e-01 8.32948957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.332320588 meters 0.027966485847970582 Centerline is valid? [True, True] Translation: X:167.98, Y:-20.52, Z:0.83 [[ 9.13615016e-01 4.06210275e-01 1.73439900e-02 1.67977905e+02] [-4.06129459e-01 9.13779557e-01 -8.11078942e-03 -2.05246124e+01] [-1.91432695e-02 3.66233759e-04 9.99816684e-01 8.33372410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.362320588 meters 0.02807546472169128 Centerline is valid? [True, True] Translation: X:168.00, Y:-20.54, Z:0.83 [[ 9.14281961e-01 4.04713767e-01 1.71831980e-02 1.68004941e+02] [-4.04634184e-01 9.14443334e-01 -8.03525795e-03 -2.05387569e+01] [-1.89650404e-02 3.93582083e-04 9.99820070e-01 8.32967892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.392320588 meters 0.02819248639535869 Centerline is valid? [True, True] Translation: X:168.03, Y:-20.55, Z:0.83 [[ 9.14858830e-01 4.03406297e-01 1.72244416e-02 1.68033170e+02] [-4.03326100e-01 9.15020864e-01 -8.05454437e-03 -2.05512200e+01] [-1.90099773e-02 4.21704200e-04 9.99819205e-01 8.33215326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.422320588 meters 0.0285817857443156 Centerline is valid? [True, True] Translation: X:168.06, Y:-20.56, Z:0.83 [[ 9.15426967e-01 4.01992543e-01 1.98862622e-02 1.68061106e+02] [-4.01885346e-01 9.15642794e-01 -9.29743958e-03 -2.05622054e+01] [-2.19462141e-02 5.19129555e-04 9.99759018e-01 8.34203313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.452320588 meters 0.02865216847476737 Centerline is valid? [True, True] Translation: X:168.09, Y:-20.58, Z:0.83 [[ 9.15508813e-01 4.01860489e-01 1.87552768e-02 1.68088306e+02] [-4.01765070e-01 9.15700772e-01 -8.77071243e-03 -2.05781152e+01] [-2.06988242e-02 4.94449430e-04 9.99785634e-01 8.34075949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.482320588 meters 0.028054397637203965 Centerline is valid? [True, True] Translation: X:168.11, Y:-20.60, Z:0.83 [[ 9.14517444e-01 4.04255337e-01 1.53449631e-02 1.68111752e+02] [-4.04191770e-01 9.14646102e-01 -7.17787635e-03 -2.06012627e+01] [-1.69369055e-02 3.61985331e-04 9.99856495e-01 8.33319664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.512320588 meters 0.027985559269418803 Centerline is valid? [True, True] Translation: X:168.14, Y:-20.62, Z:0.83 [[ 9.14219542e-01 4.04954419e-01 1.46474149e-02 1.68139108e+02] [-4.04896574e-01 9.14336813e-01 -6.85254738e-03 -2.06173311e+01] [-1.61676400e-02 3.34044593e-04 9.99869239e-01 8.33567460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.542320588 meters 0.02764425627531253 Centerline is valid? [True, True] Translation: X:168.17, Y:-20.63, Z:0.83 [[ 9.12903645e-01 4.07787778e-01 1.77781861e-02 1.68167480e+02] [-4.07703037e-01 9.13076671e-01 -8.32023029e-03 -2.06325259e+01] [-1.96257352e-02 3.47348084e-04 9.99807336e-01 8.34031810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.572320588 meters 0.027614865644243612 Centerline is valid? [True, True] Translation: X:168.20, Y:-20.65, Z:0.83 [[ 9.12222919e-01 4.09222726e-01 1.96495980e-02 1.68195752e+02] [-4.09119472e-01 9.12434456e-01 -9.19896826e-03 -2.06474185e+01] [-2.16933971e-02 3.52476536e-04 9.99764608e-01 8.34083362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.602320588 meters 0.027331931198481374 Centerline is valid? [True, True] Translation: X:168.22, Y:-20.67, Z:0.83 [[ 9.11171610e-01 4.11610477e-01 1.85232919e-02 1.68222084e+02] [-4.11519157e-01 9.11359828e-01 -8.67455587e-03 -2.06664793e+01] [-2.04519222e-02 2.81319599e-04 9.99790798e-01 8.32679770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.632320588 meters 0.02725121489149381 Centerline is valid? [True, True] Translation: X:168.25, Y:-20.68, Z:0.83 [[ 9.10631738e-01 4.12882142e-01 1.66785774e-02 1.68250374e+02] [-4.12808271e-01 9.10784433e-01 -7.81331018e-03 -2.06827919e+01] [-1.84165649e-02 2.29993544e-04 9.99830374e-01 8.32737995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.662320588 meters 0.02693203027328299 Centerline is valid? [True, True] Translation: X:168.28, Y:-20.70, Z:0.83 [[ 9.09071227e-01 4.16324319e-01 1.62346919e-02 1.68277787e+02] [-4.16254829e-01 9.09216166e-01 -7.60792637e-03 -2.07007571e+01] [-1.79282091e-02 1.58378044e-04 9.99839264e-01 8.33888628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.692320588 meters 0.027053452955675922 Centerline is valid? [True, True] Translation: X:168.31, Y:-20.71, Z:0.83 [[ 9.08610727e-01 4.17334635e-01 1.60732385e-02 1.68306738e+02] [-4.17266634e-01 9.08752872e-01 -7.53481000e-03 -2.07142365e+01] [-1.77511388e-02 1.39383071e-04 9.99842426e-01 8.33978178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.722320588 meters 0.027053452955675922 Centerline is valid? [True, True] Translation: X:168.34, Y:-20.73, Z:0.83 [[ 9.08529974e-01 4.17510464e-01 1.60716426e-02 1.68336216e+02] [-4.17442430e-01 9.08672104e-01 -7.53821376e-03 -2.07279903e+01] [-1.77511364e-02 1.39707619e-04 9.99842426e-01 8.34142056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.752320588 meters 0.02684374893732444 Centerline is valid? [True, True] Translation: X:168.37, Y:-20.74, Z:0.83 [[ 9.07049434e-01 4.20749393e-01 1.52076398e-02 1.68366468e+02] [-4.20688898e-01 9.07176908e-01 -7.13503812e-03 -2.07399541e+01] [-1.67980826e-02 7.41470783e-05 9.99858900e-01 8.33833208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.782320588 meters 0.026921477827243794 Centerline is valid? [True, True] Translation: X:168.40, Y:-20.75, Z:0.83 [[ 9.06382469e-01 4.22138104e-01 1.64390187e-02 1.68396320e+02] [-4.22067596e-01 9.06531532e-01 -7.71531910e-03 -2.07523308e+01] [-1.81594190e-02 5.46528534e-05 9.99835103e-01 8.33124953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.812320588 meters 0.02696730106054991 Centerline is valid? [True, True] Translation: X:168.43, Y:-20.77, Z:0.83 [[ 9.05135936e-01 4.24749940e-01 1.77883813e-02 1.68425251e+02] [-4.24667830e-01 9.05310714e-01 -8.35138132e-03 -2.07665779e+01] [-1.96512609e-02 4.98203753e-06 9.99806895e-01 8.33090851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.842320588 meters 0.02722444594180514 Centerline is valid? [True, True] Translation: X:168.45, Y:-20.78, Z:0.83 [[ 9.03777189e-01 4.27608002e-01 1.83899297e-02 1.68454003e+02] [-4.27520776e-01 9.03964265e-01 -8.63671549e-03 -2.07812905e+01] [-2.03169680e-02 -5.64105727e-05 9.99793588e-01 8.33381295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.872320588 meters 0.027324656565515273 Centerline is valid? [True, True] Translation: X:168.49, Y:-20.79, Z:0.83 [[ 9.01701068e-01 4.32076865e-01 1.56450324e-02 1.68486040e+02] [-4.32014363e-01 9.01836773e-01 -7.35016852e-03 -2.07895915e+01] [-1.72851033e-02 -1.31223888e-04 9.99850593e-01 8.33574280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.902320588 meters 0.027460112199347315 Centerline is valid? [True, True] Translation: X:168.52, Y:-20.80, Z:0.83 [[ 9.00475183e-01 4.34627020e-01 1.56140400e-02 1.68517167e+02] [-4.34565105e-01 9.00610528e-01 -7.33809083e-03 -2.07980923e+01] [-1.72515013e-02 -1.77548222e-04 9.99851166e-01 8.33034538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.932320588 meters 0.027400823955107793 Centerline is valid? [True, True] Translation: X:168.55, Y:-20.81, Z:0.83 [[ 8.99843878e-01 4.35960131e-01 1.48242809e-02 1.68547891e+02] [-4.35904463e-01 8.99965959e-01 -6.96932550e-03 -2.08074532e+01] [-1.63796962e-02 -1.90665301e-04 9.99865826e-01 8.33938633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.962320588 meters 0.027667306782141167 Centerline is valid? [True, True] Translation: X:168.58, Y:-20.82, Z:0.83 [[ 8.99075603e-01 4.37539129e-01 1.49187752e-02 1.68576049e+02] [-4.37482953e-01 8.99199345e-01 -7.01457149e-03 -2.08201895e+01] [-1.64841024e-02 -2.20079746e-04 9.99864104e-01 8.33748838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99232058799998 meters 0.027617854633051813 Centerline is valid? [True, True] Translation: X:168.60, Y:-20.83, Z:0.83 [[ 8.98814566e-01 4.38062535e-01 1.52836954e-02 1.68603757e+02] [-4.38003632e-01 8.98944470e-01 -7.18735053e-03 -2.08345049e+01] [-1.68877024e-02 -2.34218724e-04 9.99857365e-01 8.34117331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02232058799999 meters 0.027727059418747847 Centerline is valid? [True, True] Translation: X:168.63, Y:-20.84, Z:0.84 [[ 8.98547262e-01 4.38644155e-01 1.42871531e-02 1.68633577e+02] [-4.38592739e-01 8.98660811e-01 -6.71987018e-03 -2.08446684e+01] [-1.57869364e-02 -2.28120669e-04 9.99875353e-01 8.35610140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.052320588 meters 0.027878018208718713 Centerline is valid? [True, True] Translation: X:168.66, Y:-20.85, Z:0.83 [[ 8.98177788e-01 4.39341572e-01 1.59888553e-02 1.68662855e+02] [-4.39277496e-01 8.98320046e-01 -7.50844386e-03 -2.08496635e+01] [-1.76618807e-02 -2.79626797e-04 9.99843978e-01 8.34915135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.082320588 meters 0.02789242903352718 Centerline is valid? [True, True] Translation: X:168.69, Y:-20.86, Z:0.83 [[ 8.98144676e-01 4.39347292e-01 1.76096287e-02 1.68690072e+02] [-4.39269751e-01 8.98317236e-01 -8.26007317e-03 -2.08585486e+01] [-1.94480738e-02 -3.16636497e-04 9.99810818e-01 8.34212713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.112320588 meters 0.028017283951959442 Centerline is valid? [True, True] Translation: X:168.72, Y:-20.87, Z:0.84 [[ 8.98219135e-01 4.39248436e-01 1.62233248e-02 1.68718211e+02] [-4.39182596e-01 8.98365587e-01 -7.61048561e-03 -2.08685476e+01] [-1.79173706e-02 -2.89118092e-04 9.99839429e-01 8.35107101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.142320588 meters 0.02784969239362457 Centerline is valid? [True, True] Translation: X:168.75, Y:-20.88, Z:0.84 [[ 8.99463212e-01 4.36722100e-01 1.54834553e-02 1.68745431e+02] [-4.36661938e-01 8.99596438e-01 -7.25263053e-03 -2.08780027e+01] [-1.70962452e-02 -2.37561244e-04 9.99853820e-01 8.35198404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.172320588 meters 0.027514990894443078 Centerline is valid? [True, True] Translation: X:168.77, Y:-20.89, Z:0.83 [[ 9.01132591e-01 4.33307351e-01 1.43105949e-02 1.68771703e+02] [-4.33255656e-01 9.01246199e-01 -6.69512541e-03 -2.08900622e+01] [-1.57984163e-02 -1.66950492e-04 9.99875183e-01 8.33657811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.202320588 meters 0.02749889237129829 Centerline is valid? [True, True] Translation: X:168.80, Y:-20.90, Z:0.83 [[ 9.05735950e-01 4.23574156e-01 1.50772703e-02 1.68797792e+02] [-4.23515557e-01 9.05861432e-01 -7.04544508e-03 -2.09020887e+01] [-1.66421861e-02 -4.14562452e-06 9.99861509e-01 8.31415578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.232320588 meters 0.027468009795599626 Centerline is valid? [True, True] Translation: X:168.82, Y:-20.91, Z:0.83 [[ 9.08414195e-01 4.17750894e-01 1.63658488e-02 1.68823814e+02] [-4.17681059e-01 9.08561599e-01 -7.63894226e-03 -2.09136392e+01] [-1.80605567e-02 1.03618531e-04 9.99836889e-01 8.32508287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.262320588 meters 0.02806443864923128 Centerline is valid? [True, True] Translation: X:168.85, Y:-20.92, Z:0.83 [[ 9.12745420e-01 4.08133142e-01 1.79760055e-02 1.68851210e+02] [-4.08047201e-01 9.12922362e-01 -8.38103817e-03 -2.09237851e+01] [-1.98312768e-02 3.14695483e-04 9.99803291e-01 8.33329341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.292320588 meters 0.028247169712808013 Centerline is valid? [True, True] Translation: X:168.88, Y:-20.93, Z:0.83 [[ 9.14217424e-01 4.04899777e-01 1.62071495e-02 1.68876528e+02] [-4.04829595e-01 9.14361010e-01 -7.54597796e-03 -2.09347832e+01] [-1.78745504e-02 3.37530772e-04 9.99840180e-01 8.33267531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.322320588 meters 0.02886165980969575 Centerline is valid? [True, True] Translation: X:168.90, Y:-20.95, Z:0.83 [[ 9.16437027e-01 3.99822942e-01 1.68757123e-02 1.68902812e+02] [-3.99746143e-01 9.16592284e-01 -7.84896482e-03 -2.09470270e+01] [-1.86063439e-02 4.47081074e-04 9.99826787e-01 8.32004381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.352320588 meters 0.02952739471004294 Centerline is valid? [True, True] Translation: X:168.93, Y:-20.96, Z:0.83 [[ 9.17613460e-01 3.97076534e-01 1.77697535e-02 1.68926061e+02] [-3.96990897e-01 9.17785349e-01 -8.26319561e-03 -2.09641161e+01] [-1.95899405e-02 5.27989154e-04 9.99807959e-01 8.31636944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.382320588 meters 0.029573169320514264 Centerline is valid? [True, True] Translation: X:168.95, Y:-20.98, Z:0.83 [[ 9.18195288e-01 3.95687830e-01 1.86696128e-02 1.68952269e+02] [-3.95592994e-01 9.18384885e-01 -8.68252361e-03 -2.09810534e+01] [-2.05814591e-02 5.86684244e-04 9.99788007e-01 8.33134730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.412320588 meters 0.0299522158671591 Centerline is valid? [True, True] Translation: X:168.98, Y:-21.00, Z:0.83 [[ 9.19124882e-01 3.93543677e-01 1.82434996e-02 1.68979814e+02] [-3.93452665e-01 9.19305710e-01 -8.48602691e-03 -2.09968701e+01] [-2.01109756e-02 6.21764946e-04 9.99797561e-01 8.33067914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.442320588 meters 0.030501603539387103 Centerline is valid? [True, True] Translation: X:169.01, Y:-21.01, Z:0.83 [[ 9.20586348e-01 3.90178815e-01 1.67710613e-02 1.69006940e+02] [-3.90101322e-01 9.20738878e-01 -7.80236297e-03 -2.10121632e+01] [-1.84860849e-02 6.40335666e-04 9.99828913e-01 8.34901465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.472320588 meters 0.03034127547732662 Centerline is valid? [True, True] Translation: X:169.03, Y:-21.03, Z:0.84 [[ 9.20877379e-01 3.89494763e-01 1.66937884e-02 1.69034154e+02] [-3.89417848e-01 9.21028449e-01 -7.76761652e-03 -2.10282669e+01] [-1.84009000e-02 6.52163204e-04 9.99830476e-01 8.35127061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.502320588 meters 0.030350618720757408 Centerline is valid? [True, True] Translation: X:169.06, Y:-21.05, Z:0.84 [[ 9.20711755e-01 3.89811802e-01 1.83472795e-02 1.69059811e+02] [-3.89718895e-01 9.20894267e-01 -8.53997884e-03 -2.10495693e+01] [-2.02248890e-02 7.12577421e-04 9.99795202e-01 8.35322047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.532320588 meters 0.030270347743199904 Centerline is valid? [True, True] Translation: X:169.09, Y:-21.07, Z:0.84 [[ 9.20432904e-01 3.90503275e-01 1.76199128e-02 1.69088031e+02] [-3.90417666e-01 9.20601293e-01 -8.20402193e-03 -2.10657880e+01] [-1.94246120e-02 6.72126488e-04 9.99811099e-01 8.35862464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.562320588 meters 0.029755702880766562 Centerline is valid? [True, True] Translation: X:169.11, Y:-21.09, Z:0.84 [[ 9.19492426e-01 3.92779991e-01 1.60485734e-02 1.69114390e+02] [-3.92709275e-01 9.19632292e-01 -7.47480047e-03 -2.10850829e+01] [-1.76947384e-02 5.70598781e-04 9.99843273e-01 8.36334930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.592320588 meters 0.029559707253719925 Centerline is valid? [True, True] Translation: X:169.14, Y:-21.10, Z:0.84 [[ 9.19102500e-01 3.93724973e-01 1.52065517e-02 1.69141462e+02] [-3.93661574e-01 9.19228138e-01 -7.08489801e-03 -2.11037235e+01] [-1.67677914e-02 5.25512416e-04 9.99859273e-01 8.36144383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.622320588 meters 0.02931890955478199 Centerline is valid? [True, True] Translation: X:169.17, Y:-21.13, Z:0.84 [[ 9.18538317e-01 3.95005778e-01 1.60560137e-02 1.69166050e+02] [-3.94935252e-01 9.18678481e-01 -7.48301768e-03 -2.11279665e+01] [-1.77061495e-02 5.32352660e-04 9.99843092e-01 8.36819540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.652320588 meters 0.028983384321146135 Centerline is valid? [True, True] Translation: X:169.19, Y:-21.14, Z:0.84 [[ 9.18074927e-01 3.96101879e-01 1.55476527e-02 1.69194319e+02] [-3.96035864e-01 9.18206433e-01 -7.24845625e-03 -2.11441772e+01] [-1.71470819e-02 4.97197867e-04 9.99852854e-01 8.38513410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.682320588 meters 0.028488805656868177 Centerline is valid? [True, True] Translation: X:169.22, Y:-21.16, Z:0.84 [[ 9.16513056e-01 3.99774356e-01 1.35750791e-02 1.69221108e+02] [-3.99724410e-01 9.16613508e-01 -6.33026758e-03 -2.11618820e+01] [-1.49737795e-02 3.75482413e-04 9.99887816e-01 8.38620966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.712320588 meters 0.027741160330024463 Centerline is valid? [True, True] Translation: X:169.25, Y:-21.18, Z:0.84 [[ 9.13852511e-01 4.05865781e-01 1.21060271e-02 1.69247342e+02] [-4.05826583e-01 9.13932660e-01 -5.64604148e-03 -2.11797125e+01] [-1.33556286e-02 2.46701556e-04 9.99910779e-01 8.39006272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74232058799998 meters 0.027631993482209464 Centerline is valid? [True, True] Translation: X:169.28, Y:-21.19, Z:0.84 [[ 9.12929728e-01 4.07902257e-01 1.32310213e-02 1.69275557e+02] [-4.07855614e-01 9.13025570e-01 -6.17306994e-03 -2.11946300e+01] [-1.45982699e-02 2.39232758e-04 9.99893411e-01 8.39292823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77232058799999 meters 0.02736879800916779 Centerline is valid? [True, True] Translation: X:169.30, Y:-21.21, Z:0.84 [[ 9.11825219e-01 4.10265032e-01 1.60428413e-02 1.69303331e+02] [-4.10196780e-01 9.11966306e-01 -7.48728527e-03 -2.12101802e+01] [-1.77023020e-02 2.46373707e-04 9.99843272e-01 8.38908453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.802320588 meters 0.027752243628545968 Centerline is valid? [True, True] Translation: X:169.33, Y:-21.23, Z:0.84 [[ 9.09877250e-01 4.14374918e-01 2.04161166e-02 1.69329637e+02] [-4.14265125e-01 9.10106245e-01 -9.54090156e-03 -2.12299791e+01] [-2.25343455e-02 2.23364194e-04 9.99746044e-01 8.39130783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.832320588 meters 0.027530756212792565 Centerline is valid? [True, True] Translation: X:169.36, Y:-21.25, Z:0.84 [[ 9.08717788e-01 4.16982823e-01 1.89025650e-02 1.69357521e+02] [-4.16889052e-01 9.08914353e-01 -8.84406109e-03 -2.12465335e+01] [-2.08686342e-02 1.56483251e-04 9.99782214e-01 8.39700934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.862320588 meters 0.02723806237866703 Centerline is valid? [True, True] Translation: X:169.39, Y:-21.26, Z:0.84 [[ 9.06614974e-01 4.21800427e-01 1.15623457e-02 1.69385980e+02] [-4.21765731e-01 9.06688700e-01 -5.41014069e-03 -2.12591107e+01] [-1.27654479e-02 2.83133803e-05 9.99918518e-01 8.39591353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.892320588 meters 0.02695727424851351 Centerline is valid? [True, True] Translation: X:169.42, Y:-21.27, Z:0.84 [[ 9.05829110e-01 4.23518318e-01 1.02887371e-02 1.69416754e+02] [-4.23490933e-01 9.05887540e-01 -4.81611252e-03 -2.12702956e+01] [-1.13601506e-02 5.38805661e-06 9.99935471e-01 8.39433372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.922320588 meters 0.027300291924501244 Centerline is valid? [True, True] Translation: X:169.45, Y:-21.28, Z:0.84 [[ 9.03710484e-01 4.27947170e-01 1.29838530e-02 1.69445637e+02] [-4.27903988e-01 9.03803748e-01 -6.07955171e-03 -2.12838735e+01] [-1.43365819e-02 -6.16878491e-05 9.99897224e-01 8.38995992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.952320588 meters 0.02751428923114349 Centerline is valid? [True, True] Translation: X:169.47, Y:-21.30, Z:0.84 [[ 9.03198886e-01 4.28968922e-01 1.47457134e-02 1.69473974e+02] [-4.28913324e-01 9.03319244e-01 -6.90680418e-03 -2.12997017e+01] [-1.62828910e-02 -8.64151070e-05 9.99867421e-01 8.39746051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.982320588 meters 0.027680509240287053 Centerline is valid? [True, True] Translation: X:169.50, Y:-21.31, Z:0.84 [[ 9.02453673e-01 4.30496685e-01 1.58105010e-02 1.69502041e+02] [-4.30432815e-01 9.02592151e-01 -7.41617554e-03 -2.13147745e+01] [-1.74630731e-02 -1.12603583e-04 9.99847503e-01 8.40396912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.012320588 meters 0.02760558720852603 Centerline is valid? [True, True] Translation: X:169.53, Y:-21.33, Z:0.84 [[ 9.02333981e-01 4.30788385e-01 1.46545304e-02 1.69532282e+02] [-4.30733417e-01 9.02452967e-01 -6.88232133e-03 -2.13267444e+01] [-1.61898485e-02 -1.02043543e-04 9.99868931e-01 8.39735741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.042320588 meters 0.02750968685269095 Centerline is valid? [True, True] Translation: X:169.56, Y:-21.34, Z:0.84 [[ 9.03240174e-01 4.28967969e-01 1.19862430e-02 1.69562895e+02] [-4.28931029e-01 9.03319699e-01 -5.62979071e-03 -2.13366151e+01] [-1.32424093e-02 -5.62184188e-05 9.99912314e-01 8.36974921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.072320588 meters 0.027409638283135834 Centerline is valid? [True, True] Translation: X:169.59, Y:-21.35, Z:0.84 [[ 9.04153495e-01 4.27015244e-01 1.28233438e-02 1.69592252e+02] [-4.26972738e-01 9.04244425e-01 -6.02498578e-03 -2.13488609e+01] [-1.41681979e-02 -2.77062706e-05 9.99899626e-01 8.35795308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.102320588 meters 0.027542767289409832 Centerline is valid? [True, True] Translation: X:169.62, Y:-21.36, Z:0.84 [[ 9.05309513e-01 4.24492303e-01 1.48650876e-02 1.69621791e+02] [-4.24434805e-01 9.05431546e-01 -6.98656987e-03 -2.13616731e+01] [-1.64250643e-02 1.57476282e-05 9.99865099e-01 8.37783654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.132320588 meters 0.02771814529140097 Centerline is valid? [True, True] Translation: X:169.65, Y:-21.38, Z:0.84 [[ 9.06431604e-01 4.22068893e-01 1.54789215e-02 1.69650291e+02] [-4.22006153e-01 9.06563757e-01 -7.27750700e-03 -2.13757891e+01] [-1.71042385e-02 6.43622481e-05 9.99853710e-01 8.37954479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.162320588 meters 0.027726777181106693 Centerline is valid? [True, True] Translation: X:169.68, Y:-21.39, Z:0.84 [[ 9.07852845e-01 4.19082586e-01 1.31528558e-02 1.69678693e+02] [-4.19036940e-01 9.07948113e-01 -6.18606822e-03 -2.13903122e+01] [-1.45345840e-02 1.04507195e-04 9.99894362e-01 8.38008181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.192320588 meters 0.027847203412030876 Centerline is valid? [True, True] Translation: X:169.71, Y:-21.40, Z:0.84 [[ 9.08968292e-01 4.16717853e-01 1.10849022e-02 1.69708217e+02] [-4.16685234e-01 9.09035872e-01 -5.21532757e-03 -2.14039628e+01] [-1.22498939e-02 1.21652316e-04 9.99924960e-01 8.36955129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.222320588 meters 0.02774825863085844 Centerline is valid? [True, True] Translation: X:169.74, Y:-21.42, Z:0.84 [[ 9.09452512e-01 4.15661981e-01 1.10112161e-02 1.69737328e+02] [-4.15629696e-01 9.09519158e-01 -5.18240126e-03 -2.14179642e+01] [-1.21690392e-02 1.36559431e-04 9.99925945e-01 8.35598099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.252320588 meters 0.028167974692815193 Centerline is valid? [True, True] Translation: X:169.77, Y:-21.43, Z:0.84 [[ 9.09987372e-01 4.14339154e-01 1.56859076e-02 1.69765455e+02] [-4.14273400e-01 9.10122528e-01 -7.38468179e-03 -2.14338918e+01] [-1.73358607e-02 2.21712922e-04 9.99849698e-01 8.35788358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.282320588 meters 0.028067234220813204 Centerline is valid? [True, True] Translation: X:169.79, Y:-21.45, Z:0.84 [[ 9.09075175e-01 4.16211721e-01 1.87117823e-02 1.69793118e+02] [-4.16118301e-01 9.09267700e-01 -8.82101200e-03 -2.14509008e+01] [-2.06854278e-02 2.32647986e-04 9.99786007e-01 8.39262409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.312320588 meters 0.027861233820263162 Centerline is valid? [True, True] Translation: X:169.82, Y:-21.47, Z:0.84 [[ 9.08422479e-01 4.17750512e-01 1.59094364e-02 1.69821138e+02] [-4.17683057e-01 9.08561764e-01 -7.50903509e-03 -2.14667753e+01] [-1.75916089e-02 1.76274235e-04 9.99845240e-01 8.39538376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.342320588 meters 0.027754718110739315 Centerline is valid? [True, True] Translation: X:169.85, Y:-21.49, Z:0.84 [[ 9.07377890e-01 4.20038483e-01 1.52655745e-02 1.69847582e+02] [-4.19976555e-01 9.07506283e-01 -7.21377268e-03 -2.14863027e+01] [-1.68836669e-02 1.34434454e-04 9.99857452e-01 8.35784350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.372320588 meters 0.027942889510077982 Centerline is valid? [True, True] Translation: X:169.88, Y:-21.50, Z:0.83 [[ 9.07014010e-01 4.20827022e-01 1.51724188e-02 1.69875905e+02] [-4.20765789e-01 9.07140894e-01 -7.17981858e-03 -2.15034457e+01] [-1.67849833e-02 1.28161256e-04 9.99859114e-01 8.34875106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.402320588 meters 0.027827502223865402 Centerline is valid? [True, True] Translation: X:169.90, Y:-21.52, Z:0.84 [[ 9.06385951e-01 4.22175437e-01 1.52449541e-02 1.69904009e+02] [-4.22113644e-01 9.06514141e-01 -7.22381762e-03 -2.15204777e+01] [-1.68694848e-02 1.12463670e-04 9.99857694e-01 8.36599946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.432320588 meters 0.027747630947610298 Centerline is valid? [True, True] Translation: X:169.93, Y:-21.54, Z:0.84 [[ 9.05828899e-01 4.23262140e-01 1.79768127e-02 1.69930721e+02] [-4.23176245e-01 9.06007255e-01 -8.52754940e-03 -2.15395407e+01] [-1.98965116e-02 1.17140581e-04 9.99802038e-01 8.40349931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.462320588 meters 0.027797499472221286 Centerline is valid? [True, True] Translation: X:169.96, Y:-21.56, Z:0.84 [[ 9.05066465e-01 4.24982236e-01 1.56458730e-02 1.69956655e+02] [-4.24917272e-01 9.05201687e-01 -7.43089156e-03 -2.15599715e+01] [-1.73206675e-02 7.72490862e-05 9.99849983e-01 8.40184655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49232058799998 meters 0.027713751177375023 Centerline is valid? [True, True] Translation: X:169.98, Y:-21.58, Z:0.84 [[ 9.03962340e-01 4.27329259e-01 1.55496744e-02 1.69984768e+02] [-4.27265260e-01 9.04096069e-01 -7.39558708e-03 -2.15777197e+01] [-1.72187502e-02 4.14965294e-05 9.99851745e-01 8.38585918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52232058799999 meters 0.027866116896979827 Centerline is valid? [True, True] Translation: X:170.01, Y:-21.60, Z:0.84 [[ 9.01355282e-01 4.32825427e-01 1.48595290e-02 1.70011565e+02] [-4.32767567e-01 9.01477757e-01 -7.07715868e-03 -2.15984078e+01] [-1.64587091e-02 -5.16878400e-05 9.99864545e-01 8.36915734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.552320588 meters 0.02796388138445411 Centerline is valid? [True, True] Translation: X:170.04, Y:-21.61, Z:0.84 [[ 8.99448054e-01 4.36776533e-01 1.48141107e-02 1.70040434e+02] [-4.36719402e-01 8.99570034e-01 -7.06522099e-03 -2.16140556e+01] [-1.64122528e-02 -1.14810274e-04 9.99865303e-01 8.38092606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.582320588 meters 0.028405815489210486 Centerline is valid? [True, True] Translation: X:170.07, Y:-21.63, Z:0.84 [[ 8.95373737e-01 4.45096392e-01 1.39668272e-02 1.70068745e+02] [-4.45046497e-01 8.95482631e-01 -6.66884939e-03 -2.16295442e+01] [-1.54753320e-02 -2.44774913e-04 9.99880220e-01 8.41013976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.612320588 meters 0.028625973455684562 Centerline is valid? [True, True] Translation: X:170.10, Y:-21.64, Z:0.84 [[ 8.93483790e-01 4.48908231e-01 1.29660152e-02 1.70097330e+02] [-4.48865526e-01 8.93577820e-01 -6.19832997e-03 -2.16434931e+01] [-1.43686249e-02 -2.81889862e-04 9.99896726e-01 8.42012476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.642320588 meters 0.028625973455684562 Centerline is valid? [True, True] Translation: X:170.13, Y:-21.66, Z:0.84 [[ 8.93251928e-01 4.49369516e-01 1.29626765e-02 1.70126801e+02] [-4.49326758e-01 8.93345935e-01 -6.20531090e-03 -2.16572460e+01] [-1.43686319e-02 -2.81571460e-04 9.99896726e-01 8.42176404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.672320588 meters 0.028750808134330674 Centerline is valid? [True, True] Translation: X:170.16, Y:-21.67, Z:0.84 [[ 8.91821440e-01 4.52239434e-01 1.15764529e-02 1.70156124e+02] [-4.52205492e-01 8.91896525e-01 -5.54804745e-03 -2.16714014e+01] [-1.28340440e-02 -2.87067925e-04 9.99917599e-01 8.42803706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.702320588 meters 0.029640128885537364 Centerline is valid? [True, True] Translation: X:170.18, Y:-21.69, Z:0.84 [[ 8.89170016e-01 4.57431831e-01 1.15240464e-02 1.70184389e+02] [-4.57398629e-01 8.89244618e-01 -5.52298697e-03 -2.16868018e+01] [-1.27740863e-02 -3.60208641e-04 9.99918343e-01 8.42344279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.732320588 meters 0.029835516833888843 Centerline is valid? [True, True] Translation: X:170.21, Y:-21.70, Z:0.84 [[ 8.88258246e-01 4.59211652e-01 1.10429887e-02 1.70213025e+02] [-4.59181213e-01 8.88326813e-01 -5.29968628e-03 -2.17003223e+01] [-1.22434607e-02 -3.63242906e-04 9.99924980e-01 8.42734182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.762320588 meters 0.03002311377447659 Centerline is valid? [True, True] Translation: X:170.24, Y:-21.71, Z:0.84 [[ 8.87049971e-01 4.61541172e-01 1.10496886e-02 1.70243815e+02] [-4.61510801e-01 8.87118704e-01 -5.30904723e-03 -2.17114217e+01] [-1.22527293e-02 -3.90160454e-04 9.99924856e-01 8.44129402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.792320588 meters 0.03023345631118842 Centerline is valid? [True, True] Translation: X:170.27, Y:-21.72, Z:0.84 [[ 8.86003699e-01 4.63577209e-01 9.67553983e-03 1.70273846e+02] [-4.63553984e-01 8.86056454e-01 -4.65437625e-03 -2.17226798e+01] [-1.07307373e-02 -3.61340459e-04 9.99942359e-01 8.43890780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.822320588 meters 0.030215736752754952 Centerline is valid? [True, True] Translation: X:170.31, Y:-21.73, Z:0.84 [[ 8.85428667e-01 4.64682225e-01 9.30083551e-03 1.70306920e+02] [-4.64660761e-01 8.85477444e-01 -4.48034650e-03 -2.17301249e+01] [-1.03176174e-02 -3.54706079e-04 9.99946709e-01 8.43837223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.852320588 meters 0.030286620300238577 Centerline is valid? [True, True] Translation: X:170.34, Y:-21.74, Z:0.84 [[ 8.85339997e-01 4.64775944e-01 1.25064516e-02 1.70338018e+02] [-4.64737067e-01 8.85428200e-01 -6.02998868e-03 -2.17393769e+01] [-1.38761586e-02 -4.73621480e-04 9.99903609e-01 8.41820580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.882320588 meters 0.030271157111911445 Centerline is valid? [True, True] Translation: X:170.37, Y:-21.75, Z:0.84 [[ 8.85425990e-01 4.64564897e-01 1.41517981e-02 1.70368477e+02] [-4.64514951e-01 8.85538921e-01 -6.83217196e-03 -2.17518502e+01] [-1.57059553e-02 -5.24339191e-04 9.99876516e-01 8.41593293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.912320588 meters 0.030091763123103098 Centerline is valid? [True, True] Translation: X:170.40, Y:-21.76, Z:0.84 [[ 8.85573788e-01 4.64265868e-01 1.47061207e-02 1.70399228e+02] [-4.64211744e-01 8.85695727e-01 -7.10883456e-03 -2.17648589e+01] [-1.63255375e-02 -5.31356387e-04 9.99866588e-01 8.42427212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.942320588 meters 0.029872845384766176 Centerline is valid? [True, True] Translation: X:170.43, Y:-21.78, Z:0.84 [[ 8.86016153e-01 4.63429706e-01 1.44320612e-02 1.70430351e+02] [-4.63377348e-01 8.86133544e-01 -6.98393732e-03 -2.17753671e+01] [-1.60252976e-02 -4.99608999e-04 9.99871462e-01 8.44050280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.972320588 meters 0.029565990510822458 Centerline is valid? [True, True] Translation: X:170.46, Y:-21.79, Z:0.84 [[ 8.86536839e-01 4.62452444e-01 1.37902392e-02 1.70461350e+02] [-4.62404405e-01 8.86643971e-01 -6.68099470e-03 -2.17855357e+01] [-1.53166747e-02 -4.53719406e-04 9.99882590e-01 8.43847404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.002320588 meters 0.02923748484741467 Centerline is valid? [True, True] Translation: X:170.49, Y:-21.79, Z:0.84 [[ 8.87033578e-01 4.61537316e-01 1.24393699e-02 1.70494139e+02] [-4.61498039e-01 8.87120710e-01 -6.03368832e-03 -2.17914532e+01] [-1.38199950e-02 -3.88660695e-04 9.99904424e-01 8.41534252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.032320588 meters 0.029109444246783498 Centerline is valid? [True, True] Translation: X:170.53, Y:-21.80, Z:0.84 [[ 8.87063087e-01 4.61471122e-01 1.27860470e-02 1.70525624e+02] [-4.61429498e-01 8.87155145e-01 -6.21027991e-03 -2.18026894e+01] [-1.42090722e-02 -3.90949202e-04 9.99898970e-01 8.41110943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.062320588 meters 0.02878803189015829 Centerline is valid? [True, True] Translation: X:170.56, Y:-21.82, Z:0.84 [[ 8.88420188e-01 4.58828910e-01 1.36235875e-02 1.70555487e+02] [-4.58781334e-01 8.88524560e-01 -6.61764238e-03 -2.18159499e+01] [-1.51412577e-02 -3.71000567e-04 9.99885296e-01 8.41204155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.092320588 meters 0.028537300660658613 Centerline is valid? [True, True] Translation: X:170.58, Y:-21.83, Z:0.84 [[ 8.89250467e-01 4.57206988e-01 1.39777416e-02 1.70584426e+02] [-4.57156560e-01 8.89360249e-01 -6.79911717e-03 -2.18296174e+01] [-1.55398517e-02 -3.43898158e-04 9.99879190e-01 8.41958143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.122320588 meters 0.027943492077941726 Centerline is valid? [True, True] Translation: X:170.61, Y:-21.84, Z:0.84 [[ 8.91650870e-01 4.52535862e-01 1.30391692e-02 1.70614943e+02] [-4.52491368e-01 8.91746173e-01 -6.35020883e-03 -2.18402822e+01] [-1.45013265e-02 -2.37942299e-04 9.99894822e-01 8.42730945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.152320588 meters 0.027738681331186628 Centerline is valid? [True, True] Translation: X:170.64, Y:-21.85, Z:0.84 [[ 8.92841073e-01 4.50194871e-01 1.26252341e-02 1.70644788e+02] [-4.50152820e-01 8.92930313e-01 -6.15588162e-03 -2.18524879e+01] [-1.40448006e-02 -1.87060792e-04 9.99901349e-01 8.43324513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.182320588 meters 0.027365179973266537 Centerline is valid? [True, True] Translation: X:170.67, Y:-21.86, Z:0.84 [[ 8.95550393e-01 4.44724241e-01 1.44859699e-02 1.70674358e+02] [-4.44668036e-01 8.95667537e-01 -7.07108975e-03 -2.18642125e+01] [-1.61192980e-02 -1.08930585e-04 9.99870070e-01 8.43521167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.212320588 meters 0.027331498534159542 Centerline is valid? [True, True] Translation: X:170.70, Y:-21.88, Z:0.84 [[ 8.97792722e-01 4.40235186e-01 1.26967919e-02 1.70704906e+02] [-4.40191451e-01 8.97882498e-01 -6.20532489e-03 -2.18755241e+01] [-1.41320296e-02 -1.79237111e-05 9.99900138e-01 8.41455277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24232058799998 meters 0.027184841255774195 Centerline is valid? [True, True] Translation: X:170.73, Y:-21.89, Z:0.84 [[ 8.98572803e-01 4.38664740e-01 1.18390675e-02 1.70734365e+02] [-4.38626544e-01 8.98650792e-01 -5.78877116e-03 -2.18896446e+01] [-1.31785172e-02 8.70307604e-06 9.99913160e-01 8.41251831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27232058799999 meters 0.027117021910191833 Centerline is valid? [True, True] Translation: X:170.76, Y:-21.91, Z:0.84 [[ 8.99356743e-01 4.37029810e-01 1.27433954e-02 1.70762507e+02] [-4.36985372e-01 8.99447021e-01 -6.23225462e-03 -2.19053046e+01] [-1.41856901e-02 3.63428253e-05 9.99899377e-01 8.40958339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.302320588 meters 0.0275464821521391 Centerline is valid? [True, True] Translation: X:170.79, Y:-21.92, Z:0.84 [[ 9.00933919e-01 4.33614732e-01 1.72144533e-02 1.70790533e+02] [-4.33532795e-01 9.01098356e-01 -8.43022400e-03 -2.19219485e+01] [-1.91673849e-02 1.32044695e-04 9.99816280e-01 8.42207093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.332320588 meters 0.027556620924977668 Centerline is valid? [True, True] Translation: X:170.82, Y:-21.94, Z:0.84 [[ 9.01330870e-01 4.32822734e-01 1.63445560e-02 1.70820382e+02] [-4.32748541e-01 9.01479039e-01 -8.01511614e-03 -2.19368378e+01] [-1.82033991e-02 1.51188862e-04 9.99834293e-01 8.43799694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.362320588 meters 0.027718979933219798 Centerline is valid? [True, True] Translation: X:170.85, Y:-21.95, Z:0.84 [[ 9.03489535e-01 4.28374080e-01 1.42235076e-02 1.70850305e+02] [-4.28317192e-01 9.03601461e-01 -6.98443786e-03 -2.19514036e+01] [-1.58443344e-02 2.18193681e-04 9.99874447e-01 8.41662173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.392320588 meters 0.028113245697521234 Centerline is valid? [True, True] Translation: X:170.88, Y:-21.97, Z:0.84 [[ 9.04819061e-01 4.25538366e-01 1.48177666e-02 1.70875644e+02] [-4.25476118e-01 9.04940339e-01 -7.28390086e-03 -2.19728010e+01] [-1.65087740e-02 2.86006541e-04 9.99863680e-01 8.40423341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.422320588 meters 0.028134617708817745 Centerline is valid? [True, True] Translation: X:170.90, Y:-21.99, Z:0.84 [[ 9.04923571e-01 4.25289308e-01 1.55671093e-02 1.70902922e+02] [-4.25220424e-01 9.05057405e-01 -7.66059183e-03 -2.19906444e+01] [-1.73470954e-02 3.12797279e-04 9.99849479e-01 8.42544164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.452320588 meters 0.0279636533243943 Centerline is valid? [True, True] Translation: X:170.93, Y:-22.01, Z:0.85 [[ 9.04515283e-01 4.26170115e-01 1.52031351e-02 1.70930813e+02] [-4.26104514e-01 9.04642995e-01 -7.48293791e-03 -2.20078992e+01] [-1.69424142e-02 2.90307209e-04 9.99856425e-01 8.45800296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.482320588 meters 0.027713990782089765 Centerline is valid? [True, True] Translation: X:170.96, Y:-22.02, Z:0.85 [[ 9.03817521e-01 4.27705257e-01 1.34945321e-02 1.70959358e+02] [-4.27653607e-01 9.03918224e-01 -6.65113485e-03 -2.20231201e+01] [-1.50426789e-02 2.40426868e-04 9.99886824e-01 8.45370261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.512320588 meters 0.02762564872464439 Centerline is valid? [True, True] Translation: X:170.99, Y:-22.04, Z:0.84 [[ 9.02845516e-01 4.29746431e-01 1.37105632e-02 1.70986676e+02] [-4.29693233e-01 9.02949588e-01 -6.76513791e-03 -2.20397067e+01] [-1.52872413e-02 2.16538182e-04 9.99883120e-01 8.44383987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.542320588 meters 0.02762993074797993 Centerline is valid? [True, True] Translation: X:171.01, Y:-22.06, Z:0.84 [[ 9.00784871e-01 4.34022137e-01 1.45396386e-02 1.71011484e+02] [-4.33962736e-01 9.00902192e-01 -7.18223357e-03 -2.20615582e+01] [-1.62160407e-02 1.59985967e-04 9.99868499e-01 8.43028011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.572320588 meters 0.027543484286349475 Centerline is valid? [True, True] Translation: X:171.04, Y:-22.08, Z:0.84 [[ 8.99519416e-01 4.36676864e-01 1.33468011e-02 1.71038442e+02] [-4.36626987e-01 8.99618421e-01 -6.60077239e-03 -2.20793292e+01] [-1.48894327e-02 1.09949379e-04 9.99889140e-01 8.43355582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.602320588 meters 0.027364778181213377 Centerline is valid? [True, True] Translation: X:171.06, Y:-22.10, Z:0.84 [[ 8.97808064e-01 4.40193132e-01 1.30647125e-02 1.71064000e+02] [-4.40145603e-01 8.97903115e-01 -6.46874197e-03 -2.21010864e+01] [-1.45783418e-02 5.73129608e-05 9.99893729e-01 8.44071790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.632320588 meters 0.027325077659350477 Centerline is valid? [True, True] Translation: X:171.09, Y:-22.12, Z:0.84 [[ 8.96949244e-01 4.41937179e-01 1.31750876e-02 1.71091667e+02] [-4.41888899e-01 8.97046001e-01 -6.53240475e-03 -2.21185763e+01] [-1.47055722e-02 3.73105506e-05 9.99891867e-01 8.44166961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.662320588 meters 0.02736234261067273 Centerline is valid? [True, True] Translation: X:171.12, Y:-22.14, Z:0.84 [[ 8.95313935e-01 4.45290435e-01 1.13747904e-02 1.71118917e+02] [-4.45254710e-01 8.95386189e-01 -5.64051194e-03 -2.21368108e+01] [-1.26964963e-02 -1.46500668e-05 9.99919396e-01 8.44772053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.692320588 meters 0.027325680132991366 Centerline is valid? [True, True] Translation: X:171.15, Y:-22.15, Z:0.85 [[ 8.93969940e-01 4.48007309e-01 1.03536827e-02 1.71148459e+02] [-4.47977786e-01 8.94029893e-01 -5.14325214e-03 -2.21514984e+01] [-1.15607164e-02 -4.03070625e-05 9.99933172e-01 8.45209521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.722320588 meters 0.027854536317854454 Centerline is valid? [True, True] Translation: X:171.18, Y:-22.17, Z:0.84 [[ 8.90161311e-01 4.55543697e-01 9.63225952e-03 1.71175785e+02] [-4.55518527e-01 8.90213415e-01 -4.79028932e-03 -2.21697285e+01] [-1.07569527e-02 -1.23542448e-04 9.99942135e-01 8.44524261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.752320588 meters 0.028053864126508288 Centerline is valid? [True, True] Translation: X:171.20, Y:-22.19, Z:0.85 [[ 8.88151320e-01 4.59437950e-01 1.01981558e-02 1.71203356e+02] [-4.59409934e-01 8.88209851e-01 -5.07679504e-03 -2.21855361e+01] [-1.13905748e-02 -1.76171872e-04 9.99935110e-01 8.45517060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.782320588 meters 0.029038714458730675 Centerline is valid? [True, True] Translation: X:171.23, Y:-22.20, Z:0.85 [[ 8.85365938e-01 4.64723217e-01 1.26288189e-02 1.71232438e+02] [-4.64680791e-01 8.85455951e-01 -6.28664983e-03 -2.21991700e+01] [-1.41038149e-02 -3.02383913e-04 9.99900491e-01 8.45119136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.812320588 meters 0.029763532837598358 Centerline is valid? [True, True] Translation: X:171.26, Y:-22.21, Z:0.84 [[ 8.82220697e-01 4.70681715e-01 1.20567449e-02 1.71261441e+02] [-4.70643495e-01 8.82303000e-01 -6.00973556e-03 -2.22120484e+01] [-1.34663749e-02 -3.72515479e-04 9.99909255e-01 8.44506061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.842320588 meters 0.030085290736118823 Centerline is valid? [True, True] Translation: X:171.29, Y:-22.22, Z:0.85 [[ 8.80914471e-01 4.73142793e-01 1.12067649e-02 1.71290554e+02] [-4.73109889e-01 8.80985673e-01 -5.59257331e-03 -2.22248133e+01] [-1.25190851e-02 -3.75452532e-04 9.99921563e-01 8.45077473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.872320588 meters 0.030261213969863972 Centerline is valid? [True, True] Translation: X:171.32, Y:-22.24, Z:0.85 [[ 8.79978546e-01 4.74875149e-01 1.14608356e-02 1.71320470e+02] [-4.74840801e-01 8.80053084e-01 -5.72567816e-03 -2.22360655e+01] [-1.28051260e-02 -4.03598419e-04 9.99917930e-01 8.45739902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.902320588 meters 0.030319640024390852 Centerline is valid? [True, True] Translation: X:171.35, Y:-22.24, Z:0.85 [[ 8.79058012e-01 4.76534555e-01 1.31083806e-02 1.71352847e+02] [-4.76489705e-01 8.79155609e-01 -6.55565665e-03 -2.22428457e+01] [-1.46483033e-02 -4.83205916e-04 9.99892591e-01 8.47291703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.932320588 meters 0.030437834621949336 Centerline is valid? [True, True] Translation: X:171.38, Y:-22.25, Z:0.85 [[ 8.78491691e-01 4.77538957e-01 1.44531440e-02 1.71383049e+02] [-4.77484445e-01 8.78610407e-01 -7.23583107e-03 -2.22545158e+01] [-1.61540740e-02 -5.44533974e-04 9.99869366e-01 8.47994570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.962320588 meters 0.03076611932909812 Centerline is valid? [True, True] Translation: X:171.41, Y:-22.27, Z:0.85 [[ 8.78122686e-01 4.78246077e-01 1.34624873e-02 1.71413352e+02] [-4.78198729e-01 8.78225727e-01 -6.74887390e-03 -2.22674505e+01] [-1.50507252e-02 -5.11405033e-04 9.99886601e-01 8.47376088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99232058799998 meters 0.030277036517619423 Centerline is valid? [True, True] Translation: X:171.45, Y:-22.27, Z:0.85 [[ 8.78673685e-01 4.77230992e-01 1.35327848e-02 1.71445232e+02] [-4.77183018e-01 8.78777750e-01 -6.78479829e-03 -2.22748425e+01] [-1.51302262e-02 -4.95991368e-04 9.99885409e-01 8.47461595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02232058799999 meters 0.030103081238566583 Centerline is valid? [True, True] Translation: X:171.48, Y:-22.29, Z:0.85 [[ 8.79113103e-01 4.76423297e-01 1.34534083e-02 1.71475965e+02] [-4.76375653e-01 8.79215912e-01 -6.75409452e-03 -2.22851040e+01] [-1.50462587e-02 -4.71263184e-04 9.99886688e-01 8.48205629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.052320588 meters 0.02964858008238054 Centerline is valid? [True, True] Translation: X:171.51, Y:-22.30, Z:0.85 [[ 8.79951771e-01 4.74884145e-01 1.30356991e-02 1.71506592e+02] [-4.74839229e-01 8.80048217e-01 -6.54547496e-03 -2.22951640e+01] [-1.45803860e-02 -4.30159029e-04 9.99893608e-01 8.48556309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.082320588 meters 0.029461503882908573 Centerline is valid? [True, True] Translation: X:171.54, Y:-22.31, Z:0.85 [[ 8.80734522e-01 4.73448365e-01 1.23833797e-02 1.71537447e+02] [-4.73407568e-01 8.80821493e-01 -6.22666669e-03 -2.23054255e+01] [-1.38555521e-02 -3.78345355e-04 9.99903936e-01 8.48353419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.112320588 meters 0.029157940164194544 Centerline is valid? [True, True] Translation: X:171.57, Y:-22.32, Z:0.85 [[ 8.81496260e-01 4.72033596e-01 1.21912876e-02 1.71567251e+02] [-4.71993825e-01 8.81580493e-01 -6.13701360e-03 -2.23174276e+01] [-1.36444780e-02 -3.44457944e-04 9.99906850e-01 8.47005889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.142320588 meters 0.028705679683441947 Centerline is valid? [True, True] Translation: X:171.60, Y:-22.33, Z:0.85 [[ 8.83143670e-01 4.68932989e-01 1.26138694e-02 1.71598596e+02] [-4.68890059e-01 8.83233694e-01 -6.35245693e-03 -2.23278058e+01] [-1.41198711e-02 -3.04385836e-04 9.99900263e-01 8.46953389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.172320588 meters 0.028434330107212788 Centerline is valid? [True, True] Translation: X:171.63, Y:-22.34, Z:0.85 [[ 8.84714771e-01 4.65928072e-01 1.38132060e-02 1.71629537e+02] [-4.65876084e-01 8.84822557e-01 -6.96545801e-03 -2.23374853e+01] [-1.54676387e-02 -2.72798707e-04 9.99880332e-01 8.50239535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.202320588 meters 0.028274137855487796 Centerline is valid? [True, True] Translation: X:171.66, Y:-22.35, Z:0.85 [[ 8.85106278e-01 4.65186112e-01 1.37389180e-02 1.71659903e+02] [-4.65134470e-01 8.85212866e-01 -6.93595462e-03 -2.23493068e+01] [-1.53883767e-02 -2.51387342e-04 9.99881560e-01 8.51665622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.232320588 meters 0.028163422299729162 Centerline is valid? [True, True] Translation: X:171.69, Y:-22.36, Z:0.85 [[ 8.85264877e-01 4.64936860e-01 1.18242639e-02 1.71689832e+02] [-4.64898491e-01 8.85343817e-01 -5.97660061e-03 -2.23607266e+01] [-1.32472808e-02 -2.06207830e-04 9.99912230e-01 8.51826214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.262320588 meters 0.028029478177104942 Centerline is valid? [True, True] Translation: X:171.72, Y:-22.37, Z:0.85 [[ 8.85759946e-01 4.63975717e-01 1.24840542e-02 1.71721849e+02] [-4.63932829e-01 8.85847895e-01 -6.31165215e-03 -2.23715168e+01] [-1.39874265e-02 -2.01153915e-04 9.99902151e-01 8.48996696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.292320588 meters 0.028239409523547917 Centerline is valid? [True, True] Translation: X:171.75, Y:-22.39, Z:0.85 [[ 8.85466745e-01 4.64528626e-01 1.27200407e-02 1.71751867e+02] [-4.64484010e-01 8.85558081e-01 -6.44127622e-03 -2.23852848e+01] [-1.42564920e-02 -2.04719616e-04 9.99898350e-01 8.49311502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.322320588 meters 0.0282178467711213 Centerline is valid? [True, True] Translation: X:171.78, Y:-22.40, Z:0.85 [[ 8.85207178e-01 4.64968217e-01 1.45879966e-02 1.71782499e+02] [-4.64909599e-01 8.85327339e-01 -7.38691818e-03 -2.23957482e+01] [-1.63498344e-02 -2.43146665e-04 9.99866303e-01 8.50331876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.352320588 meters 0.02833214658634739 Centerline is valid? [True, True] Translation: X:171.81, Y:-22.41, Z:0.85 [[ 8.85279819e-01 4.64845773e-01 1.40730137e-02 1.71813742e+02] [-4.64791169e-01 8.85391639e-01 -7.12850368e-03 -2.24053309e+01] [-1.57737835e-02 -2.30292032e-04 9.99875560e-01 8.49045737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.382320588 meters 0.02806205755203989 Centerline is valid? [True, True] Translation: X:171.84, Y:-22.42, Z:0.85 [[ 8.85308776e-01 4.64814326e-01 1.32670206e-02 1.71842969e+02] [-4.64765761e-01 8.85408152e-01 -6.72247797e-03 -2.24188827e+01] [-1.48714323e-02 -2.14588189e-04 9.99889391e-01 8.50729521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.412320588 meters 0.028373131691400155 Centerline is valid? [True, True] Translation: X:171.87, Y:-22.43, Z:0.85 [[ 8.84974778e-01 4.65412786e-01 1.45114058e-02 1.71872181e+02] [-4.65354724e-01 8.85093712e-01 -7.35537521e-03 -2.24326307e+01] [-1.62672397e-02 -2.43629677e-04 9.99867650e-01 8.49723148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.442320588 meters 0.028507067886822512 Centerline is valid? [True, True] Translation: X:171.90, Y:-22.44, Z:0.85 [[ 8.84889244e-01 4.65604524e-01 1.35444854e-02 1.71902473e+02] [-4.65553930e-01 8.84992867e-01 -6.86756344e-03 -2.24449952e+01] [-1.51843416e-02 -2.28655390e-04 9.99884685e-01 8.50291040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.472320588 meters 0.028416816529547678 Centerline is valid? [True, True] Translation: X:171.93, Y:-22.45, Z:0.85 [[ 8.83670505e-01 4.67941668e-01 1.25313049e-02 1.71934593e+02] [-4.67898565e-01 8.83759319e-01 -6.35597687e-03 -2.24531927e+01] [-1.40488839e-02 -2.46790287e-04 9.99901279e-01 8.50219326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.502320588 meters 0.02862404377073485 Centerline is valid? [True, True] Translation: X:171.96, Y:-22.47, Z:0.85 [[ 8.83295219e-01 4.68610777e-01 1.39102420e-02 1.71964777e+02] [-4.68557714e-01 8.83404697e-01 -7.05761448e-03 -2.24653884e+01] [-1.55956473e-02 -2.83794066e-04 9.99878340e-01 8.49827065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.532320588 meters 0.028684538168795962 Centerline is valid? [True, True] Translation: X:171.99, Y:-22.48, Z:0.85 [[ 8.83558633e-01 4.68072131e-01 1.52519581e-02 1.71994180e+02] [-4.68008214e-01 8.83690212e-01 -7.74083710e-03 -2.24790421e+01] [-1.71012762e-02 -2.98558250e-04 9.99853718e-01 8.49620325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.562320588 meters 0.028684538168795962 Centerline is valid? [True, True] Translation: X:172.02, Y:-22.49, Z:0.85 [[ 8.83465468e-01 4.68248006e-01 1.52502661e-02 1.72023211e+02] [-4.68184058e-01 8.83597032e-01 -7.74417026e-03 -2.24937197e+01] [-1.71012822e-02 -2.98224475e-04 9.99853718e-01 8.49784216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.592320588 meters 0.028490848419030275 Centerline is valid? [True, True] Translation: X:172.05, Y:-22.51, Z:0.85 [[ 8.84343993e-01 4.66628154e-01 1.39236363e-02 1.72052648e+02] [-4.66574616e-01 8.84453564e-01 -7.07253400e-03 -2.25073847e+01] [-1.56150533e-02 -2.41862302e-04 9.99878048e-01 8.52801179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.622320588 meters 0.02832314189048952 Centerline is valid? [True, True] Translation: X:172.08, Y:-22.52, Z:0.85 [[ 8.84948726e-01 4.65539908e-01 1.17620521e-02 1.72083746e+02] [-4.65501560e-01 8.85026870e-01 -5.97811704e-03 -2.25182077e+01] [-1.31927842e-02 -1.84926515e-04 9.99912954e-01 8.51398779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.652320588 meters 0.028142504192647508 Centerline is valid? [True, True] Translation: X:172.11, Y:-22.53, Z:0.85 [[ 8.85079449e-01 4.65330342e-01 1.01016162e-02 1.72113676e+02] [-4.65302027e-01 8.85137079e-01 -5.13560162e-03 -2.25294780e+01] [-1.13310663e-02 -1.54887053e-04 9.99935789e-01 8.50007519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.682320588 meters 0.02831165660303888 Centerline is valid? [True, True] Translation: X:172.15, Y:-22.54, Z:0.85 [[ 8.85320937e-01 4.64863106e-01 1.04465833e-02 1.72145422e+02] [-4.64832786e-01 8.85382555e-01 -5.31145938e-03 -2.25367053e+01] [-1.17183241e-02 -1.53568237e-04 9.99931326e-01 8.50065074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.712320588 meters 0.02805260611311611 Centerline is valid? [True, True] Translation: X:172.17, Y:-22.55, Z:0.85 [[ 8.85667594e-01 4.64202742e-01 1.04272138e-02 1.72174207e+02] [-4.64172493e-01 8.85728961e-01 -5.30123787e-03 -2.25466496e+01] [-1.16965344e-02 -1.44891254e-04 9.99931583e-01 8.51160295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74232058799998 meters 0.028091360202348953 Centerline is valid? [True, True] Translation: X:172.20, Y:-22.56, Z:0.85 [[ 8.85686298e-01 4.64181624e-01 9.75710110e-03 1.72202439e+02] [-4.64155138e-01 8.85740030e-01 -4.96054983e-03 -2.25594636e+01] [-1.09448511e-02 -1.35317585e-04 9.99940094e-01 8.52231087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77232058799999 meters 0.027960240284584645 Centerline is valid? [True, True] Translation: X:172.23, Y:-22.57, Z:0.85 [[ 8.86239140e-01 4.63135434e-01 9.26054053e-03 1.72229236e+02] [-4.63111517e-01 8.86287514e-01 -4.70809642e-03 -2.25743415e+01] [-1.03879877e-02 -1.16163650e-04 9.99946037e-01 8.54569383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.802320588 meters 0.027938584603018273 Centerline is valid? [True, True] Translation: X:172.26, Y:-22.58, Z:0.85 [[ 8.87851252e-01 4.59945459e-01 1.30510214e-02 1.72257272e+02] [-4.59897760e-01 8.87947161e-01 -6.62494974e-03 -2.25821830e+01] [-1.46357330e-02 -1.20165600e-04 9.99892885e-01 8.53895862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.832320588 meters 0.028009860138548608 Centerline is valid? [True, True] Translation: X:172.29, Y:-22.59, Z:0.85 [[ 8.88471861e-01 4.58707603e-01 1.43208823e-02 1.72286837e+02] [-4.58649963e-01 8.88587263e-01 -7.27243301e-03 -2.25916231e+01] [-1.60612739e-02 -1.06920060e-04 9.99871004e-01 8.52798344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.862320588 meters 0.027976516483063162 Centerline is valid? [True, True] Translation: X:172.32, Y:-22.60, Z:0.85 [[ 8.89985156e-01 4.55833455e-01 1.19282816e-02 1.72315531e+02] [-4.55793226e-01 8.90065087e-01 -6.05607965e-03 -2.25999212e+01] [-1.33775107e-02 -4.70089644e-05 9.99910516e-01 8.52158697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.892320588 meters 0.027790917664330738 Centerline is valid? [True, True] Translation: X:172.34, Y:-22.61, Z:0.85 [[ 8.90764714e-01 4.54327497e-01 1.11691115e-02 1.72342163e+02] [-4.54292215e-01 8.90834735e-01 -5.66209144e-03 -2.26119183e+01] [-1.25222763e-02 -3.04491291e-05 9.99921593e-01 8.52588605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.922320588 meters 0.02783920738024609 Centerline is valid? [True, True] Translation: X:172.37, Y:-22.62, Z:0.85 [[ 8.92086345e-01 4.51715974e-01 1.16031023e-02 1.72369084e+02] [-4.51677778e-01 8.92161801e-01 -5.87420426e-03 -2.26209074e+01] [-1.30053165e-02 -5.66059964e-07 9.99915427e-01 8.54488798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.952320588 meters 0.02771624807656626 Centerline is valid? [True, True] Translation: X:172.39, Y:-22.63, Z:0.86 [[ 8.93263787e-01 4.49376676e-01 1.18494707e-02 1.72394463e+02] [-4.49336735e-01 8.93342377e-01 -5.99134998e-03 -2.26318762e+01] [-1.32780073e-02 2.74534826e-05 9.99911843e-01 8.55950911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.982320588 meters 0.02832731049145563 Centerline is valid? [True, True] Translation: X:172.42, Y:-22.64, Z:0.85 [[ 8.96331659e-01 4.43090728e-01 1.61295800e-02 1.72420890e+02] [-4.43015835e-01 8.96476761e-01 -8.14784666e-03 -2.26438109e+01] [-1.80700290e-02 1.57513547e-04 9.99836711e-01 8.52638068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.012320588 meters 0.028570165812105686 Centerline is valid? [True, True] Translation: X:172.45, Y:-22.66, Z:0.85 [[ 8.97984497e-01 4.39721803e-01 1.63884057e-02 1.72446560e+02] [-4.39644090e-01 8.98134003e-01 -8.26961217e-03 -2.26566645e+01] [-1.83553132e-02 2.20917818e-04 9.99831503e-01 8.51483936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.042320588 meters 0.02866913449198606 Centerline is valid? [True, True] Translation: X:172.47, Y:-22.67, Z:0.85 [[ 8.99828363e-01 4.35992763e-01 1.48063456e-02 1.72471514e+02] [-4.35928991e-01 8.99950134e-01 -7.46133686e-03 -2.26690754e+01] [-1.65780616e-02 2.59407230e-04 9.99862541e-01 8.51629572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.072320588 meters 0.028783865813711517 Centerline is valid? [True, True] Translation: X:172.50, Y:-22.68, Z:0.85 [[ 9.00946354e-01 4.33734505e-01 1.30402081e-02 1.72495674e+02] [-4.33684927e-01 9.01040683e-01 -6.56285233e-03 -2.26835416e+01] [-1.45962935e-02 2.57436199e-04 9.99893435e-01 8.53598131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.102320588 meters 0.02871740489175101 Centerline is valid? [True, True] Translation: X:172.52, Y:-22.70, Z:0.85 [[ 9.01158498e-01 4.33298307e-01 1.28817268e-02 1.72519941e+02] [-4.33249998e-01 9.01250527e-01 -6.47502634e-03 -2.26976621e+01] [-1.44152810e-02 2.54016909e-04 9.99896062e-01 8.54847281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.132320588 meters 0.028536818512815955 Centerline is valid? [True, True] Translation: X:172.54, Y:-22.71, Z:0.86 [[ 9.01326691e-01 4.32984141e-01 1.16159120e-02 1.72544480e+02] [-4.32944916e-01 9.01401510e-01 -5.83247670e-03 -2.27120681e+01] [-1.29959706e-02 2.27916868e-04 9.99915523e-01 8.55716509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.162320588 meters 0.028616937224282556 Centerline is valid? [True, True] Translation: X:172.57, Y:-22.73, Z:0.85 [[ 9.02023322e-01 4.31566757e-01 1.02010579e-02 1.72566724e+02] [-4.31536483e-01 9.02080977e-01 -5.11617187e-03 -2.27325712e+01] [-1.14101500e-02 2.12777704e-04 9.99934879e-01 8.51873283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.192320588 meters 0.028626210600371408 Centerline is valid? [True, True] Translation: X:172.59, Y:-22.75, Z:0.85 [[ 9.02230142e-01 4.31133950e-01 1.02121614e-02 1.72590077e+02] [-4.31103646e-01 9.02287909e-01 -5.11616861e-03 -2.27498520e+01] [-1.14200637e-02 2.13461535e-04 9.99934766e-01 8.52560498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.222320588 meters 0.028543612027884604 Centerline is valid? [True, True] Translation: X:172.61, Y:-22.77, Z:0.85 [[ 9.01910900e-01 4.31781301e-01 1.10289110e-02 1.72614955e+02] [-4.31745985e-01 9.01978303e-01 -5.52679974e-03 -2.27653284e+01] [-1.23342072e-02 2.22992889e-04 9.99923906e-01 8.53499013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.252320588 meters 0.028170408061718555 Centerline is valid? [True, True] Translation: X:172.64, Y:-22.78, Z:0.86 [[ 9.01115486e-01 4.33400273e-01 1.24533033e-02 1.72642086e+02] [-4.33355413e-01 9.01201505e-01 -6.23965948e-03 -2.27770591e+01] [-1.39272058e-02 2.25947384e-04 9.99902986e-01 8.56826260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.282320588 meters 0.028054735992655722 Centerline is valid? [True, True] Translation: X:172.67, Y:-22.79, Z:0.86 [[ 9.00473134e-01 4.34765284e-01 1.12819595e-02 1.72669529e+02] [-4.34728569e-01 9.00543788e-01 -5.65308322e-03 -2.27902486e+01] [-1.26176629e-02 1.85859449e-04 9.99920377e-01 8.57401084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.312320588 meters 0.028042028649926717 Centerline is valid? [True, True] Translation: X:172.70, Y:-22.81, Z:0.86 [[ 8.99361235e-01 4.37074492e-01 1.07357917e-02 1.72695488e+02] [-4.37041418e-01 8.99425298e-01 -5.37881815e-03 -2.28056790e+01] [-1.20069869e-02 1.45514912e-04 9.99927903e-01 8.56009097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.342320588 meters 0.028121667447211028 Centerline is valid? [True, True] Translation: X:172.72, Y:-22.82, Z:0.85 [[ 8.98598580e-01 4.38560273e-01 1.36190583e-02 1.72721541e+02] [-4.38507214e-01 8.98701764e-01 -6.82360799e-03 -2.28215089e+01] [-1.52320351e-02 1.59629136e-04 9.99883973e-01 8.54717689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.372320588 meters 0.028050459743888617 Centerline is valid? [True, True] Translation: X:172.75, Y:-22.84, Z:0.85 [[ 8.98402527e-01 4.38909461e-01 1.52113642e-02 1.72748839e+02] [-4.38843279e-01 8.98531277e-01 -7.62374522e-03 -2.28374820e+01] [-1.70140204e-02 1.73787045e-04 9.99855236e-01 8.54515379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.402320588 meters 0.028239576863743607 Centerline is valid? [True, True] Translation: X:172.78, Y:-22.85, Z:0.85 [[ 8.98727088e-01 4.38212383e-01 1.61098551e-02 1.72776657e+02] [-4.38137990e-01 8.98871441e-01 -8.07681568e-03 -2.28534960e+01] [-1.80200493e-02 2.00513524e-04 9.99837606e-01 8.54762733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.432320588 meters 0.028528880603741105 Centerline is valid? [True, True] Translation: X:172.81, Y:-22.87, Z:0.85 [[ 9.00035466e-01 4.35485961e-01 1.69746238e-02 1.72805017e+02] [-4.35402830e-01 9.00195481e-01 -8.51300971e-03 -2.28694215e+01] [-1.89877758e-02 2.71211440e-04 9.99819679e-01 8.54106949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.462320588 meters 0.028404578728445765 Centerline is valid? [True, True] Translation: X:172.83, Y:-22.88, Z:0.86 [[ 9.00813315e-01 4.33877495e-01 1.69023732e-02 1.72834101e+02] [-4.33794738e-01 9.00971823e-01 -8.47940808e-03 -2.28833808e+01] [-1.89075863e-02 3.06203168e-04 9.99821189e-01 8.55261760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49232058799998 meters 0.028596270444136138 Centerline is valid? [True, True] Translation: X:172.86, Y:-22.90, Z:0.85 [[ 9.01700823e-01 4.32054806e-01 1.62563939e-02 1.72861635e+02] [-4.31977911e-01 9.01847289e-01 -8.15791901e-03 -2.29009042e+01] [-1.81854529e-02 3.33599217e-04 9.99834575e-01 8.52989113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52232058799999 meters 0.028693616171342175 Centerline is valid? [True, True] Translation: X:172.89, Y:-22.92, Z:0.85 [[ 9.02102855e-01 4.31186813e-01 1.69814641e-02 1.72888352e+02] [-4.31102701e-01 9.02262598e-01 -8.52439325e-03 -2.29195883e+01] [-1.89973459e-02 3.69124434e-04 9.99819466e-01 8.52381024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.552320588 meters 0.029317861956562656 Centerline is valid? [True, True] Translation: X:172.91, Y:-22.94, Z:0.85 [[ 9.03166735e-01 4.28836974e-01 1.97154425e-02 1.72912969e+02] [-4.28722989e-01 9.03381764e-01 -9.89884681e-03 -2.29413775e+01] [-2.20555628e-02 4.87845693e-04 9.99756627e-01 8.50530368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.582320588 meters 0.0291626627190419 Centerline is valid? [True, True] Translation: X:172.94, Y:-22.96, Z:0.85 [[ 9.03776671e-01 4.27548401e-01 1.97507745e-02 1.72940268e+02] [-4.27433628e-01 9.03992307e-01 -9.91978968e-03 -2.29583403e+01] [-2.20957385e-02 5.23129280e-04 9.99755723e-01 8.51938884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.612320588 meters 0.029239798303710356 Centerline is valid? [True, True] Translation: X:172.97, Y:-22.98, Z:0.85 [[ 9.04228719e-01 4.26735137e-01 1.63568721e-02 1.72965580e+02] [-4.26656241e-01 9.04376536e-01 -8.21785759e-03 -2.29802181e+01] [-1.82996199e-02 4.52061278e-04 9.99832446e-01 8.52369443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.642320588 meters 0.029012045506546968 Centerline is valid? [True, True] Translation: X:172.99, Y:-23.00, Z:0.85 [[ 9.03976315e-01 4.27349566e-01 1.41127731e-02 1.72992066e+02] [-4.27290874e-01 9.04086391e-01 -7.09269202e-03 -2.29991823e+01] [-1.57902249e-02 3.81366456e-04 9.99875254e-01 8.52834180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.672320588 meters 0.028810078693715137 Centerline is valid? [True, True] Translation: X:173.02, Y:-23.02, Z:0.85 [[ 9.02876695e-01 4.29651460e-01 1.46046991e-02 1.73017197e+02] [-4.29588868e-01 9.02994738e-01 -7.34216598e-03 -2.30205201e+01] [-1.63425388e-02 3.55054393e-04 9.99866389e-01 8.51399188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.702320588 meters 0.028380571068494946 Centerline is valid? [True, True] Translation: X:173.04, Y:-23.04, Z:0.85 [[ 9.00773091e-01 4.33939774e-01 1.74387713e-02 1.73043396e+02] [-4.33851079e-01 9.00941816e-01 -8.77987242e-03 -2.30420292e+01] [-1.95212541e-02 3.42843098e-04 9.99809383e-01 8.53603501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.732320588 meters 0.02830509859344485 Centerline is valid? [True, True] Translation: X:173.07, Y:-23.06, Z:0.85 [[ 8.99668445e-01 4.36162179e-01 1.89537098e-02 1.73070227e+02] [-4.36057647e-01 8.99868015e-01 -9.55428055e-03 -2.30613077e+01] [-2.12230530e-02 3.30774646e-04 9.99774711e-01 8.53989188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.762320588 meters 0.027983348321661546 Centerline is valid? [True, True] Translation: X:173.10, Y:-23.08, Z:0.85 [[ 8.98016314e-01 4.39609094e-01 1.76222696e-02 1.73096463e+02] [-4.39519206e-01 8.98189171e-01 -8.89277666e-03 -2.30809138e+01] [-1.97374772e-02 2.40532582e-04 9.99805168e-01 8.54121226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.792320588 meters 0.02767336914338371 Centerline is valid? [True, True] Translation: X:173.12, Y:-23.10, Z:0.85 [[ 8.97139535e-01 4.41470036e-01 1.56480351e-02 1.73124887e+02] [-4.41399287e-01 8.97275973e-01 -7.90550758e-03 -2.30962136e+01] [-1.75306506e-02 1.85311875e-04 9.99846309e-01 8.53180248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.822320588 meters 0.02748343013650281 Centerline is valid? [True, True] Translation: X:173.15, Y:-23.11, Z:0.85 [[ 8.94798553e-01 4.46222742e-01 1.48598456e-02 1.73152081e+02] [-4.46159451e-01 8.94921927e-01 -7.51587759e-03 -2.31145021e+01] [-1.66521571e-02 9.53358367e-05 9.99861339e-01 8.51682822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.852320588 meters 0.027487000812207507 Centerline is valid? [True, True] Translation: X:173.18, Y:-23.13, Z:0.85 [[ 8.93627627e-01 4.48553039e-01 1.51603127e-02 1.73180709e+02] [-4.48487324e-01 8.93756212e-01 -7.67808975e-03 -2.31314672e+01] [-1.69936542e-02 6.21450512e-05 9.99855596e-01 8.53229034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.882320588 meters 0.027213672666576177 Centerline is valid? [True, True] Translation: X:173.21, Y:-23.15, Z:0.86 [[ 8.91520328e-01 4.52685877e-01 1.63401989e-02 1.73208274e+02] [-4.52610065e-01 8.91670060e-01 -8.28448636e-03 -2.31488533e+01] [-1.83203361e-02 -9.95047475e-06 9.99832169e-01 8.55364088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.912320588 meters 0.02728997389606403 Centerline is valid? [True, True] Translation: X:173.24, Y:-23.16, Z:0.86 [[ 8.90240228e-01 4.55186782e-01 1.66532130e-02 1.73237383e+02] [-4.55108263e-01 8.90395974e-01 -8.45446677e-03 -2.31637224e+01] [-1.86763153e-02 -5.25084072e-05 9.99825581e-01 8.55237018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.942320588 meters 0.02761438247176922 Centerline is valid? [True, True] Translation: X:173.26, Y:-23.18, Z:0.85 [[ 8.88518201e-01 4.58496740e-01 1.77805008e-02 1.73264945e+02] [-4.58407698e-01 8.88696081e-01 -9.03646028e-03 -2.31798502e+01] [-1.99446490e-02 -1.21659014e-04 9.99801078e-01 8.52094922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.972320588 meters 0.027634236619563674 Centerline is valid? [True, True] Translation: X:173.29, Y:-23.20, Z:0.85 [[ 8.87753883e-01 4.59976150e-01 1.77477864e-02 1.73294064e+02] [-4.59887489e-01 8.87931259e-01 -9.03200040e-03 -2.31961737e+01] [-1.99133191e-02 -1.43791486e-04 9.99801700e-01 8.51753235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.002320588 meters 0.027630336964756926 Centerline is valid? [True, True] Translation: X:173.32, Y:-23.21, Z:0.85 [[ 8.86599311e-01 4.62202070e-01 1.76325779e-02 1.73323473e+02] [-4.62114764e-01 8.86774613e-01 -8.98505050e-03 -2.32113489e+01] [-1.97890314e-02 -1.82135008e-04 9.99804161e-01 8.52369382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.032320588 meters 0.027376021918940056 Centerline is valid? [True, True] Translation: X:173.35, Y:-23.23, Z:0.85 [[ 8.85651994e-01 4.64037127e-01 1.70320467e-02 1.73353066e+02] [-4.63955788e-01 8.85815727e-01 -8.69042377e-03 -2.32251060e+01] [-1.91199342e-02 -2.05425535e-04 9.99817176e-01 8.53926048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.062320588 meters 0.02743581706974461 Centerline is valid? [True, True] Translation: X:173.38, Y:-23.24, Z:0.85 [[ 8.85167161e-01 4.65005676e-01 1.57739660e-02 1.73382071e+02] [-4.64935906e-01 8.85307676e-01 -8.05749295e-03 -2.32396132e+01] [-1.77115931e-02 -2.01654998e-04 9.99843117e-01 8.54680895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.092320588 meters 0.02762157040472365 Centerline is valid? [True, True] Translation: X:173.41, Y:-23.26, Z:0.86 [[ 8.84308837e-01 4.66705954e-01 1.35437694e-02 1.73409228e+02] [-4.66654592e-01 8.84412525e-01 -6.92653275e-03 -2.32580489e+01] [-1.52109334e-02 -1.95068079e-04 9.99884288e-01 8.55363818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.122320588 meters 0.02766672593412998 Centerline is valid? [True, True] Translation: X:173.44, Y:-23.27, Z:0.86 [[ 8.83710862e-01 4.67723123e-01 1.70350575e-02 1.73437938e+02] [-4.67641877e-01 8.83874999e-01 -8.72132262e-03 -2.32731193e+01] [-1.91360256e-02 -2.59178728e-04 9.99816856e-01 8.55049372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.152320588 meters 0.027832778296283486 Centerline is valid? [True, True] Translation: X:173.47, Y:-23.29, Z:0.86 [[ 8.83368769e-01 4.68324101e-01 1.82251171e-02 1.73467896e+02] [-4.68231021e-01 8.83556708e-01 -9.34099390e-03 -2.32861445e+01] [-2.04775370e-02 -2.82022911e-04 9.99790273e-01 8.55643345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.182320588 meters 0.028043726761340013 Centerline is valid? [True, True] Translation: X:173.50, Y:-23.30, Z:0.86 [[ 8.82206265e-01 4.70518291e-01 1.80179103e-02 1.73498129e+02] [-4.70427523e-01 8.82390184e-01 -9.24709545e-03 -2.33003805e+01] [-2.02497548e-02 -3.18275393e-04 9.99794902e-01 8.56282651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.212320588 meters 0.027983303344765263 Centerline is valid? [True, True] Translation: X:173.53, Y:-23.31, Z:0.86 [[ 8.80402950e-01 4.74028139e-01 1.37101441e-02 1.73527946e+02] [-4.73975885e-01 8.80509645e-01 -7.04453600e-03 -2.33133607e+01] [-1.54112224e-02 -2.96247406e-04 9.99881196e-01 8.56433136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24232058799998 meters 0.02850383365038468 Centerline is valid? [True, True] Translation: X:173.56, Y:-23.32, Z:0.86 [[ 8.77776598e-01 4.78906859e-01 1.25085499e-02 1.73558634e+02] [-4.78863752e-01 8.77865652e-01 -6.43451739e-03 -2.33241128e+01] [-1.40623608e-02 -3.41822357e-04 9.99901062e-01 8.56521494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27232058799999 meters 0.028450082618403927 Centerline is valid? [True, True] Translation: X:173.59, Y:-23.34, Z:0.86 [[ 8.76865729e-01 4.80576944e-01 1.23407695e-02 1.73587868e+02] [-4.80535053e-01 8.76952492e-01 -6.35526057e-03 -2.33367148e+01] [-1.38764602e-02 -3.57462119e-04 9.99903653e-01 8.56764249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.302320588 meters 0.028692981103549745 Centerline is valid? [True, True] Translation: X:173.62, Y:-23.35, Z:0.86 [[ 8.76185530e-01 4.81812221e-01 1.24860321e-02 1.73616958e+02] [-4.81769363e-01 8.76274411e-01 -6.43725467e-03 -2.33509167e+01] [-1.40427384e-02 -3.75158323e-04 9.99901326e-01 8.59101797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.332320588 meters 0.028593496386598336 Centerline is valid? [True, True] Translation: X:173.65, Y:-23.36, Z:0.86 [[ 8.76118892e-01 4.81924593e-01 1.28208200e-02 1.73646814e+02] [-4.81879291e-01 8.76212613e-01 -6.61865025e-03 -2.33645580e+01] [-1.44234545e-02 -3.79363121e-04 9.99895905e-01 8.59314432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.362320588 meters 0.029021406891643352 Centerline is valid? [True, True] Translation: X:173.68, Y:-23.38, Z:0.86 [[ 8.75548438e-01 4.82942837e-01 1.34591589e-02 1.73676366e+02] [-4.82892922e-01 8.75651785e-01 -6.95537119e-03 -2.33767877e+01] [-1.51445832e-02 -4.09568192e-04 9.99885230e-01 8.59159048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.392320588 meters 0.028624830040779255 Centerline is valid? [True, True] Translation: X:173.71, Y:-23.38, Z:0.86 [[ 8.76030929e-01 4.82054931e-01 1.38872187e-02 1.73709831e+02] [-4.82001559e-01 8.76140904e-01 -7.18431170e-03 -2.33831412e+01] [-1.56303932e-02 -3.99981790e-04 9.99877758e-01 8.58473369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.422320588 meters 0.028416424449316434 Centerline is valid? [True, True] Translation: X:173.74, Y:-23.39, Z:0.86 [[ 8.76592602e-01 4.81046221e-01 1.34142871e-02 1.73739635e+02] [-4.80996285e-01 8.76695157e-01 -6.94089634e-03 -2.33949455e+01] [-1.50991325e-02 -3.67883866e-04 9.99885934e-01 8.57672497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.452320588 meters 0.028416424449316434 Centerline is valid? [True, True] Translation: X:173.77, Y:-23.41, Z:0.86 [[ 8.76338412e-01 4.81509259e-01 1.34097724e-02 1.73768674e+02] [-4.81459244e-01 8.76440928e-01 -6.94961659e-03 -2.34096475e+01] [-1.50991781e-02 -3.66042924e-04 9.99885934e-01 8.57836494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.482320588 meters 0.028055981760762294 Centerline is valid? [True, True] Translation: X:173.80, Y:-23.42, Z:0.86 [[ 8.78365813e-01 4.77783415e-01 1.40181217e-02 1.73797399e+02] [-4.77728161e-01 8.78477611e-01 -7.27262707e-03 -2.34236637e+01] [-1.57893467e-02 -3.08824543e-04 9.99875293e-01 8.55760482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.512320588 meters 0.02795462700864068 Centerline is valid? [True, True] Translation: X:173.83, Y:-23.44, Z:0.86 [[ 8.79380412e-01 4.75883704e-01 1.49930114e-02 1.73825713e+02] [-4.75820076e-01 8.79508168e-01 -7.78696718e-03 -2.34384168e+01] [-1.68921668e-02 -2.86269423e-04 9.99857276e-01 8.56389400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.542320588 meters 0.027589412794360002 Centerline is valid? [True, True] Translation: X:173.86, Y:-23.45, Z:0.86 [[ 8.80816351e-01 4.73305923e-01 1.20024514e-02 1.73855386e+02] [-4.73264806e-01 8.80898104e-01 -6.24130358e-03 -2.34517703e+01] [-1.35269826e-02 -1.82895588e-04 9.99908489e-01 8.59146605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.572320588 meters 0.027318869255840032 Centerline is valid? [True, True] Translation: X:173.89, Y:-23.46, Z:0.86 [[ 8.81775694e-01 4.71515260e-01 1.20409642e-02 1.73885645e+02] [-4.71473615e-01 8.81857889e-01 -6.26842483e-03 -2.34643495e+01] [-1.35740772e-02 -1.49652256e-04 9.99907857e-01 8.60067635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.602320588 meters 0.027393862408679918 Centerline is valid? [True, True] Translation: X:173.92, Y:-23.48, Z:0.86 [[ 8.82298033e-01 4.70536971e-01 1.20474311e-02 1.73916022e+02] [-4.70495073e-01 8.82380271e-01 -6.28038520e-03 -2.34767589e+01] [-1.35855690e-02 -1.27085477e-04 9.99907704e-01 8.58894144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.632320588 meters 0.027454020524013016 Centerline is valid? [True, True] Translation: X:173.95, Y:-23.49, Z:0.86 [[ 8.83396149e-01 4.68439445e-01 1.32563597e-02 1.73945420e+02] [-4.68388461e-01 8.83495600e-01 -6.91181560e-03 -2.34912597e+01] [-1.49497025e-02 -1.03254631e-04 9.99888242e-01 8.56348907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.662320588 meters 0.027174486362236596 Centerline is valid? [True, True] Translation: X:173.97, Y:-23.51, Z:0.86 [[ 8.83348490e-01 4.68536515e-01 1.29992341e-02 1.73973764e+02] [-4.68487346e-01 8.83444127e-01 -6.78828843e-03 -2.35087420e+01] [-1.46646580e-02 -9.35523398e-05 9.99892464e-01 8.57041299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.692320588 meters 0.027285976411358652 Centerline is valid? [True, True] Translation: X:174.00, Y:-23.53, Z:0.86 [[ 8.82725218e-01 4.69691791e-01 1.36312790e-02 1.74001231e+02] [-4.69637723e-01 8.82830454e-01 -7.12738666e-03 -2.35265454e+01] [-1.53817833e-02 -1.10238903e-04 9.99881687e-01 8.58985785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.722320588 meters 0.027209460718826198 Centerline is valid? [True, True] Translation: X:174.03, Y:-23.54, Z:0.86 [[ 8.82666408e-01 4.69843841e-01 1.21151612e-02 1.74030140e+02] [-4.69801050e-01 8.82749543e-01 -6.34170835e-03 -2.35402560e+01] [-1.36742656e-02 -9.41025277e-05 9.99906498e-01 8.60111143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.752320588 meters 0.027086275189568916 Centerline is valid? [True, True] Translation: X:174.06, Y:-23.56, Z:0.86 [[ 8.82884244e-01 4.69521169e-01 8.07979891e-03 1.74058608e+02] [-4.69502073e-01 8.82921213e-01 -4.23495635e-03 -2.35555062e+01] [-9.12222751e-03 -5.45060924e-05 9.99958390e-01 8.58704067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.782320588 meters 0.027099823863320056 Centerline is valid? [True, True] Translation: X:174.09, Y:-23.57, Z:0.86 [[ 8.82662347e-01 4.69968780e-01 6.04379916e-03 1.74085928e+02] [-4.69958077e-01 8.82683037e-01 -3.17203314e-03 -2.35719211e+01] [-6.82551554e-03 -4.04980186e-05 9.99976705e-01 8.58642756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.812320588 meters 0.027139621772818784 Centerline is valid? [True, True] Translation: X:174.11, Y:-23.59, Z:0.86 [[ 8.82581940e-01 4.70100431e-01 7.39621664e-03 1.74113102e+02] [-4.70084417e-01 8.82612929e-01 -3.88064695e-03 -2.35884551e+01] [-8.35229024e-03 -5.18572675e-05 9.99965118e-01 8.58083368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.842320588 meters 0.027114277023024193 Centerline is valid? [True, True] Translation: X:174.14, Y:-23.60, Z:0.86 [[ 8.82106828e-01 4.70974796e-01 8.38364974e-03 1.74142347e+02] [-4.70954185e-01 8.82146665e-01 -4.40650529e-03 -2.36035201e+01] [-9.47096158e-03 -6.13065317e-05 9.99955148e-01 8.58844783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.872320588 meters 0.0269521096540923 Centerline is valid? [True, True] Translation: X:174.17, Y:-23.62, Z:0.86 [[ 8.81765976e-01 4.71596750e-01 9.23415151e-03 1.74171041e+02] [-4.71571717e-01 8.81814323e-01 -4.85953927e-03 -2.36201305e+01] [-1.04345500e-02 -6.95882968e-05 9.99945556e-01 8.59412975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.902320588 meters 0.027213333051607978 Centerline is valid? [True, True] Translation: X:174.20, Y:-23.64, Z:0.86 [[ 8.81050989e-01 4.72938729e-01 8.83819648e-03 1.74199064e+02] [-4.72915803e-01 8.81095314e-01 -4.65725606e-03 -2.36368733e+01] [-9.98989026e-03 -7.64427245e-05 9.99950097e-01 8.58639774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.932320588 meters 0.02737639593196742 Centerline is valid? [True, True] Translation: X:174.22, Y:-23.66, Z:0.86 [[ 8.79823061e-01 4.75160694e-01 1.15626925e-02 1.74224941e+02] [-4.75121575e-01 8.79899027e-01 -6.09847532e-03 -2.36564130e+01] [-1.30717577e-02 -1.28105452e-04 9.99914553e-01 8.57963730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96232058799998 meters 0.027647496780542163 Centerline is valid? [True, True] Translation: X:174.25, Y:-23.67, Z:0.86 [[ 8.78415022e-01 4.77775947e-01 1.08255779e-02 1.74253336e+02] [-4.77741757e-01 8.78481714e-01 -5.71765077e-03 -2.36733239e+01] [-1.22418283e-02 -1.49360274e-04 9.99925055e-01 8.58670144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99232058799998 meters 0.027766439994163134 Centerline is valid? [True, True] Translation: X:174.28, Y:-23.69, Z:0.86 [[ 8.77246719e-01 4.79888605e-01 1.20466053e-02 1.74282128e+02] [-4.79846379e-01 8.77329408e-01 -6.36893517e-03 -2.36880937e+01] [-1.36252205e-02 -1.93392472e-04 9.99907154e-01 8.58636134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02232058799999 meters 0.02811908671251343 Centerline is valid? [True, True] Translation: X:174.31, Y:-23.70, Z:0.86 [[ 8.75554925e-01 4.82908961e-01 1.42305410e-02 1.74312199e+02] [-4.82850305e-01 8.75670520e-01 -7.53155026e-03 -2.36996114e+01] [-1.60983183e-02 -2.76935125e-04 9.99870375e-01 8.58033252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.052320588 meters 0.02830000500017756 Centerline is valid? [True, True] Translation: X:174.34, Y:-23.71, Z:0.86 [[ 8.74140732e-01 4.85484266e-01 1.35280131e-02 1.74341060e+02] [-4.85431444e-01 8.74245353e-01 -7.16776702e-03 -2.37147184e+01] [-1.53066407e-02 -3.01285842e-04 9.99882801e-01 8.58633498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.082320588 meters 0.028689319362856663 Centerline is valid? [True, True] Translation: X:174.37, Y:-23.73, Z:0.86 [[ 8.72674726e-01 4.88112229e-01 1.36115529e-02 1.74368528e+02] [-4.88058961e-01 8.72780805e-01 -7.21916120e-03 -2.37306969e+01] [-1.54036629e-02 -3.43260837e-04 9.99881298e-01 8.58472875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.112320588 meters 0.028765843807193058 Centerline is valid? [True, True] Translation: X:174.40, Y:-23.75, Z:0.86 [[ 8.71894177e-01 4.89519921e-01 1.30686693e-02 1.74397834e+02] [-4.89470837e-01 8.71992046e-01 -6.94058952e-03 -2.37456171e+01] [-1.47933325e-02 -3.45272896e-04 9.99890513e-01 8.59045951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.142320588 meters 0.028401270564938935 Centerline is valid? [True, True] Translation: X:174.43, Y:-23.76, Z:0.86 [[ 8.72567007e-01 4.88332518e-01 1.25766066e-02 1.74428246e+02] [-4.88286837e-01 8.72657583e-01 -6.68632078e-03 -2.37562750e+01] [-1.42402190e-02 -3.06728577e-04 9.99898556e-01 8.59275465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.172320588 meters 0.02843584807108623 Centerline is valid? [True, True] Translation: X:174.46, Y:-23.77, Z:0.86 [[ 8.72545906e-01 4.88323287e-01 1.42831671e-02 1.74457403e+02] [-4.88264235e-01 8.72662736e-01 -7.60170908e-03 -2.37698113e+01] [-1.61764793e-02 -3.41119524e-04 9.99869094e-01 8.57995134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.202320588 meters 0.02826332446816217 Centerline is valid? [True, True] Translation: X:174.49, Y:-23.78, Z:0.86 [[ 8.73069819e-01 4.87373706e-01 1.46956521e-02 1.74486768e+02] [-4.87310917e-01 8.73193429e-01 -7.82977021e-03 -2.37834265e+01] [-1.66481710e-02 -3.25415649e-04 9.99861357e-01 8.59626807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.232320588 meters 0.028035946848660898 Centerline is valid? [True, True] Translation: X:174.52, Y:-23.80, Z:0.86 [[ 8.73019427e-01 4.87468255e-01 1.45526788e-02 1.74517461e+02] [-4.87406527e-01 8.73140654e-01 -7.76380156e-03 -2.37968529e+01] [-1.64911423e-02 -3.15121034e-04 9.99863962e-01 8.61071935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.262320588 meters 0.028111108154176584 Centerline is valid? [True, True] Translation: X:174.55, Y:-23.81, Z:0.86 [[ 8.71818256e-01 4.89633137e-01 1.38679546e-02 1.74547713e+02] [-4.89577230e-01 8.71928484e-01 -7.40640870e-03 -2.38077618e+01] [-1.57182877e-02 -3.32392480e-04 9.99876405e-01 8.60178155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.292320588 meters 0.028376935890200527 Centerline is valid? [True, True] Translation: X:174.58, Y:-23.82, Z:0.86 [[ 8.71533343e-01 4.90176641e-01 1.25096948e-02 1.74577009e+02] [-4.90131098e-01 8.71623066e-01 -6.68861215e-03 -2.38222051e+01] [-1.41823400e-02 -3.02041940e-04 9.99899380e-01 8.57794522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.322320588 meters 0.02811211680151156 Centerline is valid? [True, True] Translation: X:174.61, Y:-23.84, Z:0.86 [[ 8.71622529e-01 4.90070232e-01 1.02632728e-02 1.74606335e+02] [-4.90039495e-01 8.71682918e-01 -5.49397406e-03 -2.38361120e+01] [-1.16387527e-02 -2.40737431e-04 9.99932238e-01 8.57028137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.352320588 meters 0.028088816988909603 Centerline is valid? [True, True] Translation: X:174.64, Y:-23.85, Z:0.86 [[ 8.71478301e-01 4.90330603e-01 1.00732454e-02 1.74636339e+02] [-4.90300928e-01 8.71536485e-01 -5.39956473e-03 -2.38505794e+01] [-1.14267727e-02 -2.33318045e-04 9.99934685e-01 8.57228270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.382320588 meters 0.02799586944690105 Centerline is valid? [True, True] Translation: X:174.67, Y:-23.86, Z:0.86 [[ 8.71832949e-01 4.89688668e-01 1.05980063e-02 1.74665965e+02] [-4.89655687e-01 8.71897331e-01 -5.68792908e-03 -2.38643926e+01] [-1.20256878e-02 -2.30450072e-04 9.99927662e-01 8.57448771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.412320588 meters 0.02782236672589279 Centerline is valid? [True, True] Translation: X:174.70, Y:-23.88, Z:0.86 [[ 8.71970514e-01 4.89448865e-01 1.03552494e-02 1.74695241e+02] [-4.89417292e-01 8.72031973e-01 -5.56350339e-03 -2.38788933e+01] [-1.17531590e-02 -2.16827194e-04 9.99930906e-01 8.61021249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.442320588 meters 0.02774704312243985 Centerline is valid? [True, True] Translation: X:174.72, Y:-23.89, Z:0.86 [[ 8.72507040e-01 4.88452232e-01 1.20781656e-02 1.74724802e+02] [-4.88409166e-01 8.72590604e-01 -6.49035281e-03 -2.38937445e+01] [-1.37095211e-02 -2.36208277e-04 9.99905992e-01 8.61547240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.472320588 meters 0.02775489146072145 Centerline is valid? [True, True] Translation: X:174.76, Y:-23.91, Z:0.86 [[ 8.73385456e-01 4.86781788e-01 1.55350020e-02 1.74755271e+02] [-4.86710243e-01 8.73523565e-01 -8.34988713e-03 -2.39056939e+01] [-1.76347634e-02 -2.68374637e-04 9.99844459e-01 8.60127964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.502320588 meters 0.027816032696039966 Centerline is valid? [True, True] Translation: X:174.78, Y:-23.92, Z:0.86 [[ 8.73587046e-01 4.86388169e-01 1.64991652e-02 1.74784634e+02] [-4.86307145e-01 8.73742799e-01 -8.88156083e-03 -2.39198866e+01] [-1.87359129e-02 -2.64845438e-04 9.99824432e-01 8.59521990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.532320588 meters 0.027823672629589836 Centerline is valid? [True, True] Translation: X:174.81, Y:-23.93, Z:0.86 [[ 8.73794341e-01 4.86024204e-01 1.62457200e-02 1.74812615e+02] [-4.85945416e-01 8.73945315e-01 -8.75438323e-03 -2.39349162e+01] [-1.84527130e-02 -2.45002657e-04 9.99829704e-01 8.59543837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.562320588 meters 0.02770198664805001 Centerline is valid? [True, True] Translation: X:174.84, Y:-23.95, Z:0.86 [[ 8.74415614e-01 4.84926996e-01 1.55930513e-02 1.74840308e+02] [-4.84854072e-01 8.74554611e-01 -8.41204240e-03 -2.39520293e+01] [-1.77162013e-02 -2.04733192e-04 9.99843035e-01 8.59949037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.592320588 meters 0.027412606852529203 Centerline is valid? [True, True] Translation: X:174.87, Y:-23.97, Z:0.86 [[ 8.75184190e-01 4.83562309e-01 1.48366458e-02 1.74868442e+02] [-4.83495941e-01 8.75309926e-01 -8.01294532e-03 -2.39667477e+01] [-1.68614217e-02 -1.60654982e-04 9.99857823e-01 8.60117046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.622320588 meters 0.027569857013030743 Centerline is valid? [True, True] Translation: X:174.90, Y:-23.98, Z:0.86 [[ 8.74833956e-01 4.84163717e-01 1.58443642e-02 1.74896817e+02] [-4.84087960e-01 8.74977408e-01 -8.56637104e-03 -2.39812144e+01] [-1.80109868e-02 -1.75913679e-04 9.99837774e-01 8.59739114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.652320588 meters 0.02744708625217581 Centerline is valid? [True, True] Translation: X:174.93, Y:-24.00, Z:0.86 [[ 8.74859450e-01 4.84109766e-01 1.60834635e-02 1.74926231e+02] [-4.84031489e-01 8.75007261e-01 -8.70695125e-03 -2.39955310e+01] [-1.82882674e-02 -1.67544194e-04 9.99832742e-01 8.60777044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.682320588 meters 0.027453789517440857 Centerline is valid? [True, True] Translation: X:174.96, Y:-24.01, Z:0.86 [[ 8.74211894e-01 4.85280991e-01 1.59975981e-02 1.74955953e+02] [-4.85203546e-01 8.74358237e-01 -8.67134405e-03 -2.40102282e+01] [-1.81956701e-02 -1.81499199e-04 9.99834429e-01 8.60364750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71232058799998 meters 0.027476560857075866 Centerline is valid? [True, True] Translation: X:174.98, Y:-24.03, Z:0.86 [[ 8.73707485e-01 4.86222630e-01 1.49259545e-02 1.74983900e+02] [-4.86155206e-01 8.73834951e-01 -8.09906050e-03 -2.40255444e+01] [-1.69807672e-02 -1.80120696e-04 9.99855800e-01 8.60565634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74232058799998 meters 0.027571946670118492 Centerline is valid? [True, True] Translation: X:175.01, Y:-24.04, Z:0.86 [[ 8.72475264e-01 4.88465205e-01 1.37352851e-02 1.75011967e+02] [-4.88408230e-01 8.72583351e-01 -7.46297432e-03 -2.40420703e+01] [-1.56305844e-02 -1.97165813e-04 9.99877816e-01 8.60323521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77232058799999 meters 0.02762522780708691 Centerline is valid? [True, True] Translation: X:175.04, Y:-24.06, Z:0.86 [[ 8.72242407e-01 4.88890187e-01 1.34003052e-02 1.75041211e+02] [-4.88835867e-01 8.72345315e-01 -7.29021684e-03 -2.40574315e+01] [-1.52538089e-02 -1.91713523e-04 9.99883636e-01 8.60309172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.802320588 meters 0.027750202736078457 Centerline is valid? [True, True] Translation: X:175.07, Y:-24.07, Z:0.86 [[ 8.71817890e-01 4.89604888e-01 1.48533021e-02 1.75070019e+02] [-4.89538114e-01 8.71944382e-01 -8.08885395e-03 -2.40726422e+01] [-1.69115957e-02 -2.19249908e-04 9.99856965e-01 8.59985733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.832320588 meters 0.027457505120499676 Centerline is valid? [True, True] Translation: X:175.10, Y:-24.09, Z:0.86 [[ 8.72397068e-01 4.88596784e-01 1.40192326e-02 1.75098646e+02] [-4.88537033e-01 8.72509685e-01 -7.64309257e-03 -2.40875646e+01] [-1.59663067e-02 -1.81102780e-04 9.99872514e-01 8.61511358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.862320588 meters 0.027497152928787585 Centerline is valid? [True, True] Translation: X:175.13, Y:-24.10, Z:0.86 [[ 8.72880433e-01 4.87731720e-01 1.40541631e-02 1.75127313e+02] [-4.87671538e-01 8.72993552e-01 -7.66349722e-03 -2.41032782e+01] [-1.60069244e-02 -1.64498554e-04 9.99871867e-01 8.60625915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.892320588 meters 0.027480230765905077 Centerline is valid? [True, True] Translation: X:175.15, Y:-24.12, Z:0.86 [[ 8.72780996e-01 4.87932107e-01 1.32511114e-02 1.75154982e+02] [-4.87878484e-01 8.72881571e-01 -7.23520874e-03 -2.41190570e+01] [-1.50969416e-02 -1.50179458e-04 9.99886023e-01 8.60079707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.922320588 meters 0.027757626212817507 Centerline is valid? [True, True] Translation: X:175.18, Y:-24.14, Z:0.86 [[ 8.71785750e-01 4.89706406e-01 1.33132322e-02 1.75184147e+02] [-4.89652343e-01 8.71887382e-01 -7.27851134e-03 -2.41352147e+01] [-1.51719728e-02 -1.73552871e-04 9.99884884e-01 8.60814531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.952320588 meters 0.027807213955542923 Centerline is valid? [True, True] Translation: X:175.21, Y:-24.15, Z:0.86 [[ 8.69583976e-01 4.93592063e-01 1.38052302e-02 1.75214793e+02] [-4.93534298e-01 8.69693518e-01 -7.55519989e-03 -2.41461125e+01] [-1.57355059e-02 -2.43473854e-04 9.99876160e-01 8.62637948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.982320588 meters 0.027966634589055232 Centerline is valid? [True, True] Translation: X:175.24, Y:-24.16, Z:0.86 [[ 8.68366239e-01 4.95726107e-01 1.39893637e-02 1.75244491e+02] [-4.95667058e-01 8.68478869e-01 -7.65647809e-03 -2.41584171e+01] [-1.59449828e-02 -2.85439675e-04 9.99872830e-01 8.62815413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.012320588 meters 0.027977897092221923 Centerline is valid? [True, True] Translation: X:175.27, Y:-24.17, Z:0.86 [[ 8.67175116e-01 4.97838508e-01 1.28116492e-02 1.75273912e+02] [-4.97789181e-01 8.67269700e-01 -7.01415932e-03 -2.41719341e+01] [-1.46030737e-02 -2.94995921e-04 9.99893326e-01 8.62242770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.042320588 meters 0.028576831221748318 Centerline is valid? [True, True] Translation: X:175.30, Y:-24.19, Z:0.86 [[ 8.64837490e-01 5.01831797e-01 1.48648558e-02 1.75301530e+02] [-5.01765938e-01 8.64965128e-01 -8.14068885e-03 -2.41888174e+01] [-1.69428384e-02 -4.18305403e-04 9.99856372e-01 8.61634589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.072320588 meters 0.028738965383445357 Centerline is valid? [True, True] Translation: X:175.33, Y:-24.20, Z:0.86 [[ 8.63911192e-01 5.03413135e-01 1.52534398e-02 1.75330896e+02] [-5.03343989e-01 8.64045719e-01 -8.35605598e-03 -2.42024338e+01] [-1.73862177e-02 -4.58836945e-04 9.99848743e-01 8.63894670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.102320588 meters 0.029115020547534662 Centerline is valid? [True, True] Translation: X:175.36, Y:-24.21, Z:0.86 [[ 8.62806040e-01 5.05322634e-01 1.46551546e-02 1.75360682e+02] [-5.05258919e-01 8.62930365e-01 -8.03801427e-03 -2.42140298e+01] [-1.67081684e-02 -4.69400302e-04 9.99860299e-01 8.63316846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.132320588 meters 0.02903265658223015 Centerline is valid? [True, True] Translation: X:175.39, Y:-24.23, Z:0.86 [[ 8.61930479e-01 5.06850241e-01 1.33672203e-02 1.75391408e+02] [-5.06797404e-01 8.62034006e-01 -7.33239769e-03 -2.42256258e+01] [-1.52394260e-02 -4.54455503e-04 9.99883770e-01 8.63919480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.162320588 meters 0.029426257999828696 Centerline is valid? [True, True] Translation: X:175.42, Y:-24.24, Z:0.86 [[ 8.60437638e-01 5.09370447e-01 1.37411356e-02 1.75422230e+02] [-5.09314898e-01 8.60547202e-01 -7.53978976e-03 -2.42357199e+01] [-1.56654419e-02 -5.11046207e-04 9.99877159e-01 8.63807112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.192320588 meters 0.02969449226191989 Centerline is valid? [True, True] Translation: X:175.45, Y:-24.25, Z:0.87 [[ 8.59877364e-01 5.10332118e-01 1.31167008e-02 1.75453130e+02] [-5.10281582e-01 8.59977253e-01 -7.19939060e-03 -2.42455226e+01] [-1.49541446e-02 -5.02617799e-04 9.99888054e-01 8.66049116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.222320588 meters 0.029722062094447194 Centerline is valid? [True, True] Translation: X:175.48, Y:-24.26, Z:0.87 [[ 8.59114388e-01 5.11631672e-01 1.24699809e-02 1.75483340e+02] [-5.11586103e-01 8.59204740e-01 -6.84653163e-03 -2.42575864e+01] [-1.42171691e-02 -4.97515110e-04 9.99898807e-01 8.66087601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.252320588 meters 0.02972603809304547 Centerline is valid? [True, True] Translation: X:175.51, Y:-24.27, Z:0.87 [[ 8.59109645e-01 5.11637544e-01 1.25555445e-02 1.75513205e+02] [-5.11591318e-01 8.59201242e-01 -6.89561632e-03 -2.42693829e+01] [-1.43157956e-02 -4.99217051e-04 9.99897399e-01 8.65529251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.282320588 meters 0.029560539366257757 Centerline is valid? [True, True] Translation: X:175.54, Y:-24.28, Z:0.86 [[ 8.59958273e-01 5.10225710e-01 1.18951382e-02 1.75544055e+02] [-5.10184075e-01 8.60040419e-01 -6.53357121e-03 -2.42786278e+01] [-1.35638957e-02 -4.50111460e-04 9.99907905e-01 8.63652771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.312320588 meters 0.029303273478984256 Centerline is valid? [True, True] Translation: X:175.57, Y:-24.29, Z:0.86 [[ 8.60907313e-01 5.08623141e-01 1.18785370e-02 1.75572278e+02] [-5.08581474e-01 8.60989152e-01 -6.52408566e-03 -2.42910084e+01] [-1.35455924e-02 -4.24570790e-04 9.99908164e-01 8.63480246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.342320588 meters 0.028925535335910472 Centerline is valid? [True, True] Translation: X:175.60, Y:-24.30, Z:0.86 [[ 8.63041480e-01 5.05054538e-01 8.90601348e-03 1.75600850e+02] [-5.05031000e-01 8.63087385e-01 -4.88413522e-03 -2.42998096e+01] [-1.01534225e-02 -2.82601610e-04 9.99948413e-01 8.64569419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.372320588 meters 0.028925535335910472 Centerline is valid? [True, True] Translation: X:175.62, Y:-24.31, Z:0.86 [[ 8.63305572e-01 5.04602936e-01 8.90880939e-03 1.75624778e+02] [-5.04579427e-01 8.63351491e-01 -4.87903521e-03 -2.43132627e+01] [-1.01534094e-02 -2.83103663e-04 9.99948413e-01 8.64707939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.402320588 meters 0.02859794892699326 Centerline is valid? [True, True] Translation: X:175.65, Y:-24.32, Z:0.87 [[ 8.64860419e-01 5.01915818e-01 9.84718893e-03 1.75651529e+02] [-5.01886980e-01 8.64916430e-01 -5.38777580e-03 -2.43238389e+01] [-1.12212054e-02 -2.82501871e-04 9.99937000e-01 8.65262215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.432320588 meters 0.028195493872568894 Centerline is valid? [True, True] Translation: X:175.68, Y:-24.33, Z:0.87 [[ 8.67760983e-01 4.96864271e-01 1.08061119e-02 1.75678928e+02] [-4.96829227e-01 8.67828230e-01 -5.90617052e-03 -2.43344002e+01] [-1.23124141e-02 -2.43647905e-04 9.99924170e-01 8.66100905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46232058799998 meters 0.028177317109043816 Centerline is valid? [True, True] Translation: X:175.70, Y:-24.35, Z:0.87 [[ 8.69285731e-01 4.94167446e-01 1.18681826e-02 1.75704583e+02] [-4.94125014e-01 8.69366713e-01 -6.47987943e-03 -2.43469380e+01] [-1.35199484e-02 -2.31499177e-04 9.99908575e-01 8.65351435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49232058799998 meters 0.028153074403828224 Centerline is valid? [True, True] Translation: X:175.73, Y:-24.36, Z:0.86 [[ 8.70554339e-01 4.91909643e-01 1.26508970e-02 1.75730207e+02] [-4.91861319e-01 8.70646229e-01 -6.89836083e-03 -2.43590815e+01] [-1.44078260e-02 -2.17088916e-04 9.99896178e-01 8.64878719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52232058799999 meters 0.027782122742323254 Centerline is valid? [True, True] Translation: X:175.76, Y:-24.37, Z:0.86 [[ 8.73705534e-01 4.86279848e-01 1.30594083e-02 1.75757431e+02] [-4.86227828e-01 8.73803119e-01 -7.11391359e-03 -2.43694315e+01] [-1.48707046e-02 -1.34382082e-04 9.99889416e-01 8.63960248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.552320588 meters 0.027663726776966716 Centerline is valid? [True, True] Translation: X:175.78, Y:-24.39, Z:0.86 [[ 8.76367472e-01 4.81502900e-01 1.16194185e-02 1.75781700e+02] [-4.81461336e-01 8.76444496e-01 -6.32672467e-03 -2.43859981e+01] [-1.32301117e-02 -4.97650595e-05 9.99912477e-01 8.63252343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.582320588 meters 0.027537995487907415 Centerline is valid? [True, True] Translation: X:175.81, Y:-24.40, Z:0.86 [[ 8.77443483e-01 4.79564571e-01 1.05240720e-02 1.75806126e+02] [-4.79530425e-01 8.77506593e-01 -5.72273990e-03 -2.44020181e+01] [-1.19793658e-02 -2.52318754e-05 9.99928245e-01 8.63989253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.612320588 meters 0.027645878471372384 Centerline is valid? [True, True] Translation: X:175.83, Y:-24.42, Z:0.86 [[ 8.78383665e-01 4.77856282e-01 9.77298170e-03 1.75830410e+02] [-4.77826811e-01 8.78438031e-01 -5.30712256e-03 -2.44162926e+01] [-1.11210007e-02 -8.10290996e-06 9.99938160e-01 8.64938851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.642320588 meters 0.02759675095277377 Centerline is valid? [True, True] Translation: X:175.86, Y:-24.43, Z:0.86 [[ 8.79175865e-01 4.76367679e-01 1.11190192e-02 1.75855979e+02] [-4.76329484e-01 8.79246174e-01 -6.03230508e-03 -2.44293185e+01] [-1.26499503e-02 7.14035422e-06 9.99919986e-01 8.64762184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.672320588 meters 0.0277131237451525 Centerline is valid? [True, True] Translation: X:175.88, Y:-24.44, Z:0.87 [[ 8.79159927e-01 4.76369173e-01 1.22570007e-02 1.75880869e+02] [-4.76322767e-01 8.79245364e-01 -6.64910251e-03 -2.44428325e+01] [-1.39443386e-02 7.33596307e-06 9.99902773e-01 8.65571246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.702320588 meters 0.027578096546266983 Centerline is valid? [True, True] Translation: X:175.90, Y:-24.46, Z:0.86 [[ 8.77758191e-01 4.78956398e-01 1.18881451e-02 1.75903319e+02] [-4.78913117e-01 8.77838691e-01 -6.43890384e-03 -2.44595679e+01] [-1.35198279e-02 -4.15880387e-05 9.99908602e-01 8.63735828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.732320588 meters 0.02770725022743738 Centerline is valid? [True, True] Translation: X:175.93, Y:-24.48, Z:0.86 [[ 8.76953896e-01 4.80418221e-01 1.22555107e-02 1.75927245e+02] [-4.80372459e-01 8.77039525e-01 -6.63120760e-03 -2.44754989e+01] [-1.39343202e-02 -7.19464639e-05 9.99902910e-01 8.62839044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.762320588 meters 0.02806025335185769 Centerline is valid? [True, True] Translation: X:175.95, Y:-24.49, Z:0.86 [[ 8.75843126e-01 4.82380470e-01 1.44187805e-02 1.75951934e+02] [-4.82317522e-01 8.75961795e-01 -7.79374314e-03 -2.44904789e+01] [-1.63898503e-02 -1.28334107e-04 9.99865669e-01 8.62843616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.792320588 meters 0.02815823166528785 Centerline is valid? [True, True] Translation: X:175.98, Y:-24.50, Z:0.86 [[ 8.75161384e-01 4.83602121e-01 1.48842225e-02 1.75978422e+02] [-4.83535202e-01 8.75287932e-01 -8.04637381e-03 -2.45036068e+01] [-1.69192238e-02 -1.55169888e-04 9.99856848e-01 8.64503623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.822320588 meters 0.028276058469147786 Centerline is valid? [True, True] Translation: X:176.01, Y:-24.52, Z:0.87 [[ 8.74234646e-01 4.85280090e-01 1.47315426e-02 1.76005075e+02] [-4.85214795e-01 8.74358736e-01 -7.96259338e-03 -2.45172520e+01] [-1.67447410e-02 -1.86787421e-04 9.99859780e-01 8.66856905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.852320588 meters 0.028384809783295467 Centerline is valid? [True, True] Translation: X:176.03, Y:-24.53, Z:0.87 [[ 8.71610842e-01 4.90007332e-01 1.36877529e-02 1.76031183e+02] [-4.89951691e-01 8.71718271e-01 -7.38896577e-03 -2.45303612e+01] [-1.55525117e-02 -2.66035001e-04 9.99879017e-01 8.67983028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.882320588 meters 0.028617500706243942 Centerline is valid? [True, True] Translation: X:176.06, Y:-24.54, Z:0.87 [[ 8.70812486e-01 4.91433486e-01 1.33694573e-02 1.76057012e+02] [-4.91380695e-01 8.70915061e-01 -7.20900380e-03 -2.45429433e+01] [-1.51864076e-02 -2.91802702e-04 9.99884637e-01 8.65975700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.912320588 meters 0.028885042277282388 Centerline is valid? [True, True] Translation: X:176.08, Y:-24.55, Z:0.86 [[ 8.69286133e-01 4.94190049e-01 1.08542406e-02 1.76083875e+02] [-4.94155551e-01 8.69353850e-01 -5.84592429e-03 -2.45531028e+01] [-1.23251735e-02 -2.81902349e-04 9.99924002e-01 8.63161332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.942320588 meters 0.029126128169805494 Centerline is valid? [True, True] Translation: X:176.11, Y:-24.57, Z:0.86 [[ 8.69058702e-01 4.94577642e-01 1.13986128e-02 1.76109245e+02] [-4.94539716e-01 8.69133397e-01 -6.13250163e-03 -2.45659900e+01] [-1.29399133e-02 -3.07562836e-04 9.99916229e-01 8.62523764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.972320588 meters 0.029252962985944892 Centerline is valid? [True, True] Translation: X:176.13, Y:-24.58, Z:0.87 [[ 8.68402790e-01 4.95703205e-01 1.24469402e-02 1.76134994e+02] [-4.95658197e-01 8.68491913e-01 -6.68948617e-03 -2.45782267e+01] [-1.41260666e-02 -3.60259470e-04 9.99900157e-01 8.66736448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.002320588 meters 0.029477157687836826 Centerline is valid? [True, True] Translation: X:176.16, Y:-24.59, Z:0.87 [[ 8.67591806e-01 4.97090463e-01 1.36209038e-02 1.76161446e+02] [-4.97036853e-01 8.67698617e-01 -7.31271534e-03 -2.45896313e+01] [-1.54539205e-02 -4.25639276e-04 9.99880490e-01 8.68581438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.032320588 meters 0.029652020412227864 Centerline is valid? [True, True] Translation: X:176.19, Y:-24.60, Z:0.87 [[ 8.66545270e-01 4.98959584e-01 1.17740845e-02 1.76190584e+02] [-4.98919796e-01 8.66625162e-01 -6.31396190e-03 -2.45968002e+01] [-1.33541297e-02 -4.02990047e-04 9.99910748e-01 8.67719712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.062320588 meters 0.02973700889764897 Centerline is valid? [True, True] Translation: X:176.22, Y:-24.61, Z:0.87 [[ 8.66241483e-01 4.99506975e-01 1.08846762e-02 1.76217837e+02] [-4.99473095e-01 8.66309779e-01 -5.83044910e-03 -2.46077305e+01] [-1.23418514e-02 -3.86026024e-04 9.99923762e-01 8.66943773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.092320588 meters 0.029857494528980795 Centerline is valid? [True, True] Translation: X:176.24, Y:-24.62, Z:0.87 [[ 8.65970714e-01 4.99972782e-01 1.10426252e-02 1.76244214e+02] [-4.99938030e-01 8.66041023e-01 -5.90860329e-03 -2.46191159e+01] [-1.25175072e-02 -4.03950874e-04 9.99921571e-01 8.66334169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.122320588 meters 0.02985785914598942 Centerline is valid? [True, True] Translation: X:176.27, Y:-24.63, Z:0.87 [[ 8.66251729e-01 4.99455774e-01 1.23236312e-02 1.76272251e+02] [-4.99412535e-01 8.66339269e-01 -6.58713765e-03 -2.46276170e+01] [-1.39664296e-02 -4.48456514e-04 9.99902364e-01 8.67924202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.152320588 meters 0.029920546519940514 Centerline is valid? [True, True] Translation: X:176.30, Y:-24.64, Z:0.87 [[ 8.66719263e-01 4.98655968e-01 1.18298475e-02 1.76299342e+02] [-4.98616145e-01 8.66799888e-01 -6.31617778e-03 -2.46381671e+01] [-1.34037102e-02 -4.24200000e-04 9.99910076e-01 8.67444813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.182320588 meters 0.029710781438488883 Centerline is valid? [True, True] Translation: X:176.33, Y:-24.64, Z:0.87 [[ 8.67726249e-01 4.96924882e-01 1.08082713e-02 1.76329259e+02] [-4.96891586e-01 8.67793481e-01 -5.76419898e-03 -2.46422755e+01] [-1.22437213e-02 -3.68792323e-04 9.99924975e-01 8.66667726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21232058799998 meters 0.029604409775365624 Centerline is valid? [True, True] Translation: X:176.36, Y:-24.65, Z:0.87 [[ 8.68863271e-01 4.94938342e-01 1.06138234e-02 1.76357367e+02] [-4.94906161e-01 8.68928030e-01 -5.65424329e-03 -2.46513151e+01] [-1.20211505e-02 -3.40082277e-04 9.99927686e-01 8.67722795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24232058799998 meters 0.029043772079948866 Centerline is valid? [True, True] Translation: X:176.39, Y:-24.66, Z:0.87 [[ 8.71202858e-01 4.90816620e-01 1.02286363e-02 1.76387012e+02] [-4.90786510e-01 8.71262858e-01 -5.44363621e-03 -2.46576018e+01] [-1.15836580e-02 -2.77565272e-04 9.99932869e-01 8.70412376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27232058799999 meters 0.02909447310003047 Centerline is valid? [True, True] Translation: X:176.41, Y:-24.67, Z:0.87 [[ 8.72511428e-01 4.88482844e-01 1.04076104e-02 1.76413004e+02] [-4.88451578e-01 8.72573461e-01 -5.53269413e-03 -2.46690293e+01] [-1.17840308e-02 -2.56274882e-04 9.99930533e-01 8.69967906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.302320588 meters 0.028584040140768513 Centerline is valid? [True, True] Translation: X:176.44, Y:-24.68, Z:0.87 [[ 8.75042325e-01 4.83909357e-01 1.15180059e-02 1.76442094e+02] [-4.83870692e-01 8.75118099e-01 -6.12095397e-03 -2.46768284e+01] [-1.30416023e-02 -2.17131673e-04 9.99914931e-01 8.69769636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.332320588 meters 0.02865404964726428 Centerline is valid? [True, True] Translation: X:176.47, Y:-24.69, Z:0.87 [[ 8.76855750e-01 4.80616533e-01 1.14778734e-02 1.76469641e+02] [-4.80577957e-01 8.76930851e-01 -6.09177822e-03 -2.46867443e+01] [-1.29931106e-02 -1.74402167e-04 9.99915571e-01 8.68289170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.362320588 meters 0.028369334899201324 Centerline is valid? [True, True] Translation: X:176.50, Y:-24.69, Z:0.87 [[ 8.79341193e-01 4.76009539e-01 1.31903127e-02 1.76497267e+02] [-4.75958202e-01 8.79440107e-01 -6.99197105e-03 -2.46943526e+01] [-1.49283350e-02 -1.29709367e-04 9.99888558e-01 8.67208273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.392320588 meters 0.028353473008756482 Centerline is valid? [True, True] Translation: X:176.52, Y:-24.71, Z:0.87 [[ 8.80365712e-01 4.74152546e-01 1.16437666e-02 1.76523404e+02] [-4.74112467e-01 8.80442704e-01 -6.16552056e-03 -2.47068367e+01] [-1.31750666e-02 -9.25420264e-05 9.99913201e-01 8.66534154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.422320588 meters 0.028265073770990766 Centerline is valid? [True, True] Translation: X:176.55, Y:-24.72, Z:0.87 [[ 8.81067064e-01 4.72922437e-01 8.07446466e-03 1.76549686e+02] [-4.72903162e-01 8.81104060e-01 -4.27017819e-03 -2.47177739e+01] [-9.13390668e-03 -5.61265039e-05 9.99958283e-01 8.66749056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.452320588 meters 0.028142554227138163 Centerline is valid? [True, True] Translation: X:176.58, Y:-24.73, Z:0.87 [[ 8.81925708e-01 4.71329588e-01 7.44750834e-03 1.76575017e+02] [-4.71313179e-01 8.81957152e-01 -3.93315581e-03 -2.47286107e+01] [-8.42219595e-03 -4.13576088e-05 9.99964532e-01 8.67318651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.482320588 meters 0.028119468205234796 Centerline is valid? [True, True] Translation: X:176.60, Y:-24.74, Z:0.87 [[ 8.82755978e-01 4.69766902e-01 7.80653010e-03 1.76601105e+02] [-4.69748855e-01 8.82790494e-01 -4.11782600e-03 -2.47392793e+01] [-8.82594893e-03 -3.20730573e-05 9.99961050e-01 8.68223828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.512320588 meters 0.02826905501324424 Centerline is valid? [True, True] Translation: X:176.63, Y:-24.75, Z:0.87 [[ 8.85010525e-01 4.65472911e-01 9.55720019e-03 1.76628411e+02] [-4.65445658e-01 8.85062127e-01 -5.03683685e-03 -2.47497775e+01] [-1.08032270e-02 9.29629515e-06 9.99941643e-01 8.68895738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.542320588 meters 0.02847657339130717 Centerline is valid? [True, True] Translation: X:176.65, Y:-24.76, Z:0.87 [[ 8.87869038e-01 4.59996647e-01 9.57368476e-03 1.76653944e+02] [-4.59969039e-01 8.87920649e-01 -5.04018465e-03 -2.47635723e+01] [-1.08191404e-02 7.14253151e-05 9.99941469e-01 8.68050410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.572320588 meters 0.02881203008551189 Centerline is valid? [True, True] Translation: X:176.68, Y:-24.78, Z:0.87 [[ 8.89323560e-01 4.57180399e-01 9.47042773e-03 1.76679331e+02] [-4.57153281e-01 8.89373978e-01 -4.98046369e-03 -2.47772115e+01] [-1.06997224e-02 9.98065819e-05 9.99942751e-01 8.66520477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.602320588 meters 0.02894387513008703 Centerline is valid? [True, True] Translation: X:176.70, Y:-24.79, Z:0.87 [[ 8.90710239e-01 4.54515115e-01 7.16103712e-03 1.76704750e+02] [-4.54499568e-01 8.90739020e-01 -3.76050135e-03 -2.47896657e+01] [-8.08781989e-03 9.48287761e-05 9.99967289e-01 8.66993622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.632320588 meters 0.029272780884355278 Centerline is valid? [True, True] Translation: X:176.73, Y:-24.80, Z:0.87 [[ 8.92434255e-01 4.51080825e-01 9.33753360e-03 1.76730868e+02] [-4.51054192e-01 8.92483088e-01 -4.90444522e-03 -2.48008416e+01] [-1.05458920e-02 1.65161247e-04 9.99944377e-01 8.67943400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.662320588 meters 0.0294927153212508 Centerline is valid? [True, True] Translation: X:176.76, Y:-24.82, Z:0.87 [[ 8.92905917e-01 4.50100006e-01 1.13581768e-02 1.76755254e+02] [-4.50060617e-01 8.92978131e-01 -5.95812187e-03 -2.48161572e+01] [-1.28243542e-02 2.08174218e-04 9.99917743e-01 8.68767616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.692320588 meters 0.029373103220811547 Centerline is valid? [True, True] Translation: X:176.78, Y:-24.83, Z:0.87 [[ 8.93061430e-01 4.49816379e-01 1.03202277e-02 1.76779035e+02] [-4.49783909e-01 8.93121039e-01 -5.40787135e-03 -2.48319870e+01] [-1.16497616e-02 1.87688979e-04 9.99932122e-01 8.69123368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.722320588 meters 0.02931139970487364 Centerline is valid? [True, True] Translation: X:176.80, Y:-24.85, Z:0.87 [[ 8.92923823e-01 4.50114106e-01 9.18357201e-03 1.76803278e+02] [-4.50088466e-01 8.92971033e-01 -4.80697194e-03 -2.48481049e+01] [-1.03643497e-02 1.58839924e-04 9.99946276e-01 8.69420045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.752320588 meters 0.02916414778709112 Centerline is valid? [True, True] Translation: X:176.83, Y:-24.86, Z:0.87 [[ 8.91588577e-01 4.52716966e-01 1.08239831e-02 1.76825943e+02] [-4.52681621e-01 8.91654264e-01 -5.65888657e-03 -2.48640921e+01] [-1.22131247e-02 1.45580407e-04 9.99925406e-01 8.67876944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.782320588 meters 0.02920989617146623 Centerline is valid? [True, True] Translation: X:176.85, Y:-24.88, Z:0.87 [[ 8.91583507e-01 4.52702733e-01 1.17934704e-02 1.76851012e+02] [-4.52660849e-01 8.91661490e-01 -6.15981482e-03 -2.48785981e+01] [-1.33043484e-02 1.53546965e-04 9.99911481e-01 8.68641653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.812320588 meters 0.029239984865024698 Centerline is valid? [True, True] Translation: X:176.87, Y:-24.90, Z:0.87 [[ 8.91562205e-01 4.52713660e-01 1.29296723e-02 1.76873803e+02] [-4.52663420e-01 8.91655940e-01 -6.74629893e-03 -2.48973862e+01] [-1.45829608e-02 1.61955464e-04 9.99893650e-01 8.67457775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.842320588 meters 0.02931964647268111 Centerline is valid? [True, True] Translation: X:176.90, Y:-24.91, Z:0.87 [[ 8.91503906e-01 4.52845509e-01 1.23178640e-02 1.76897992e+02] [-4.52800019e-01 8.91588988e-01 -6.42022394e-03 -2.49139798e+01] [-1.38898415e-02 1.46125663e-04 9.99903521e-01 8.68700042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.872320588 meters 0.028923130832765914 Centerline is valid? [True, True] Translation: X:176.92, Y:-24.93, Z:0.87 [[ 8.90770460e-01 4.54362544e-01 9.09210277e-03 1.76921582e+02] [-4.54337898e-01 8.90816856e-01 -4.73323483e-03 -2.49313702e+01] [-1.02500030e-02 8.53388997e-05 9.99947464e-01 8.67861800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.902320588 meters 0.028894868624954235 Centerline is valid? [True, True] Translation: X:176.95, Y:-24.95, Z:0.87 [[ 8.90184819e-01 4.55520051e-01 8.51306265e-03 1.76946383e+02] [-4.55498544e-01 8.90225522e-01 -4.42687238e-03 -2.49461585e+01] [-9.59507477e-03 6.30469499e-05 9.99953964e-01 8.68895899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.932320588 meters 0.028850294827252414 Centerline is valid? [True, True] Translation: X:176.97, Y:-24.96, Z:0.87 [[ 8.90161963e-01 4.55564773e-01 8.50985854e-03 1.76970571e+02] [-4.55543341e-01 8.90202636e-01 -4.41935641e-03 -2.49601525e+01] [-9.58880161e-03 5.73335871e-05 9.99954025e-01 8.68809894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96232058799998 meters 0.028825635019095675 Centerline is valid? [True, True] Translation: X:176.99, Y:-24.98, Z:0.87 [[ 8.89382400e-01 4.57067386e-01 9.39950049e-03 1.76992948e+02] [-4.57041382e-01 8.89432068e-01 -4.87571002e-03 -2.49786001e+01] [-1.05887452e-02 4.04099865e-05 9.99943937e-01 8.67442494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99232058799998 meters 0.028853876900580628 Centerline is valid? [True, True] Translation: X:177.02, Y:-25.00, Z:0.87 [[ 8.89154528e-01 4.57512745e-01 9.29050948e-03 1.77015685e+02] [-4.57487428e-01 8.89203063e-01 -4.81316811e-03 -2.49953230e+01] [-1.04632352e-02 2.93589342e-05 9.99945258e-01 8.66405633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02232058799999 meters 0.028974792441883914 Centerline is valid? [True, True] Translation: X:177.04, Y:-25.01, Z:0.87 [[ 8.88383070e-01 4.58990684e-01 1.01524936e-02 1.77038045e+02] [-4.58960620e-01 8.88441080e-01 -5.25335163e-03 -2.50132277e+01] [-1.14311318e-02 7.39388801e-06 9.99934662e-01 8.67633915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.052320588 meters 0.028953107104823024 Centerline is valid? [True, True] Translation: X:177.06, Y:-25.03, Z:0.87 [[ 8.88130700e-01 4.59458207e-01 1.10460926e-02 1.77063185e+02] [-4.59422723e-01 8.88199390e-01 -5.71014592e-03 -2.50261771e+01] [-1.24347061e-02 -3.47006008e-06 9.99922686e-01 8.68374677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.082320588 meters 0.028876871701008864 Centerline is valid? [True, True] Translation: X:177.09, Y:-25.04, Z:0.87 [[ 8.87412338e-01 4.60841252e-01 1.11661251e-02 1.77087624e+02] [-4.60805198e-01 8.87482586e-01 -5.76451890e-03 -2.50403833e+01] [-1.25662697e-02 -2.99033006e-05 9.99921041e-01 8.68296507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.112320588 meters 0.028799408418139518 Centerline is valid? [True, True] Translation: X:177.11, Y:-25.06, Z:0.87 [[ 8.86666742e-01 4.62317017e-01 9.22302330e-03 1.77112123e+02] [-4.62292555e-01 8.86714708e-01 -4.75601053e-03 -2.50558122e+01] [-1.03769750e-02 -4.67386414e-05 9.99946157e-01 8.67890963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.142320588 meters 0.028883463885428222 Centerline is valid? [True, True] Translation: X:177.14, Y:-25.07, Z:0.87 [[ 8.85890907e-01 4.63779515e-01 1.02888917e-02 1.77136363e+02] [-4.63749236e-01 8.85950651e-01 -5.30007108e-03 -2.50707239e+01] [-1.15735147e-02 -7.61808879e-05 9.99933022e-01 8.68017303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.172320588 meters 0.029143188963552374 Centerline is valid? [True, True] Translation: X:177.16, Y:-25.09, Z:0.87 [[ 8.83583635e-01 4.68086146e-01 1.32408725e-02 1.77160674e+02] [-4.68036512e-01 8.83682822e-01 -6.81861784e-03 -2.50852709e+01] [-1.48924321e-02 -1.72392659e-04 9.99889087e-01 8.69536796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.202320588 meters 0.029304421723206877 Centerline is valid? [True, True] Translation: X:177.19, Y:-25.10, Z:0.87 [[ 8.81746720e-01 4.71520904e-01 1.38115235e-02 1.77185027e+02] [-4.71467355e-01 8.81854851e-01 -7.11020007e-03 -2.50997809e+01] [-1.55323670e-02 -2.42286859e-04 9.99879336e-01 8.71128553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.232320588 meters 0.02944755434041406 Centerline is valid? [True, True] Translation: X:177.21, Y:-25.11, Z:0.87 [[ 8.81369844e-01 4.72226015e-01 1.37763909e-02 1.77210772e+02] [-4.72172971e-01 8.81477466e-01 -7.08258468e-03 -2.51133452e+01] [-1.54881588e-02 -2.62462848e-04 9.99880017e-01 8.69458431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.262320588 meters 0.02944755434041406 Centerline is valid? [True, True] Translation: X:177.24, Y:-25.13, Z:0.87 [[ 8.81615405e-01 4.71767297e-01 1.37802324e-02 1.77235018e+02] [-4.71714315e-01 8.81723056e-01 -7.07510903e-03 -2.51261495e+01] [-1.54881537e-02 -2.62807796e-04 9.99880017e-01 8.69596924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.292320588 meters 0.029529361910660364 Centerline is valid? [True, True] Translation: X:177.26, Y:-25.14, Z:0.87 [[ 8.81172553e-01 4.72630114e-01 1.24782984e-02 1.77259658e+02] [-4.72586876e-01 8.81260863e-01 -6.39818291e-03 -2.51387897e+01] [-1.40206099e-02 -2.59176871e-04 9.99901673e-01 8.69221212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.322320588 meters 0.029622661510157557 Centerline is valid? [True, True] Translation: X:177.28, Y:-25.15, Z:0.87 [[ 8.81200470e-01 4.72536818e-01 1.39530267e-02 1.77284899e+02] [-4.72482857e-01 8.81310881e-01 -7.14709495e-03 -2.51520635e+01] [-1.56742197e-02 -2.94542478e-04 9.99877108e-01 8.68662939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.352320588 meters 0.02940168539527928 Centerline is valid? [True, True] Translation: X:177.31, Y:-25.17, Z:0.87 [[ 8.81338391e-01 4.72302871e-01 1.31391622e-02 1.77309315e+02] [-4.72255119e-01 8.81436282e-01 -6.72187402e-03 -2.51666785e+01] [-1.47560947e-02 -2.80790988e-04 9.99891083e-01 8.70422016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.382320588 meters 0.029554127000382704 Centerline is valid? [True, True] Translation: X:177.33, Y:-25.18, Z:0.87 [[ 8.81228612e-01 4.72545842e-01 1.16858650e-02 1.77333477e+02] [-4.72508198e-01 8.81306053e-01 -5.97023185e-03 -2.51813512e+01] [-1.31200318e-02 -2.60527900e-04 9.99913895e-01 8.71475607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.412320588 meters 0.02968737228066624 Centerline is valid? [True, True] Translation: X:177.36, Y:-25.19, Z:0.87 [[ 8.80858164e-01 4.73241850e-01 1.14474906e-02 1.77360452e+02] [-4.73205865e-01 8.80932505e-01 -5.84223280e-03 -2.51927053e+01] [-1.28492556e-02 -2.70841218e-04 9.99917408e-01 8.71916558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.442320588 meters 0.029853914457502236 Centerline is valid? [True, True] Translation: X:177.39, Y:-25.20, Z:0.87 [[ 8.79322672e-01 4.76013105e-01 1.42535364e-02 1.77389183e+02] [-4.75957798e-01 8.79438098e-01 -7.26676042e-03 -2.52004236e+01] [-1.59941761e-02 -3.94254622e-04 9.99872007e-01 8.70290782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.472320588 meters 0.02980965529562708 Centerline is valid? [True, True] Translation: X:177.41, Y:-25.21, Z:0.87 [[ 8.79163555e-01 4.76334178e-01 1.33114611e-02 1.77414617e+02] [-4.76286115e-01 8.79264241e-01 -6.77725345e-03 -2.52120727e+01] [-1.49325291e-02 -3.81749839e-04 9.99888431e-01 8.70263079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.502320588 meters 0.030061984078893638 Centerline is valid? [True, True] Translation: X:177.44, Y:-25.22, Z:0.87 [[ 8.77971967e-01 4.78561433e-01 1.20075232e-02 1.77440627e+02] [-4.78522625e-01 8.78053989e-01 -6.10657414e-03 -2.52243698e+01] [-1.34656245e-02 -3.84470618e-04 9.99909260e-01 8.70437518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.532320588 meters 0.030018108435149227 Centerline is valid? [True, True] Translation: X:177.47, Y:-25.23, Z:0.87 [[ 8.77827331e-01 4.78843892e-01 1.13006633e-02 1.77466809e+02] [-4.78809641e-01 8.77899988e-01 -5.73924743e-03 -2.52342459e+01] [-1.26690557e-02 -3.72798267e-04 9.99919675e-01 8.70402066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.562320588 meters 0.030069653449981696 Centerline is valid? [True, True] Translation: X:177.50, Y:-25.24, Z:0.87 [[ 8.78377068e-01 4.77858306e-01 1.02550087e-02 1.77495651e+02] [-4.77830100e-01 8.78436867e-01 -5.20241787e-03 -2.52409949e+01] [-1.14943963e-02 -3.30467272e-04 9.99933883e-01 8.70787996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.592320588 meters 0.029854468153229827 Centerline is valid? [True, True] Translation: X:177.52, Y:-25.25, Z:0.87 [[ 8.78794269e-01 4.77074951e-01 1.09601641e-02 1.77522110e+02] [-4.77042753e-01 8.78862544e-01 -5.55351639e-03 -2.52515316e+01] [-1.22819212e-02 -3.48068464e-04 9.99924514e-01 8.71399939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.622320588 meters 0.029967447672989856 Centerline is valid? [True, True] Translation: X:177.55, Y:-25.26, Z:0.87 [[ 8.80123664e-01 4.74546425e-01 1.37122488e-02 1.77548899e+02] [-4.74495852e-01 8.80230385e-01 -6.93942708e-03 -2.52600759e+01] [-1.53630184e-02 -3.98851180e-04 9.99881902e-01 8.72242176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.652320588 meters 0.029625554832031845 Centerline is valid? [True, True] Translation: X:177.58, Y:-25.27, Z:0.87 [[ 8.80491627e-01 4.73851560e-01 1.41136243e-02 1.77575550e+02] [-4.73798034e-01 8.80604641e-01 -7.13364346e-03 -2.52687594e+01] [-1.58088111e-02 -4.05894102e-04 9.99874951e-01 8.73990695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.682320588 meters 0.029539810059218453 Centerline is valid? [True, True] Translation: X:177.60, Y:-25.28, Z:0.87 [[ 8.81245137e-01 4.72483929e-01 1.28819774e-02 1.77603002e+02] [-4.72439296e-01 8.81339215e-01 -6.50390060e-03 -2.52781453e+01] [-1.44263804e-02 -3.54421563e-04 9.99895872e-01 8.74158558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71232058799998 meters 0.02926996826940675 Centerline is valid? [True, True] Translation: X:177.63, Y:-25.29, Z:0.87 [[ 8.83384390e-01 4.68546396e-01 9.81299281e-03 1.77631094e+02] [-4.68520314e-01 8.83438862e-01 -4.94886574e-03 -2.52875152e+01] [-1.09879524e-02 -2.25835731e-04 9.99939605e-01 8.72102722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74232058799998 meters 0.028637778824007136 Centerline is valid? [True, True] Translation: X:177.66, Y:-25.30, Z:0.87 [[ 8.85617211e-01 4.64320916e-01 9.39378747e-03 1.77658901e+02] [-4.64296835e-01 8.85667013e-01 -4.73191773e-03 -2.52965327e+01] [-1.05168961e-02 -1.70838009e-04 9.99944681e-01 8.74467902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77232058799999 meters 0.02847732458090979 Centerline is valid? [True, True] Translation: X:177.69, Y:-25.31, Z:0.88 [[ 8.86648657e-01 4.62336891e-01 9.93771973e-03 1.77685344e+02] [-4.62309890e-01 8.86704332e-01 -4.99924296e-03 -2.53066762e+01] [-1.11231536e-02 -1.61734064e-04 9.99938123e-01 8.75659075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.802320588 meters 0.02833668139751421 Centerline is valid? [True, True] Translation: X:177.71, Y:-25.32, Z:0.88 [[ 8.87305799e-01 4.61078361e-01 9.75520887e-03 1.77711450e+02] [-4.61052335e-01 8.87359410e-01 -4.90122281e-03 -2.53178131e+01] [-1.09162242e-02 -1.48778407e-04 9.99940405e-01 8.75829435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.832320588 meters 0.028072591135066372 Centerline is valid? [True, True] Translation: X:177.74, Y:-25.33, Z:0.87 [[ 8.88907289e-01 4.58000159e-01 8.92676427e-03 1.77737736e+02] [-4.57978259e-01 8.88952104e-01 -4.48008464e-03 -2.53296563e+01] [-9.98734536e-03 -1.05884060e-04 9.99950120e-01 8.72893272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.862320588 meters 0.02813178842512079 Centerline is valid? [True, True] Translation: X:177.76, Y:-25.34, Z:0.87 [[ 8.89794020e-01 4.56261478e-01 9.59511085e-03 1.77762298e+02] [-4.56236142e-01 8.89845747e-01 -4.80924513e-03 -2.53422523e+01] [-1.07324419e-02 -9.83988055e-05 9.99942401e-01 8.73149790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.892320588 meters 0.02760147671179606 Centerline is valid? [True, True] Translation: X:177.79, Y:-25.35, Z:0.88 [[ 8.92011425e-01 4.51941985e-01 8.00373943e-03 1.77788193e+02] [-4.51924223e-01 8.92047331e-01 -4.00704903e-03 -2.53542536e+01] [-8.95066808e-03 -4.27502044e-05 9.99959941e-01 8.76256273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.922320588 meters 0.027631278705883628 Centerline is valid? [True, True] Translation: X:177.81, Y:-25.37, Z:0.88 [[ 8.92830719e-01 4.50289698e-01 9.61748969e-03 1.77813789e+02] [-4.50264007e-01 8.92882516e-01 -4.81011348e-03 -2.53674660e+01] [-1.07532329e-02 -3.57923727e-05 9.99942182e-01 8.77063274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.952320588 meters 0.027625237714185142 Centerline is valid? [True, True] Translation: X:177.84, Y:-25.38, Z:0.88 [[ 8.94511895e-01 4.46950174e-01 9.16581642e-03 1.77839129e+02] [-4.46926730e-01 8.94558853e-01 -4.57780503e-03 -2.53783706e+01] [-1.02454130e-02 -1.54730692e-06 9.99947514e-01 8.77520957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.982320588 meters 0.027765042155231782 Centerline is valid? [True, True] Translation: X:177.86, Y:-25.39, Z:0.88 [[ 8.94884850e-01 4.46146746e-01 1.15838617e-02 1.77864945e+02] [-4.46109300e-01 8.94959821e-01 -5.78026259e-03 -2.53906080e+01] [-1.29459361e-02 5.00100427e-06 9.99916198e-01 8.76966297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.012320588 meters 0.0275046507189897 Centerline is valid? [True, True] Translation: X:177.89, Y:-25.40, Z:0.88 [[ 8.94580752e-01 4.46836007e-01 7.92848383e-03 1.77890180e+02] [-4.46818538e-01 8.94615885e-01 -3.95111457e-03 -2.54036865e+01] [-8.85844784e-03 -8.00251136e-06 9.99960763e-01 8.76693112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.042320588 meters 0.027354253385256943 Centerline is valid? [True, True] Translation: X:177.92, Y:-25.42, Z:0.88 [[ 8.95057750e-01 4.45909845e-01 6.00291012e-03 1.77915217e+02] [-4.45899836e-01 8.95077880e-01 -2.98753433e-03 -2.54172707e+01] [-6.70524303e-03 -2.68088971e-06 9.99977520e-01 8.77024803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.072320588 meters 0.02728495660245445 Centerline is valid? [True, True] Translation: X:177.94, Y:-25.43, Z:0.88 [[ 8.96031280e-01 4.43935292e-01 7.02857713e-03 1.77940179e+02] [-4.43921539e-01 8.96058846e-01 -3.49446621e-03 -2.54310728e+01] [-7.84933559e-03 1.10142545e-05 9.99969193e-01 8.78449036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.102320588 meters 0.027459951881588323 Centerline is valid? [True, True] Translation: X:177.97, Y:-25.44, Z:0.88 [[ 8.96701160e-01 4.42547550e-01 8.87107873e-03 1.77966037e+02] [-4.42525614e-01 8.96745039e-01 -4.40631454e-03 -2.54444608e+01] [-9.90509955e-03 2.54677945e-05 9.99950943e-01 8.79052832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.132320588 meters 0.027746579263734434 Centerline is valid? [True, True] Translation: X:177.99, Y:-25.46, Z:0.88 [[ 8.99128728e-01 4.37560724e-01 1.03992088e-02 1.77991181e+02] [-4.37530306e-01 8.99188859e-01 -5.16011572e-03 -2.54583264e+01] [-1.16087167e-02 8.96392826e-05 9.99932613e-01 8.78428870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.162320588 meters 0.027746363168293202 Centerline is valid? [True, True] Translation: X:178.01, Y:-25.47, Z:0.88 [[ 8.99862116e-01 4.36074064e-01 9.35856936e-03 1.78014964e+02] [-4.36049415e-01 8.99910775e-01 -4.63738783e-03 -2.54725441e+01] [-1.04441220e-02 9.22109347e-05 9.99945454e-01 8.78361379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.192320588 meters 0.0276875749414015 Centerline is valid? [True, True] Translation: X:178.04, Y:-25.49, Z:0.88 [[ 9.00662602e-01 4.34441042e-01 8.23762122e-03 1.78039482e+02] [-4.34421926e-01 9.00700268e-01 -4.07648710e-03 -2.54862466e+01] [-9.19062094e-03 9.29362100e-05 9.99957761e-01 8.79114601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.222320588 meters 0.028008535038597543 Centerline is valid? [True, True] Translation: X:178.07, Y:-25.50, Z:0.88 [[ 9.02454544e-01 4.30699103e-01 8.60688565e-03 1.78065085e+02] [-4.30678104e-01 9.02495576e-01 -4.25505717e-03 -2.54997396e+01] [-9.60032553e-03 1.33198483e-04 9.99953907e-01 8.79910553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.252320588 meters 0.02822212225280481 Centerline is valid? [True, True] Translation: X:178.09, Y:-25.51, Z:0.88 [[ 9.03193870e-01 4.29119548e-01 9.86140273e-03 1.78090151e+02] [-4.29091942e-01 9.03247688e-01 -4.87034065e-03 -2.55143015e+01] [-1.09972476e-02 1.67413371e-04 9.99939514e-01 8.78771631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.282320588 meters 0.02818625129088953 Centerline is valid? [True, True] Translation: X:178.11, Y:-25.53, Z:0.88 [[ 9.04287015e-01 4.26843300e-01 8.35417851e-03 1.78112653e+02] [-4.26823444e-01 9.04325589e-01 -4.12020562e-03 -2.55323603e+01] [-9.31357957e-03 1.60089195e-04 9.99956615e-01 8.77987673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.312320588 meters 0.028298814846923124 Centerline is valid? [True, True] Translation: X:178.14, Y:-25.55, Z:0.88 [[ 9.04634699e-01 4.26138063e-01 6.51250207e-03 1.78136746e+02] [-4.26126005e-01 9.04658132e-01 -3.20819094e-03 -2.55486170e+01] [-7.25872023e-03 1.27094359e-04 9.99973647e-01 8.77872491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.342320588 meters 0.028190135166520924 Centerline is valid? [True, True] Translation: X:178.16, Y:-25.57, Z:0.88 [[ 9.05031982e-01 4.25309653e-01 5.36760483e-03 1.78158224e+02] [-4.25301472e-01 9.05047893e-01 -2.64011633e-03 -2.55682335e+01] [-5.98080640e-03 1.06539483e-04 9.99982109e-01 8.78596998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.372320588 meters 0.028311130334347134 Centerline is valid? [True, True] Translation: X:178.18, Y:-25.58, Z:0.88 [[ 9.05436184e-01 4.24436957e-01 6.21183648e-03 1.78182275e+02] [-4.24425997e-01 9.05457483e-01 -3.05277320e-03 -2.55838860e+01] [-6.92026359e-03 1.27626419e-04 9.99976047e-01 8.78740833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.402320588 meters 0.02875931291596666 Centerline is valid? [True, True] Translation: X:178.21, Y:-25.60, Z:0.88 [[ 9.06375195e-01 4.22375203e-01 9.12102961e-03 1.78206052e+02] [-4.22351507e-01 9.06421064e-01 -4.47880852e-03 -2.56013878e+01] [-1.01592310e-02 2.07200353e-04 9.99948372e-01 8.80609326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.432320588 meters 0.02884775411403964 Centerline is valid? [True, True] Translation: X:178.23, Y:-25.62, Z:0.88 [[ 9.06769461e-01 4.21465581e-01 1.16580254e-02 1.78230763e+02] [-4.21426864e-01 9.06844358e-01 -5.71912775e-03 -2.56169970e+01] [-1.29824301e-02 2.72925294e-04 9.99915687e-01 8.81014878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46232058799998 meters 0.02896096861502083 Centerline is valid? [True, True] Translation: X:178.25, Y:-25.64, Z:0.88 [[ 9.07631362e-01 4.19609010e-01 1.15581192e-02 1.78253403e+02] [-4.19570882e-01 9.07704905e-01 -5.66397694e-03 -2.56360254e+01] [-1.28680172e-02 2.91352849e-04 9.99917161e-01 8.79957396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49232058799998 meters 0.029161473443571544 Centerline is valid? [True, True] Translation: X:178.28, Y:-25.65, Z:0.88 [[ 9.08404247e-01 4.17961879e-01 1.04685972e-02 1.78276706e+02] [-4.17930573e-01 9.08464523e-01 -5.12316998e-03 -2.56524483e+01] [-1.16516389e-02 2.78762557e-04 9.99932078e-01 8.78882974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52232058799999 meters 0.028920434119408145 Centerline is valid? [True, True] Translation: X:178.30, Y:-25.67, Z:0.88 [[ 9.08503705e-01 4.17779299e-01 9.02635354e-03 1.78301043e+02] [-4.17756064e-01 9.08548513e-01 -4.41257160e-03 -2.56685713e+01] [-1.00443612e-02 2.38023726e-04 9.99949526e-01 8.79866258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.552320588 meters 0.02916660025939641 Centerline is valid? [True, True] Translation: X:178.32, Y:-25.69, Z:0.88 [[ 9.08865808e-01 4.16983614e-01 9.35998616e-03 1.78323761e+02] [-4.16958637e-01 9.08913969e-01 -4.57084285e-03 -2.56868432e+01] [-1.04133887e-02 2.51555704e-04 9.99945748e-01 8.78481920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.582320588 meters 0.028573584419143025 Centerline is valid? [True, True] Translation: X:178.35, Y:-25.71, Z:0.88 [[ 9.08267792e-01 4.18309810e-01 8.15603832e-03 1.78345393e+02] [-4.18290937e-01 9.08304388e-01 -3.97876313e-03 -2.57076496e+01] [-9.07252104e-03 2.02185493e-04 9.99958823e-01 8.79472775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.612320588 meters 0.02880874924042398 Centerline is valid? [True, True] Translation: X:178.37, Y:-25.72, Z:0.88 [[ 9.08099156e-01 4.18666118e-01 8.63744378e-03 1.78369507e+02] [-4.18645021e-01 9.08140209e-01 -4.20787926e-03 -2.57229527e+01] [-9.60570648e-03 2.05148766e-04 9.99953843e-01 8.79792565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.642320588 meters 0.028321573978529024 Centerline is valid? [True, True] Translation: X:178.39, Y:-25.74, Z:0.88 [[ 9.07347280e-01 4.20259870e-01 1.01269582e-02 1.78394132e+02] [-4.20231021e-01 9.07403766e-01 -4.92897923e-03 -2.57378479e+01] [-1.12606922e-02 2.16633905e-04 9.99936573e-01 8.80427582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.672320588 meters 0.027797334621287997 Centerline is valid? [True, True] Translation: X:178.42, Y:-25.76, Z:0.88 [[ 9.05296449e-01 4.24616132e-01 1.18101668e-02 1.78417692e+02] [-4.24577334e-01 9.05373462e-01 -5.74293040e-03 -2.57561243e+01] [-1.31311525e-02 1.84725359e-04 9.99913766e-01 8.80057867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.702320588 meters 0.027653124196735112 Centerline is valid? [True, True] Translation: X:178.44, Y:-25.77, Z:0.88 [[ 9.04470555e-01 4.26356632e-01 1.23708189e-02 1.78441541e+02] [-4.26314319e-01 9.04555137e-01 -6.00873129e-03 -2.57719791e+01] [-1.37519502e-02 1.60863297e-04 9.99905425e-01 8.79514514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.732320588 meters 0.02762243980492704 Centerline is valid? [True, True] Translation: X:178.46, Y:-25.79, Z:0.88 [[ 9.03026381e-01 4.29408415e-01 1.23194223e-02 1.78464789e+02] [-4.29366829e-01 9.03110404e-01 -5.97700859e-03 -2.57889155e+01] [-1.36923762e-02 1.07845167e-04 9.99906249e-01 8.79172346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.762320588 meters 0.02736455892618093 Centerline is valid? [True, True] Translation: X:178.49, Y:-25.80, Z:0.88 [[ 9.02406633e-01 4.30691817e-01 1.29161903e-02 1.78489120e+02] [-4.30646346e-01 9.02499059e-01 -6.25887591e-03 -2.58016781e+01] [-1.43524962e-02 8.57409907e-05 9.99896994e-01 8.80298591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.792320588 meters 0.027462120572851703 Centerline is valid? [True, True] Translation: X:178.51, Y:-25.82, Z:0.88 [[ 9.01741668e-01 4.32112832e-01 1.18518294e-02 1.78514390e+02] [-4.32074756e-01 9.01819549e-01 -5.73643888e-03 -2.58150883e+01] [-1.31670003e-02 5.19096547e-05 9.99913310e-01 8.79814659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.822320588 meters 0.02737542775085975 Centerline is valid? [True, True] Translation: X:178.54, Y:-25.83, Z:0.88 [[ 9.01951459e-01 4.31720594e-01 1.00446385e-02 1.78539284e+02] [-4.31693280e-01 9.02007387e-01 -4.85642001e-03 -2.58293355e+01] [-1.11569546e-02 4.40521762e-05 9.99937758e-01 8.80273451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.852320588 meters 0.027402121332769536 Centerline is valid? [True, True] Translation: X:178.56, Y:-25.85, Z:0.88 [[ 9.01687676e-01 4.32265242e-01 1.03002775e-02 1.78561678e+02] [-4.32236637e-01 9.01746505e-01 -4.97290128e-03 -2.58468669e+01] [-1.14378516e-02 3.18464988e-05 9.99934585e-01 8.79498811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.882320588 meters 0.02728278372029464 Centerline is valid? [True, True] Translation: X:178.59, Y:-25.86, Z:0.88 [[ 9.01258785e-01 4.33107249e-01 1.22765480e-02 1.78586544e+02] [-4.33066773e-01 9.01342394e-01 -5.92109867e-03 -2.58616118e+01] [-1.36298439e-02 1.98771760e-05 9.99907109e-01 8.80993305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.912320588 meters 0.02747361251599643 Centerline is valid? [True, True] Translation: X:178.61, Y:-25.87, Z:0.88 [[ 9.01584323e-01 4.32288751e-01 1.64967672e-02 1.78612110e+02] [-4.32215539e-01 9.01735235e-01 -7.95576335e-03 -2.58738555e+01] [-1.83149033e-02 4.26323883e-05 9.99832267e-01 8.82663663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.942320588 meters 0.027532472503136157 Centerline is valid? [True, True] Translation: X:178.64, Y:-25.89, Z:0.88 [[ 9.02083094e-01 4.31229971e-01 1.69353061e-02 1.78636912e+02] [-4.31152866e-01 9.02242046e-01 -8.15457731e-03 -2.58859120e+01] [-1.87962434e-02 5.44005570e-05 9.99823334e-01 8.82427545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.972320588 meters 0.0274784985649916 Centerline is valid? [True, True] Translation: X:178.66, Y:-25.90, Z:0.88 [[ 9.02069776e-01 4.31336612e-01 1.47934818e-02 1.78661437e+02] [-4.31277927e-01 9.02191069e-01 -7.11505102e-03 -2.59003900e+01] [-1.64155292e-02 3.81703067e-05 9.99865255e-01 8.79813836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.002320588 meters 0.02738310690456235 Centerline is valid? [True, True] Translation: X:178.69, Y:-25.91, Z:0.88 [[ 9.02123307e-01 4.31299666e-01 1.24152166e-02 1.78687178e+02] [-4.31258432e-01 9.02208733e-01 -5.96384843e-03 -2.59132252e+01] [-1.37733227e-02 2.59598203e-05 9.99905143e-01 8.79449767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.032320588 meters 0.02749802062647905 Centerline is valid? [True, True] Translation: X:178.71, Y:-25.93, Z:0.88 [[ 9.02659654e-01 4.30136739e-01 1.37089507e-02 1.78713210e+02] [-4.30086442e-01 9.02763748e-01 -6.57787659e-03 -2.59255952e+01] [-1.52053301e-02 4.15499750e-05 9.99884391e-01 8.78877495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.062320588 meters 0.027398556160906785 Centerline is valid? [True, True] Translation: X:178.74, Y:-25.94, Z:0.88 [[ 9.03129288e-01 4.29105843e-01 1.50221469e-02 1.78738019e+02] [-4.29045439e-01 9.03254213e-01 -7.19992661e-03 -2.59394563e+01] [-1.66583480e-02 5.72809978e-05 9.99861238e-01 8.80065237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.092320588 meters 0.027533284158936917 Centerline is valid? [True, True] Translation: X:178.76, Y:-25.96, Z:0.88 [[ 9.04479144e-01 4.26234381e-01 1.55477080e-02 1.78761830e+02] [-4.26169397e-01 9.04612758e-01 -7.44337783e-03 -2.59556876e+01] [-1.72372786e-02 1.06422651e-04 9.99851421e-01 8.81170846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.122320588 meters 0.02755488902393792 Centerline is valid? [True, True] Translation: X:178.79, Y:-25.97, Z:0.88 [[ 9.05558290e-01 4.23965580e-01 1.47435106e-02 1.78787163e+02] [-4.23906978e-01 9.05678292e-01 -7.05019482e-03 -2.59689516e+01] [-1.63419174e-02 1.34485360e-04 9.99866453e-01 8.80875154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.152320588 meters 0.027735897853948952 Centerline is valid? [True, True] Translation: X:178.81, Y:-25.98, Z:0.88 [[ 9.06997595e-01 4.20902613e-01 1.40125655e-02 1.78812448e+02] [-4.20849432e-01 9.07105815e-01 -6.69292327e-03 -2.59817901e+01] [-1.55279486e-02 1.73285064e-04 9.99879419e-01 8.80304667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.182320588 meters 0.027735897853948952 Centerline is valid? [True, True] Translation: X:178.84, Y:-25.99, Z:0.88 [[ 9.07184296e-01 4.20499962e-01 1.40155367e-02 1.78837840e+02] [-4.20446830e-01 9.07292539e-01 -6.68670023e-03 -2.59942505e+01] [-1.55279491e-02 1.73281450e-04 9.99879419e-01 8.80447407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21232058799998 meters 0.028017902716833396 Centerline is valid? [True, True] Translation: X:178.86, Y:-26.01, Z:0.88 [[ 9.09036704e-01 4.16427972e-01 1.54924113e-02 1.78863347e+02] [-4.16362597e-01 9.09168673e-01 -7.38318326e-03 -2.60081873e+01] [-1.71597791e-02 2.61123953e-04 9.99852726e-01 8.80338923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24232058799998 meters 0.028452804391462642 Centerline is valid? [True, True] Translation: X:178.89, Y:-26.02, Z:0.88 [[ 9.10021713e-01 4.14240411e-01 1.62899732e-02 1.78889623e+02] [-4.14167763e-01 9.10167446e-01 -7.76427292e-03 -2.60222816e+01] [-1.80428789e-02 3.18875188e-04 9.99837163e-01 8.81521709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27232058799999 meters 0.028815820970248034 Centerline is valid? [True, True] Translation: X:178.92, Y:-26.04, Z:0.88 [[ 9.11804872e-01 4.10332674e-01 1.54587308e-02 1.78915934e+02] [-4.10266658e-01 9.11935828e-01 -7.36993169e-03 -2.60395263e+01] [-1.71214942e-02 3.77737817e-04 9.99853345e-01 8.82082896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.302320588 meters 0.02915233827365402 Centerline is valid? [True, True] Translation: X:178.94, Y:-26.06, Z:0.88 [[ 9.12791159e-01 4.08179629e-01 1.42017760e-02 1.78943092e+02] [-4.08123635e-01 9.12901551e-01 -6.77176375e-03 -2.60561753e+01] [-1.57289193e-02 3.85125647e-04 9.99876219e-01 8.80869537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.332320588 meters 0.02955593043555351 Centerline is valid? [True, True] Translation: X:178.97, Y:-26.08, Z:0.88 [[ 9.13996235e-01 4.05479299e-01 1.40506498e-02 1.78967891e+02] [-4.05424154e-01 9.14104127e-01 -6.70075842e-03 -2.60762955e+01] [-1.55607758e-02 4.27995161e-04 9.99878832e-01 8.77180169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.362320588 meters 0.029806892001319203 Centerline is valid? [True, True] Translation: X:179.00, Y:-26.09, Z:0.88 [[ 9.14816848e-01 4.03632246e-01 1.38254723e-02 1.78995958e+02] [-4.03578607e-01 9.14921201e-01 -6.59579976e-03 -2.60928701e+01] [-1.53114952e-02 4.54283914e-04 9.99882669e-01 8.77816548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.392320588 meters 0.03041773393208192 Centerline is valid? [True, True] Translation: X:179.02, Y:-26.11, Z:0.88 [[ 9.16256557e-01 4.00308621e-01 1.50641627e-02 1.79022189e+02] [-4.00244453e-01 9.16380214e-01 -7.18892655e-03 -2.61125261e+01] [-1.66822899e-02 5.57553519e-04 9.99860685e-01 8.80612269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.422320588 meters 0.03077614069812619 Centerline is valid? [True, True] Translation: X:179.05, Y:-26.13, Z:0.88 [[ 9.17004182e-01 3.98596273e-01 1.49780257e-02 1.79049571e+02] [-3.98532572e-01 9.17126309e-01 -7.15003184e-03 -2.61297365e+01] [-1.65867175e-02 5.87377997e-04 9.99862258e-01 8.80671136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.452320588 meters 0.031073134414705415 Centerline is valid? [True, True] Translation: X:179.08, Y:-26.15, Z:0.88 [[ 9.17623658e-01 3.97155405e-01 1.53103519e-02 1.79076739e+02] [-3.97088608e-01 9.17751158e-01 -7.31091092e-03 -2.61478642e+01] [-1.69546610e-02 6.29098498e-04 9.99856061e-01 8.81370929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.482320588 meters 0.03127671255926016 Centerline is valid? [True, True] Translation: X:179.10, Y:-26.17, Z:0.88 [[ 9.17918784e-01 3.96519145e-01 1.40596706e-02 1.79102618e+02] [-3.96462686e-01 9.18026262e-01 -6.71722071e-03 -2.61697564e+01] [-1.55706535e-02 5.91728281e-04 9.99878595e-01 8.78622283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.512320588 meters 0.03131612814620662 Centerline is valid? [True, True] Translation: X:179.13, Y:-26.19, Z:0.88 [[ 9.18112382e-01 3.96079140e-01 1.38191708e-02 1.79129805e+02] [-3.96024531e-01 9.18216187e-01 -6.60336027e-03 -2.61863094e+01] [-1.53044396e-02 5.89896174e-04 9.99882706e-01 8.78914207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.542320588 meters 0.031062149707494956 Centerline is valid? [True, True] Translation: X:179.16, Y:-26.21, Z:0.88 [[ 9.17964355e-01 3.96448832e-01 1.30294531e-02 1.79155566e+02] [-3.96400293e-01 9.18056653e-01 -6.22811240e-03 -2.62068553e+01] [-1.44309040e-02 5.52306151e-04 9.99895717e-01 8.80892594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.572320588 meters 0.030651375760894647 Centerline is valid? [True, True] Translation: X:179.18, Y:-26.22, Z:0.88 [[ 9.17636777e-01 3.97249817e-01 1.16330315e-02 1.79182461e+02] [-3.97211139e-01 9.17710383e-01 -5.56449473e-03 -2.62245024e+01] [-1.28862483e-02 4.85415312e-04 9.99916851e-01 8.81978867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.602320588 meters 0.030698990309649322 Centerline is valid? [True, True] Translation: X:179.21, Y:-26.24, Z:0.88 [[ 9.17602375e-01 3.97322011e-01 1.18786295e-02 1.79209367e+02] [-3.97281657e-01 9.17679123e-01 -5.68441916e-03 -2.62447334e+01] [-1.31593152e-02 4.96874897e-04 9.99913289e-01 8.82163013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.632320588 meters 0.03094827087531527 Centerline is valid? [True, True] Translation: X:179.24, Y:-26.26, Z:0.88 [[ 9.17339829e-01 3.97821203e-01 1.50309042e-02 1.79236039e+02] [-3.97756627e-01 9.17462754e-01 -7.19453588e-03 -2.62632908e+01] [-1.66524337e-02 6.21192563e-04 9.99861146e-01 8.81083552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.662320588 meters 0.03122839788212923 Centerline is valid? [True, True] Translation: X:179.26, Y:-26.29, Z:0.88 [[ 9.18005518e-01 3.96257486e-01 1.56803501e-02 1.79259049e+02] [-3.96186824e-01 9.18139169e-01 -7.51439330e-03 -2.62884870e+01] [-1.73743782e-02 6.85906401e-04 9.99848819e-01 8.81815435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.692320588 meters 0.031399393701442374 Centerline is valid? [True, True] Translation: X:179.29, Y:-26.31, Z:0.88 [[ 9.18222589e-01 3.95812064e-01 1.41452331e-02 1.79286849e+02] [-3.95754366e-01 9.18331317e-01 -6.78784015e-03 -2.63079022e+01] [-1.56767196e-02 6.34710386e-04 9.99876911e-01 8.81167653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.722320588 meters 0.03124093371631116 Centerline is valid? [True, True] Translation: X:179.31, Y:-26.33, Z:0.88 [[ 9.18013157e-01 3.96337154e-01 1.29885882e-02 1.79313846e+02] [-3.96288464e-01 9.18104854e-01 -6.23939711e-03 -2.63269515e+01] [-1.43977908e-02 5.80620973e-04 9.99896178e-01 8.80860078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.752320588 meters 0.031046163288480803 Centerline is valid? [True, True] Translation: X:179.34, Y:-26.35, Z:0.88 [[ 9.17600525e-01 3.97301288e-01 1.26871589e-02 1.79338859e+02] [-3.97254830e-01 9.17688060e-01 -6.10126505e-03 -2.63498900e+01] [-1.40668947e-02 5.58488841e-04 9.99900900e-01 8.80170624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.782320588 meters 0.030195521958913854 Centerline is valid? [True, True] Translation: X:179.36, Y:-26.37, Z:0.88 [[ 9.15498571e-01 4.02127438e-01 1.24856159e-02 1.79362125e+02] [-4.02082905e-01 9.15583583e-01 -6.00330844e-03 -2.63741085e+01] [-1.38457200e-02 4.75767581e-04 9.99904030e-01 8.82947927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.812320588 meters 0.029667159524419756 Centerline is valid? [True, True] Translation: X:179.39, Y:-26.39, Z:0.88 [[ 9.14270951e-01 4.04952436e-01 1.10523234e-02 1.79389294e+02] [-4.04917650e-01 9.14337669e-01 -5.32207970e-03 -2.63924407e+01] [-1.22607448e-02 3.90542041e-04 9.99924758e-01 8.83785123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.842320588 meters 0.029244849109161454 Centerline is valid? [True, True] Translation: X:179.42, Y:-26.41, Z:0.88 [[ 9.12932342e-01 4.07929779e-01 1.21586998e-02 1.79416384e+02] [-4.07887858e-01 9.13013221e-01 -5.86112594e-03 -2.64104476e+01] [-1.34919815e-02 3.91425401e-04 9.99908902e-01 8.83322347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.872320588 meters 0.02857130714478358 Centerline is valid? [True, True] Translation: X:179.44, Y:-26.44, Z:0.88 [[ 9.10452544e-01 4.13436831e-01 1.20893354e-02 1.79439510e+02] [-4.13395877e-01 9.10532752e-01 -5.82721766e-03 -2.64355113e+01] [-1.34169223e-02 3.07723722e-04 9.99909942e-01 8.81723225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.902320588 meters 0.028271699599049415 Centerline is valid? [True, True] Translation: X:179.46, Y:-26.46, Z:0.88 [[ 9.08687555e-01 4.17314551e-01 1.16401354e-02 1.79462734e+02] [-4.17276793e-01 9.08762072e-01 -5.61904715e-03 -2.64606417e+01] [-1.29230237e-02 2.48799842e-04 9.99916463e-01 8.82411463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.932320588 meters 0.028214656505834462 Centerline is valid? [True, True] Translation: X:179.49, Y:-26.48, Z:0.88 [[ 9.07916876e-01 4.18993844e-01 1.14501261e-02 1.79490079e+02] [-4.18957413e-01 9.07989046e-01 -5.52969578e-03 -2.64790963e+01] [-1.27134975e-02 2.23388917e-04 9.99919155e-01 8.82931455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96232058799998 meters 0.027712561581854474 Centerline is valid? [True, True] Translation: X:179.52, Y:-26.50, Z:0.88 [[ 9.05662559e-01 4.23892514e-01 9.51139482e-03 1.79515800e+02] [-4.23867627e-01 9.05712493e-01 -4.59507372e-03 -2.64989086e+01] [-1.05624065e-02 1.30013873e-04 9.99944208e-01 8.84464692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99232058799998 meters 0.02773446244173525 Centerline is valid? [True, True] Translation: X:179.54, Y:-26.51, Z:0.88 [[ 9.04108586e-01 4.27206562e-01 9.06742680e-03 1.79544025e+02] [-4.27184042e-01 9.04154049e-01 -4.38742100e-03 -2.65143996e+01] [-1.00726857e-02 9.32449596e-05 9.99949265e-01 8.83617134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02232058799999 meters 0.027508005211676664 Centerline is valid? [True, True] Translation: X:179.57, Y:-26.53, Z:0.88 [[ 9.02222513e-01 4.31156664e-01 9.92309473e-03 1.79573547e+02] [-4.31129859e-01 9.02277079e-01 -4.80806757e-03 -2.65300444e+01] [-1.10264113e-02 5.98043784e-05 9.99939205e-01 8.84605411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.052320588 meters 0.02772633269133109 Centerline is valid? [True, True] Translation: X:179.60, Y:-26.55, Z:0.89 [[ 8.98465036e-01 4.38902217e-01 1.11992145e-02 1.79602341e+02] [-4.38868585e-01 8.98534831e-01 -5.43348505e-03 -2.65464813e+01] [-1.24476529e-02 -3.31870698e-05 9.99922524e-01 8.85132147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.082320588 meters 0.02776697961465252 Centerline is valid? [True, True] Translation: X:179.63, Y:-26.56, Z:0.89 [[ 8.96201186e-01 4.43529493e-01 1.02481282e-02 1.79631610e+02] [-4.43501552e-01 8.96259774e-01 -4.97906377e-03 -2.65627332e+01] [-1.13933467e-02 -8.28178984e-05 9.99935090e-01 8.85349764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.112320588 meters 0.028378825404235957 Centerline is valid? [True, True] Translation: X:179.66, Y:-26.58, Z:0.88 [[ 8.93449256e-01 4.49100190e-01 7.57936037e-03 1.79659651e+02] [-4.49085059e-01 8.93481398e-01 -3.68810286e-03 -2.65804469e+01] [-8.42834519e-03 -1.08644744e-04 9.99964475e-01 8.84414565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.142320588 meters 0.02842093740356944 Centerline is valid? [True, True] Translation: X:179.69, Y:-26.59, Z:0.88 [[ 8.92407460e-01 4.51149822e-01 8.53011543e-03 1.79688741e+02] [-4.51130712e-01 8.92448216e-01 -4.15477567e-03 -2.65945379e+01] [-9.48711260e-03 -1.40444241e-04 9.99954986e-01 8.84817312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.172320588 meters 0.028580165057652505 Centerline is valid? [True, True] Translation: X:179.72, Y:-26.60, Z:0.89 [[ 8.91861092e-01 4.52193405e-01 1.02429075e-02 1.79719811e+02] [-4.52165859e-01 8.91919892e-01 -4.99428635e-03 -2.66049765e+01] [-1.13942363e-02 -1.77283389e-04 9.99935068e-01 8.85374360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.202320588 meters 0.028657264964227287 Centerline is valid? [True, True] Translation: X:179.75, Y:-26.62, Z:0.89 [[ 8.92087072e-01 4.51732933e-01 1.08634196e-02 1.79750525e+02] [-4.51701827e-01 8.92153197e-01 -5.30404212e-03 -2.66161299e+01] [-1.20878450e-02 -1.75359083e-04 9.99926924e-01 8.85435488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.232320588 meters 0.028399189798653437 Centerline is valid? [True, True] Translation: X:179.78, Y:-26.63, Z:0.88 [[ 8.92377116e-01 4.51200096e-01 9.03086659e-03 1.79780897e+02] [-4.51178520e-01 8.92422801e-01 -4.41451109e-03 -2.66277090e+01] [-1.00511791e-02 -1.35124348e-04 9.99949476e-01 8.84960333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.262320588 meters 0.028393726461514803 Centerline is valid? [True, True] Translation: X:179.81, Y:-26.64, Z:0.89 [[ 8.92584603e-01 4.50780469e-01 9.47075900e-03 1.79810361e+02] [-4.50756648e-01 8.92634837e-01 -4.63593390e-03 -2.66417916e+01] [-1.05437179e-02 -1.31044367e-04 9.99944405e-01 8.85056909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.292320588 meters 0.028060030967186872 Centerline is valid? [True, True] Translation: X:179.84, Y:-26.65, Z:0.89 [[ 8.93594255e-01 4.48787324e-01 8.90199595e-03 1.79839998e+02] [-4.48766132e-01 8.93638589e-01 -4.36239841e-03 -2.66536037e+01] [-9.91295621e-03 -9.67001332e-05 9.99950861e-01 8.85582766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.322320588 meters 0.028162316763062464 Centerline is valid? [True, True] Translation: X:179.87, Y:-26.67, Z:0.89 [[ 8.94068381e-01 4.47852878e-01 8.33844391e-03 1.79869238e+02] [-4.47834197e-01 8.94107261e-01 -4.09122738e-03 -2.66660253e+01] [-9.28773120e-03 -7.64032921e-05 9.99956865e-01 8.85233241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.352320588 meters 0.027788488612442697 Centerline is valid? [True, True] Translation: X:179.90, Y:-26.68, Z:0.88 [[ 8.95746759e-01 4.44461834e-01 9.56149306e-03 1.79899852e+02] [-4.44437010e-01 8.95797788e-01 -4.69762739e-03 -2.66784950e+01] [-1.06530804e-02 -4.15968729e-05 9.99943253e-01 8.84485003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.382320588 meters 0.027789572310155136 Centerline is valid? [True, True] Translation: X:179.93, Y:-26.69, Z:0.88 [[ 8.96715329e-01 4.42484790e-01 1.04321842e-02 1.79930300e+02] [-4.42455027e-01 8.96776009e-01 -5.13208100e-03 -2.66923506e+01] [-1.16262003e-02 -1.37566469e-05 9.99932413e-01 8.84834446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.412320588 meters 0.027961971299189547 Centerline is valid? [True, True] Translation: X:179.96, Y:-26.71, Z:0.89 [[ 8.97514251e-01 4.40838198e-01 1.13952304e-02 1.79960368e+02] [-4.40802461e-01 8.97586588e-01 -5.61320191e-03 -2.67065031e+01] [-1.27027198e-02 1.48831083e-05 9.99919317e-01 8.85119180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.442320588 meters 0.027882941864631507 Centerline is valid? [True, True] Translation: X:179.99, Y:-26.72, Z:0.89 [[ 8.99710706e-01 4.36345428e-01 1.11046851e-02 1.79989658e+02] [-4.36311054e-01 8.99779229e-01 -5.47750378e-03 -2.67223471e+01] [-1.23818487e-02 8.30719439e-05 9.99923339e-01 8.85926321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.472320588 meters 0.02811736547412392 Centerline is valid? [True, True] Translation: X:180.02, Y:-26.74, Z:0.88 [[ 9.01406417e-01 4.32866163e-01 9.66211367e-03 1.80018272e+02] [-4.32839868e-01 9.01458191e-01 -4.77266430e-03 -2.67398936e+01] [-1.07759164e-02 1.19962216e-04 9.99941931e-01 8.83916496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.502320588 meters 0.02805540915645596 Centerline is valid? [True, True] Translation: X:180.05, Y:-26.75, Z:0.89 [[ 9.02238746e-01 4.31144385e-01 8.93111207e-03 1.80048252e+02] [-4.31121773e-01 9.02282939e-01 -4.41765784e-03 -2.67543877e+01] [-9.96303841e-03 1.35385201e-04 9.99950359e-01 8.85055863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.532320588 meters 0.028133225149512966 Centerline is valid? [True, True] Translation: X:180.08, Y:-26.77, Z:0.89 [[ 9.02533938e-01 4.30476869e-01 1.10524090e-02 1.80076849e+02] [-4.30442126e-01 9.02601591e-01 -5.47212434e-03 -2.67693454e+01] [-1.23315449e-02 1.81355500e-04 9.99923947e-01 8.85065115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.562320588 meters 0.02836825824554014 Centerline is valid? [True, True] Translation: X:180.10, Y:-26.79, Z:0.89 [[ 9.03228442e-01 4.28920334e-01 1.43432430e-02 1.80102908e+02] [-4.28861516e-01 9.03342280e-01 -7.10812754e-03 -2.67879796e+01] [-1.60056783e-02 2.68998035e-04 9.99871865e-01 8.85415605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.592320588 meters 0.02822194360225088 Centerline is valid? [True, True] Translation: X:180.13, Y:-26.81, Z:0.89 [[ 9.03618933e-01 4.28159325e-01 1.23457246e-02 1.80128578e+02] [-4.28115576e-01 9.03703231e-01 -6.12564926e-03 -2.68095987e+01] [-1.37796250e-02 2.49855668e-04 9.99905025e-01 8.85031503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.622320588 meters 0.028232160406881198 Centerline is valid? [True, True] Translation: X:180.16, Y:-26.83, Z:0.88 [[ 9.03529972e-01 4.28311162e-01 1.35328486e-02 1.80156052e+02] [-4.28258498e-01 9.03631269e-01 -6.72216528e-03 -2.68268680e+01] [-1.51078836e-02 2.78120372e-04 9.99885831e-01 8.84860403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.652320588 meters 0.02803201773342136 Centerline is valid? [True, True] Translation: X:180.18, Y:-26.84, Z:0.89 [[ 9.02765549e-01 4.29945415e-01 1.27005617e-02 1.80183802e+02] [-4.29899176e-01 9.02854852e-01 -6.30984107e-03 -2.68443501e+01] [-1.41796510e-02 2.36346139e-04 9.99899436e-01 8.85504671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.682320588 meters 0.028047937136079528 Centerline is valid? [True, True] Translation: X:180.21, Y:-26.86, Z:0.89 [[ 9.01589698e-01 4.32407371e-01 1.26444526e-02 1.80210331e+02] [-4.32361655e-01 9.01678337e-01 -6.29092173e-03 -2.68629456e+01] [-1.41214699e-02 2.04853787e-04 9.99900266e-01 8.86384255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71232058799998 meters 0.02786086566514912 Centerline is valid? [True, True] Translation: X:180.24, Y:-26.88, Z:0.89 [[ 9.01255064e-01 4.33134966e-01 1.15503867e-02 1.80238063e+02] [-4.33096867e-01 9.01329057e-01 -5.74751263e-03 -2.68800892e+01] [-1.29001478e-02 1.77538582e-04 9.99916774e-01 8.87311532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74232058799998 meters 0.027853251694897083 Centerline is valid? [True, True] Translation: X:180.26, Y:-26.90, Z:0.89 [[ 9.00032007e-01 4.35668278e-01 1.16420737e-02 1.80262845e+02] [-4.35629674e-01 9.00107287e-01 -5.80160165e-03 -2.69016681e+01] [-1.30066892e-02 1.49994414e-04 9.99915398e-01 8.85617536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77232058799999 meters 0.027872440006862325 Centerline is valid? [True, True] Translation: X:180.29, Y:-26.92, Z:0.89 [[ 8.98772192e-01 4.38226251e-01 1.28957475e-02 1.80290351e+02] [-4.38179021e-01 8.98864692e-01 -6.43508341e-03 -2.69207051e+01] [-1.44115546e-02 1.33028005e-04 9.99896139e-01 8.86335595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.802320588 meters 0.027526891324233676 Centerline is valid? [True, True] Translation: X:180.32, Y:-26.94, Z:0.89 [[ 8.96390123e-01 4.43124993e-01 1.11797877e-02 1.80316457e+02] [-4.43089868e-01 8.96459837e-01 -5.57949486e-03 -2.69413644e+01] [-1.24946442e-02 4.77534457e-05 9.99921938e-01 8.87664807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.832320588 meters 0.027796771126815608 Centerline is valid? [True, True] Translation: X:180.34, Y:-26.96, Z:0.89 [[ 8.94500667e-01 4.46954449e-01 1.00138884e-02 1.80344217e+02] [-4.46926422e-01 8.94556717e-01 -5.00527200e-03 -2.69569598e+01] [-1.11951197e-02 1.74784741e-06 9.99937333e-01 8.87036822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.862320588 meters 0.027700135921101602 Centerline is valid? [True, True] Translation: X:180.37, Y:-26.97, Z:0.89 [[ 8.93137236e-01 4.49680308e-01 9.66939240e-03 1.80373815e+02] [-4.49654262e-01 8.93189577e-01 -4.83994772e-03 -2.69724566e+01] [-1.08130297e-02 -2.51459676e-05 9.99941537e-01 8.88499151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.892320588 meters 0.028015907994056368 Centerline is valid? [True, True] Translation: X:180.40, Y:-26.99, Z:0.89 [[ 8.90431622e-01 4.55031881e-01 8.80421877e-03 1.80400916e+02] [-4.55010488e-01 8.90475143e-01 -4.41296333e-03 -2.69924521e+01] [-9.84797698e-03 -7.65697905e-05 9.99951505e-01 8.88371130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.922320588 meters 0.02832560642495778 Centerline is valid? [True, True] Translation: X:180.43, Y:-27.02, Z:0.89 [[ 8.88370311e-01 4.59063243e-01 7.68960193e-03 1.80426609e+02] [-4.59047027e-01 8.88403584e-01 -3.85980032e-03 -2.70156773e+01] [-8.60336237e-03 -1.00956902e-04 9.99962985e-01 8.89980880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.952320588 meters 0.028428947942219642 Centerline is valid? [True, True] Translation: X:180.46, Y:-27.03, Z:0.89 [[ 8.87607885e-01 4.60544046e-01 7.17107610e-03 1.80455480e+02] [-4.60529954e-01 8.87636846e-01 -3.60431505e-03 -2.70321235e+01] [-8.02525721e-03 -1.03276887e-04 9.99967792e-01 8.89422379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.982320588 meters 0.028587628169142825 Centerline is valid? [True, True] Translation: X:180.48, Y:-27.05, Z:0.89 [[ 8.86773830e-01 4.62139775e-01 7.68128425e-03 1.80484586e+02] [-4.62123634e-01 8.86807089e-01 -3.86444994e-03 -2.70460896e+01] [-8.59773335e-03 -1.22809910e-04 9.99963031e-01 8.89413713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.012320588 meters 0.02869863292626034 Centerline is valid? [True, True] Translation: X:180.51, Y:-27.06, Z:0.89 [[ 8.86351607e-01 4.62936011e-01 8.43082741e-03 1.80514540e+02] [-4.62916590e-01 8.86391691e-01 -4.24276577e-03 -2.70576375e+01] [-9.43714442e-03 -1.42187622e-04 9.99955459e-01 8.88269000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.042320588 meters 0.02888331599343858 Centerline is valid? [True, True] Translation: X:180.54, Y:-27.07, Z:0.89 [[ 8.85745477e-01 4.64062834e-01 1.00317090e-02 1.80542178e+02] [-4.64035335e-01 8.85802266e-01 -5.05507907e-03 -2.70734240e+01] [-1.12319849e-02 -1.77554005e-04 9.99936904e-01 8.88573047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.072320588 meters 0.02888331599343858 Centerline is valid? [True, True] Translation: X:180.57, Y:-27.09, Z:0.89 [[ 8.85505676e-01 4.64520308e-01 1.00289631e-02 1.80571301e+02] [-4.64492776e-01 8.85562449e-01 -5.06052617e-03 -2.70877531e+01] [-1.12319903e-02 -1.77256268e-04 9.99936903e-01 8.88736914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.102320588 meters 0.028830841720519307 Centerline is valid? [True, True] Translation: X:180.60, Y:-27.11, Z:0.89 [[ 8.84708299e-01 4.66066578e-01 8.55396347e-03 1.80598746e+02] [-4.66046565e-01 8.84749636e-01 -4.32221590e-03 -2.71065507e+01] [-9.58255643e-03 -1.62645014e-04 9.99954073e-01 8.93606455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.132320588 meters 0.02887214031937087 Centerline is valid? [True, True] Translation: X:180.63, Y:-27.12, Z:0.89 [[ 8.83946375e-01 4.67531486e-01 7.28801802e-03 1.80628443e+02] [-4.67516967e-01 8.83976407e-01 -3.68759173e-03 -2.71218594e+01] [-8.16650123e-03 -1.47638740e-04 9.99966643e-01 8.93583589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.162320588 meters 0.02926054516879524 Centerline is valid? [True, True] Translation: X:180.66, Y:-27.14, Z:0.89 [[ 8.83006237e-01 4.69322425e-01 6.03710111e-03 1.80658068e+02] [-4.69312474e-01 8.83026865e-01 -3.05904855e-03 -2.71365637e+01] [-6.76660255e-03 -1.32127907e-04 9.99977098e-01 8.90231183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.192320588 meters 0.029164003780794468 Centerline is valid? [True, True] Translation: X:180.69, Y:-27.15, Z:0.89 [[ 8.82697219e-01 4.69906457e-01 5.79153241e-03 1.80687665e+02] [-4.69897287e-01 8.82716209e-01 -2.93841642e-03 -2.71518650e+01] [-6.49306038e-03 -1.27693366e-04 9.99978912e-01 8.89910171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.222320588 meters 0.029254642544634273 Centerline is valid? [True, True] Translation: X:180.72, Y:-27.17, Z:0.89 [[ 8.82860663e-01 4.69579131e-01 7.24497381e-03 1.80716851e+02] [-4.69564738e-01 8.82890376e-01 -3.67975913e-03 -2.71672040e+01] [-8.12445575e-03 -1.53269643e-04 9.99966984e-01 8.89421128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.252320588 meters 0.028912593418633538 Centerline is valid? [True, True] Translation: X:180.75, Y:-27.18, Z:0.89 [[ 8.83607063e-01 4.68198851e-01 5.32864875e-03 1.80745748e+02] [-4.68191020e-01 8.83623124e-01 -2.70983501e-03 -2.71820535e+01] [-5.97725890e-03 -1.00396138e-04 9.99982131e-01 8.92279300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.282320588 meters 0.028631141160320995 Centerline is valid? [True, True] Translation: X:180.78, Y:-27.20, Z:0.89 [[ 8.84401510e-01 4.66675885e-01 6.89842167e-03 1.80775588e+02] [-4.66662681e-01 8.84428406e-01 -3.51230051e-03 -2.71965472e+01] [-7.74026603e-03 -1.12952075e-04 9.99970037e-01 8.93402819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.312320588 meters 0.028384162727451225 Centerline is valid? [True, True] Translation: X:180.80, Y:-27.21, Z:0.90 [[ 8.84716381e-01 4.66087399e-01 6.28179782e-03 1.80803928e+02] [-4.66076411e-01 8.84738677e-01 -3.20182634e-03 -2.72106706e+01] [-7.05008041e-03 -9.50895702e-05 9.99975143e-01 8.95414732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.342320588 meters 0.028433818647449687 Centerline is valid? [True, True] Translation: X:180.83, Y:-27.23, Z:0.90 [[ 8.85021784e-01 4.65479906e-01 8.05600177e-03 1.80833556e+02] [-4.65461765e-01 8.85058441e-01 -4.11110462e-03 -2.72254173e+01] [-9.04366896e-03 -1.11343657e-04 9.99959099e-01 8.95410393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.372320588 meters 0.028349185224125408 Centerline is valid? [True, True] Translation: X:180.86, Y:-27.24, Z:0.89 [[ 8.85791397e-01 4.64025142e-01 7.36664963e-03 1.80862277e+02] [-4.64009889e-01 8.85822025e-01 -3.76338624e-03 -2.72388800e+01] [-8.27184633e-03 -8.46231219e-05 9.99965784e-01 8.94197320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.402320588 meters 0.028098491722251543 Centerline is valid? [True, True] Translation: X:180.89, Y:-27.25, Z:0.89 [[ 8.86317254e-01 4.63023403e-01 7.14515733e-03 1.80890718e+02] [-4.63008986e-01 8.86346052e-01 -3.65443407e-03 -2.72531359e+01] [-8.02517049e-03 -6.92840862e-05 9.99967795e-01 8.92842033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.432320588 meters 0.02817507662580236 Centerline is valid? [True, True] Translation: X:180.92, Y:-27.27, Z:0.89 [[ 8.87450373e-01 4.60836020e-01 7.87389585e-03 1.80918462e+02] [-4.60818379e-01 8.87485301e-01 -4.03254608e-03 -2.72705178e+01] [-8.84630932e-03 -4.97514093e-05 9.99960869e-01 8.92906501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46232058799998 meters 0.028008233282115613 Centerline is valid? [True, True] Translation: X:180.95, Y:-27.29, Z:0.89 [[ 8.87697038e-01 4.60369444e-01 7.34468415e-03 1.80946521e+02] [-4.60354037e-01 8.87727421e-01 -3.76657084e-03 -2.72881793e+01] [-8.25409164e-03 -3.75812200e-05 9.99965934e-01 8.93983420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49232058799998 meters 0.02781078130019363 Centerline is valid? [True, True] Translation: X:180.97, Y:-27.31, Z:0.90 [[ 8.89147162e-01 4.57584532e-01 5.80698555e-03 1.80973726e+02] [-4.57574818e-01 8.89166124e-01 -2.98162930e-03 -2.73059970e+01] [-6.52772228e-03 -6.02312623e-06 9.99978694e-01 8.97530566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52232058799999 meters 0.027687643615853325 Centerline is valid? [True, True] Translation: X:181.00, Y:-27.32, Z:0.90 [[ 8.89453025e-01 4.57005236e-01 4.41928967e-03 1.81003362e+02] [-4.56999583e-01 8.89464004e-01 -2.27307792e-03 -2.73205723e+01] [-4.96960760e-03 2.18249573e-06 9.99987651e-01 8.97209777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.552320588 meters 0.027681029949980396 Centerline is valid? [True, True] Translation: X:181.03, Y:-27.33, Z:0.90 [[ 8.89713378e-01 4.56489201e-01 5.26438627e-03 1.81033438e+02] [-4.56481153e-01 8.89728953e-01 -2.71073381e-03 -2.73345373e+01] [-5.92129759e-03 8.68302746e-06 9.99982469e-01 8.96306107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.582320588 meters 0.027740722143736123 Centerline is valid? [True, True] Translation: X:181.06, Y:-27.35, Z:0.89 [[ 8.90119393e-01 4.55659277e-01 7.87963447e-03 1.81061488e+02] [-4.55641189e-01 8.90154269e-01 -4.06016458e-03 -2.73499023e+01] [-8.86414192e-03 2.37452164e-05 9.99960712e-01 8.94421612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.612320588 meters 0.027736049904593888 Centerline is valid? [True, True] Translation: X:181.09, Y:-27.37, Z:0.90 [[ 8.89230493e-01 4.57388297e-01 8.06703107e-03 1.81088341e+02] [-4.57369357e-01 8.89267083e-01 -4.16242550e-03 -2.73690101e+01] [-9.07758991e-03 1.17428675e-05 9.99958798e-01 8.96067160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.642320588 meters 0.02774499578127817 Centerline is valid? [True, True] Translation: X:181.12, Y:-27.39, Z:0.90 [[ 8.88617685e-01 4.58603714e-01 6.42213001e-03 1.81116364e+02] [-4.58591713e-01 8.88640891e-01 -3.31770899e-03 -2.73855728e+01] [-7.22848100e-03 3.03928087e-06 9.99973874e-01 8.96105295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.672320588 meters 0.02769175765649181 Centerline is valid? [True, True] Translation: X:181.14, Y:-27.40, Z:0.90 [[ 8.87394045e-01 4.60982435e-01 5.19641323e-03 1.81144801e+02] [-4.60974593e-01 8.87409260e-01 -2.68893609e-03 -2.74016033e+01] [-5.85089752e-03 -9.26859926e-06 9.99982883e-01 8.96581789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.702320588 meters 0.027801712555671595 Centerline is valid? [True, True] Translation: X:181.18, Y:-27.41, Z:0.90 [[ 8.85730438e-01 4.64164039e-01 5.77379631e-03 1.81175342e+02] [-4.64154402e-01 8.85749256e-01 -2.99115223e-03 -2.74147935e+01] [-6.50252108e-03 -3.05783947e-05 9.99978858e-01 8.98500582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.732320588 meters 0.0279002770646599 Centerline is valid? [True, True] Translation: X:181.20, Y:-27.43, Z:0.90 [[ 8.84470724e-01 4.66547398e-01 6.71295901e-03 1.81204498e+02] [-4.66534417e-01 8.84496197e-01 -3.48068262e-03 -2.74280326e+01] [-7.56149013e-03 -5.32645331e-05 9.99971410e-01 8.97528339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.762320588 meters 0.027971116603748427 Centerline is valid? [True, True] Translation: X:181.23, Y:-27.44, Z:0.90 [[ 8.83019086e-01 4.69302008e-01 5.73748943e-03 1.81234391e+02] [-4.69292554e-01 8.83037724e-01 -2.97944260e-03 -2.74425664e+01] [-6.46467800e-03 -6.16563866e-05 9.99979102e-01 8.96972073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.792320588 meters 0.028226429279131476 Centerline is valid? [True, True] Translation: X:181.26, Y:-27.46, Z:0.90 [[ 8.82930680e-01 4.69473964e-01 5.25461289e-03 1.81263145e+02] [-4.69466015e-01 8.82946315e-01 -2.73239235e-03 -2.74584422e+01] [-5.92232816e-03 -5.43491355e-05 9.99982461e-01 8.96742279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.822320588 meters 0.028218746359152565 Centerline is valid? [True, True] Translation: X:181.29, Y:-27.48, Z:0.90 [[ 8.82550043e-01 4.70175709e-01 6.34223633e-03 1.81291144e+02] [-4.70164122e-01 8.82572829e-01 -3.30148750e-03 -2.74752563e+01] [-7.14976469e-03 -6.81640427e-05 9.99974438e-01 8.97840034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.852320588 meters 0.028123342505125357 Centerline is valid? [True, True] Translation: X:181.32, Y:-27.49, Z:0.90 [[ 8.82772838e-01 4.69760820e-01 6.07366602e-03 1.81320760e+02] [-4.69750155e-01 8.82793730e-01 -3.16589240e-03 -2.74894834e+01] [-6.84900649e-03 -5.83417381e-05 9.99976544e-01 8.98936985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.882320588 meters 0.02813731184574784 Centerline is valid? [True, True] Translation: X:181.35, Y:-27.50, Z:0.90 [[ 8.82504254e-01 4.70243370e-01 7.57730760e-03 1.81351634e+02] [-4.70226753e-01 8.82536780e-01 -3.95391467e-03 -2.75006633e+01] [-8.54655481e-03 -7.37062308e-05 9.99963475e-01 8.99478249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.912320588 meters 0.02814331946581022 Centerline is valid? [True, True] Translation: X:181.38, Y:-27.51, Z:0.90 [[ 8.82481520e-01 4.70253956e-01 9.35860574e-03 1.81380525e+02] [-4.70228562e-01 8.82531138e-01 -4.88773154e-03 -2.75146952e+01] [-1.05577361e-02 -8.73509608e-05 9.99944262e-01 8.99630496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.942320588 meters 0.028227367742140824 Centerline is valid? [True, True] Translation: X:181.41, Y:-27.53, Z:0.90 [[ 8.82440932e-01 4.70317283e-01 9.98276580e-03 1.81409631e+02] [-4.70288315e-01 8.82497391e-01 -5.22062870e-03 -2.75307911e+01] [-1.12651167e-02 -8.78816472e-05 9.99936543e-01 8.98867021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.972320588 meters 0.0279249765562124 Centerline is valid? [True, True] Translation: X:181.44, Y:-27.55, Z:0.90 [[ 8.84127518e-01 4.67154578e-01 9.22672494e-03 1.81436872e+02] [-4.67129659e-01 8.84175660e-01 -4.82533628e-03 -2.75471561e+01] [-1.04122236e-02 -4.38642883e-05 9.99945790e-01 8.98390652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.002320588 meters 0.02782821650766347 Centerline is valid? [True, True] Translation: X:181.46, Y:-27.56, Z:0.90 [[ 8.85149525e-01 4.65235571e-01 8.13524669e-03 1.81464215e+02] [-4.65216056e-01 8.85186909e-01 -4.26115491e-03 -2.75635556e+01] [-9.18365470e-03 -1.28881391e-05 9.99957829e-01 8.98180067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.032320588 meters 0.02796628904360169 Centerline is valid? [True, True] Translation: X:181.49, Y:-27.58, Z:0.90 [[ 8.87777393e-01 4.60192236e-01 8.62594040e-03 1.81490745e+02] [-4.60169998e-01 8.87819297e-01 -4.52425789e-03 -2.75836738e+01] [-9.74030470e-03 4.71348954e-05 9.99952561e-01 8.97772160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.062320588 meters 0.028057689478000455 Centerline is valid? [True, True] Translation: X:181.52, Y:-27.60, Z:0.90 [[ 8.88492379e-01 4.58787041e-01 9.78484934e-03 1.81518350e+02] [-4.58758286e-01 8.88546254e-01 -5.13705276e-03 -2.76001213e+01] [-1.10511045e-02 7.53515129e-05 9.99938932e-01 8.99104783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.092320588 meters 0.02789469334541358 Centerline is valid? [True, True] Translation: X:181.55, Y:-27.62, Z:0.90 [[ 8.89610171e-01 4.56638040e-01 8.68585281e-03 1.81546605e+02] [-4.56615216e-01 8.89652568e-01 -4.56655741e-03 -2.76163314e+01] [-9.81265508e-03 9.63633622e-05 9.99951850e-01 8.99201569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.122320588 meters 0.027908612044449298 Centerline is valid? [True, True] Translation: X:181.58, Y:-27.63, Z:0.90 [[ 8.89798229e-01 4.56278022e-01 8.33543276e-03 1.81575083e+02] [-4.56256932e-01 8.89837264e-01 -4.38810926e-03 -2.76334398e+01] [-9.41937649e-03 1.01432866e-04 9.99955632e-01 8.98734951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.152320588 meters 0.028008030228424335 Centerline is valid? [True, True] Translation: X:181.60, Y:-27.66, Z:0.90 [[ 8.90064483e-01 4.55766056e-01 7.90686440e-03 1.81599494e+02] [-4.55747010e-01 8.90099596e-01 -4.16796702e-03 -2.76583584e+01] [-8.93751470e-03 1.06229604e-04 9.99960054e-01 8.97822999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.182320588 meters 0.028110921299398548 Centerline is valid? [True, True] Translation: X:181.63, Y:-27.68, Z:0.90 [[ 8.89985399e-01 4.55898415e-01 9.08982644e-03 1.81626047e+02] [-4.55873192e-01 8.90031808e-01 -4.79721345e-03 -2.76792719e+01] [-1.02772767e-02 1.25641730e-04 9.99947180e-01 8.97699115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21232058799998 meters 0.027865406621141793 Centerline is valid? [True, True] Translation: X:181.65, Y:-27.70, Z:0.90 [[ 8.90302655e-01 4.55280083e-01 9.01272863e-03 1.81649958e+02] [-4.55255256e-01 8.90348263e-01 -4.75639135e-03 -2.77021681e+01] [-1.01899575e-02 1.31535775e-04 9.99948072e-01 9.00175020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24232058799998 meters 0.02811816242263489 Centerline is valid? [True, True] Translation: X:181.68, Y:-27.72, Z:0.90 [[ 8.89780104e-01 4.56330309e-01 7.34947779e-03 1.81677508e+02] [-4.56313784e-01 8.89810451e-01 -3.88492472e-03 -2.77195157e+01] [-8.31245105e-03 1.03060706e-04 9.99965446e-01 8.99999853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27232058799999 meters 0.027864602708857458 Centerline is valid? [True, True] Translation: X:181.70, Y:-27.74, Z:0.90 [[ 8.89041807e-01 4.57775876e-01 6.77592650e-03 1.81703536e+02] [-4.57761839e-01 8.89067624e-01 -3.58591170e-03 -2.77399312e+01] [-7.66580074e-03 8.62648402e-05 9.99970614e-01 9.01650594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.302320588 meters 0.02793880369088097 Centerline is valid? [True, True] Translation: X:181.73, Y:-27.76, Z:0.90 [[ 8.88283289e-01 4.59237017e-01 7.35945062e-03 1.81730395e+02] [-4.59220466e-01 8.88313771e-01 -3.89979413e-03 -2.77601678e+01] [-8.32843115e-03 8.45116166e-05 9.99965314e-01 9.01386294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.332320588 meters 0.027921062641639162 Centerline is valid? [True, True] Translation: X:181.75, Y:-27.79, Z:0.90 [[ 8.86765633e-01 4.62150862e-01 7.95574720e-03 1.81753165e+02] [-4.62131590e-01 8.86801318e-01 -4.22097962e-03 -2.77871426e+01] [-9.00589646e-03 6.64175574e-05 9.99959444e-01 8.98962526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.362320588 meters 0.02797016411676131 Centerline is valid? [True, True] Translation: X:181.78, Y:-27.81, Z:0.90 [[ 8.85710911e-01 4.64151276e-01 8.93172099e-03 1.81779919e+02] [-4.64127031e-01 8.85755942e-01 -4.74444561e-03 -2.78075688e+01] [-1.01134654e-02 5.67540978e-05 9.99948856e-01 8.98541928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.392320588 meters 0.028051964158128825 Centerline is valid? [True, True] Translation: X:181.81, Y:-27.83, Z:0.90 [[ 8.83795502e-01 4.67783321e-01 9.18020683e-03 1.81805388e+02] [-4.67757840e-01 8.83843179e-01 -4.88247040e-03 -2.78305850e+01] [-1.03978014e-02 2.09916621e-05 9.99945941e-01 9.01012202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.422320588 meters 0.028014909933576068 Centerline is valid? [True, True] Translation: X:181.83, Y:-27.85, Z:0.90 [[ 8.82099425e-01 4.70945886e-01 1.05155922e-02 1.81832916e+02] [-4.70912598e-01 8.82162101e-01 -5.59934804e-03 -2.78488287e+01] [-1.19134469e-02 -1.27431849e-05 9.99929032e-01 9.01361906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.452320588 meters 0.02806492738467519 Centerline is valid? [True, True] Translation: X:181.86, Y:-27.87, Z:0.90 [[ 8.80289654e-01 4.74357147e-01 8.68457692e-03 1.81859854e+02] [-4.74334592e-01 8.80332491e-01 -4.62606164e-03 -2.78675987e+01] [-9.83972063e-03 -4.71210471e-05 9.99951588e-01 9.01761160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.482320588 meters 0.028834730077882863 Centerline is valid? [True, True] Translation: X:181.88, Y:-27.89, Z:0.90 [[ 8.75698032e-01 4.82810721e-01 6.83838088e-03 1.81883565e+02] [-4.82796952e-01 8.75724726e-01 -3.64795967e-03 -2.78905802e+01] [-7.74981326e-03 -1.07038343e-04 9.99969964e-01 9.00266136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.512320588 meters 0.029259522088480726 Centerline is valid? [True, True] Translation: X:181.91, Y:-27.91, Z:0.90 [[ 8.73520407e-01 4.86721942e-01 7.99063525e-03 1.81910495e+02] [-4.86703267e-01 8.73556939e-01 -4.26664026e-03 -2.79083538e+01] [-9.05694229e-03 -1.62070951e-04 9.99958972e-01 9.00481005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.542320588 meters 0.030100855972037825 Centerline is valid? [True, True] Translation: X:181.94, Y:-27.92, Z:0.90 [[ 8.70090370e-01 4.92811709e-01 8.90883353e-03 1.81938109e+02] [-4.92788806e-01 8.70135941e-01 -4.75774854e-03 -2.79235460e+01] [-1.00965704e-02 -2.50502248e-04 9.99948997e-01 9.02724372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.572320588 meters 0.030195392579557712 Centerline is valid? [True, True] Translation: X:181.97, Y:-27.94, Z:0.90 [[ 8.68809650e-01 4.95069998e-01 8.68841292e-03 1.81966906e+02] [-4.95048268e-01 8.68853052e-01 -4.64607050e-03 -2.79382038e+01] [-9.84908420e-03 -2.64632878e-04 9.99951462e-01 9.02617923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.602320588 meters 0.031079913191878 Centerline is valid? [True, True] Translation: X:181.99, Y:-27.96, Z:0.90 [[ 8.66552964e-01 4.99047736e-01 6.10881088e-03 1.81993157e+02] [-4.99037067e-01 8.66574470e-01 -3.27029518e-03 -2.79561174e+01] [-6.92577295e-03 -2.14639077e-04 9.99975994e-01 9.04452493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.632320588 meters 0.03144185049779265 Centerline is valid? [True, True] Translation: X:182.02, Y:-27.97, Z:0.90 [[ 8.65527652e-01 5.00819272e-01 6.47616590e-03 1.82021887e+02] [-5.00807305e-01 8.65551847e-01 -3.47047171e-03 -2.79707198e+01] [-7.34353646e-03 -2.39521961e-04 9.99973007e-01 9.04857787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.662320588 meters 0.03254784044737789 Centerline is valid? [True, True] Translation: X:182.05, Y:-27.98, Z:0.90 [[ 8.62944196e-01 5.05254354e-01 6.73436339e-03 1.82053245e+02] [-5.05241554e-01 8.62970425e-01 -3.60805664e-03 -2.79805771e+01] [-7.63454276e-03 -2.88928693e-04 9.99970815e-01 9.02966752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.692320588 meters 0.03301466407649066 Centerline is valid? [True, True] Translation: X:182.08, Y:-27.99, Z:0.90 [[ 8.61768657e-01 5.07264660e-01 6.11116050e-03 1.82082869e+02] [-5.07254136e-01 8.61790281e-01 -3.27913983e-03 -2.79933262e+01] [-6.92993048e-03 -2.74051514e-04 9.99975950e-01 9.02334637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.722320588 meters 0.03312056685292871 Centerline is valid? [True, True] Translation: X:182.11, Y:-28.01, Z:0.90 [[ 8.60235009e-01 5.09867155e-01 5.58685035e-03 1.82112223e+02] [-5.09858394e-01 8.60253110e-01 -3.00092769e-03 -2.80064899e+01] [-6.33617985e-03 -2.66999488e-04 9.99979891e-01 9.04267883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.752320588 meters 0.033544559316325905 Centerline is valid? [True, True] Translation: X:182.14, Y:-28.02, Z:0.91 [[ 8.59620202e-01 5.10906237e-01 5.28453207e-03 1.82141284e+02] [-5.10898399e-01 8.59636406e-01 -2.84151666e-03 -2.80207902e+01] [-5.99452474e-03 -2.57233846e-04 9.99982000e-01 9.06039895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.782320588 meters 0.03292950126406443 Centerline is valid? [True, True] Translation: X:182.17, Y:-28.03, Z:0.91 [[ 8.59813385e-01 5.10594119e-01 3.81947697e-03 1.82173365e+02] [-5.10590022e-01 8.59821849e-01 -2.05361095e-03 -2.80282029e+01] [-4.33263142e-03 -1.84464645e-04 9.99990597e-01 9.06383464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.812320588 meters 0.03276924537310855 Centerline is valid? [True, True] Translation: X:182.20, Y:-28.04, Z:0.91 [[ 8.59951798e-01 5.10361065e-01 3.80645173e-03 1.82203666e+02] [-5.10356978e-01 8.59960203e-01 -2.05021106e-03 -2.80403896e+01] [-4.31974491e-03 -1.79566518e-04 9.99990654e-01 9.05341202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.842320588 meters 0.03320920905477534 Centerline is valid? [True, True] Translation: X:182.23, Y:-28.05, Z:0.91 [[ 8.59847126e-01 5.10488331e-01 8.03639705e-03 1.82233416e+02] [-5.10470106e-01 8.59884597e-01 -4.33022128e-03 -2.80536820e+01] [-9.12090147e-03 -3.79012129e-04 9.99958332e-01 9.05325370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.872320588 meters 0.03375445086391322 Centerline is valid? [True, True] Translation: X:182.26, Y:-28.07, Z:0.91 [[ 8.58964210e-01 5.11970464e-01 8.16882197e-03 1.82262537e+02] [-5.11951660e-01 8.59002960e-01 -4.40585237e-03 -2.80675157e+01] [-9.27270854e-03 -3.97572471e-04 9.99956928e-01 9.05922524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.902320588 meters 0.03361665216868763 Centerline is valid? [True, True] Translation: X:182.29, Y:-28.08, Z:0.91 [[ 8.58495328e-01 5.12757545e-01 8.09147497e-03 1.82293055e+02] [-5.12739083e-01 8.58533367e-01 -4.36939577e-03 -2.80800080e+01] [-9.18724190e-03 -3.97709604e-04 9.99957717e-01 9.06440250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.932320588 meters 0.03416231214488786 Centerline is valid? [True, True] Translation: X:182.32, Y:-28.09, Z:0.91 [[ 8.57252555e-01 5.14870600e-01 5.13056404e-03 1.82324705e+02] [-5.14863195e-01 8.57267867e-01 -2.77387551e-03 -2.80885703e+01] [-5.82645464e-03 -2.63626730e-04 9.99982991e-01 9.07221939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96232058799998 meters 0.03416231214488786 Centerline is valid? [True, True] Translation: X:182.35, Y:-28.10, Z:0.91 [[ 8.57011386e-01 5.15271943e-01 5.12912816e-03 1.82353396e+02] [-5.15264530e-01 8.57026694e-01 -2.77653107e-03 -2.81037257e+01] [-5.82646831e-03 -2.63339066e-04 9.99982991e-01 9.07385915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99232058799998 meters 0.03421842190176211 Centerline is valid? [True, True] Translation: X:182.39, Y:-28.11, Z:0.91 [[ 8.56799625e-01 5.15599492e-01 7.18100263e-03 1.82386457e+02] [-5.15584953e-01 8.56829637e-01 -3.88965528e-03 -2.81105918e+01] [-8.15840016e-03 -3.69761717e-04 9.99966651e-01 9.06141800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02232058799999 meters 0.03348734176862862 Centerline is valid? [True, True] Translation: X:182.42, Y:-28.12, Z:0.91 [[ 8.57018493e-01 5.15202833e-01 9.23810307e-03 1.82417768e+02] [-5.15178718e-01 8.57068154e-01 -5.00671396e-03 -2.81216704e+01] [-1.04971572e-02 -4.68427645e-04 9.99944794e-01 9.07062616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.052320588 meters 0.03344047534482495 Centerline is valid? [True, True] Translation: X:182.45, Y:-28.14, Z:0.91 [[ 8.57508974e-01 5.14384396e-01 9.33020153e-03 1.82446590e+02] [-5.14359690e-01 8.57559609e-01 -5.06222321e-03 -2.81355112e+01] [-1.06051326e-02 -4.58177739e-04 9.99943659e-01 9.07745036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.082320588 meters 0.033098484380611304 Centerline is valid? [True, True] Translation: X:182.48, Y:-28.15, Z:0.91 [[ 8.59258485e-01 5.11468990e-01 8.62141054e-03 1.82476475e+02] [-5.11447748e-01 8.59301647e-01 -4.67769745e-03 -2.81468967e+01] [-9.80088946e-03 -3.90049778e-04 9.99951894e-01 9.09767943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.112320588 meters 0.032218357158742834 Centerline is valid? [True, True] Translation: X:182.51, Y:-28.16, Z:0.91 [[ 8.59799791e-01 5.10585479e-01 6.84024073e-03 1.82507701e+02] [-5.10572067e-01 8.59826947e-01 -3.71288794e-03 -2.81565585e+01] [-7.77716997e-03 -3.00095570e-04 9.99969712e-01 9.10386952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.142320588 meters 0.032226397771741445 Centerline is valid? [True, True] Translation: X:182.54, Y:-28.16, Z:0.91 [[ 8.60153415e-01 5.09959687e-01 8.78751057e-03 1.82543321e+02] [-5.09937473e-01 8.60198220e-01 -4.77458983e-03 -2.81610539e+01] [-9.99384929e-03 -3.74201181e-04 9.99949990e-01 9.07883175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.172320588 meters 0.032236245920100784 Centerline is valid? [True, True] Translation: X:182.57, Y:-28.17, Z:0.91 [[ 8.59856628e-01 5.10448201e-01 9.44526386e-03 1.82574885e+02] [-5.10422494e-01 8.59908409e-01 -5.13858526e-03 -2.81722184e+01] [-1.07450434e-02 -4.02628539e-04 9.99942189e-01 9.07776341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.202320588 meters 0.031834412240430834 Centerline is valid? [True, True] Translation: X:182.61, Y:-28.18, Z:0.91 [[ 8.60184118e-01 5.09882557e-01 1.01519441e-02 1.82605340e+02] [-5.09852762e-01 8.60243920e-01 -5.52805352e-03 -2.81825714e+01] [-1.15518062e-02 -4.20852893e-04 9.99933187e-01 9.10722465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.232320588 meters 0.03169575581460584 Centerline is valid? [True, True] Translation: X:182.63, Y:-28.20, Z:0.91 [[ 8.60609072e-01 5.09168192e-01 9.98889036e-03 1.82634210e+02] [-5.09139236e-01 8.60666946e-01 -5.44487001e-03 -2.81957858e+01] [-1.13694624e-02 -3.99831472e-04 9.99935286e-01 9.11808974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.262320588 meters 0.031007975790055212 Centerline is valid? [True, True] Translation: X:182.67, Y:-28.20, Z:0.91 [[ 8.62656481e-01 5.05684741e-01 1.03314087e-02 1.82666666e+02] [-5.05653449e-01 8.62718269e-01 -5.63717826e-03 -2.82039420e+01] [-1.17637301e-02 -3.61164081e-04 9.99930740e-01 9.11056088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.292320588 meters 0.030535378706721097 Centerline is valid? [True, True] Translation: X:182.70, Y:-28.21, Z:0.91 [[ 8.63987259e-01 5.03382539e-01 1.14907317e-02 1.82697840e+02] [-5.03343619e-01 8.64063589e-01 -6.27020779e-03 -2.82149380e+01] [-1.30850360e-02 -3.66406841e-04 9.99914320e-01 9.09927496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.322320588 meters 0.02971361774055023 Centerline is valid? [True, True] Translation: X:182.73, Y:-28.22, Z:0.91 [[ 8.66644147e-01 4.98781352e-01 1.20451602e-02 1.82730082e+02] [-4.98738026e-01 8.66727795e-01 -6.58110309e-03 -2.82234566e+01] [-1.37224066e-02 -3.03904944e-04 9.99905797e-01 9.09293737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.352320588 meters 0.02953428166475497 Centerline is valid? [True, True] Translation: X:182.76, Y:-28.24, Z:0.91 [[ 8.67845423e-01 4.96697649e-01 1.16519574e-02 1.82759624e+02] [-4.96656828e-01 8.67923603e-01 -6.37299856e-03 -2.82362655e+01] [-1.32784623e-02 -2.56246591e-04 9.99911804e-01 9.09104276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.382320588 meters 0.028988418136428613 Centerline is valid? [True, True] Translation: X:182.79, Y:-28.25, Z:0.91 [[ 8.69749485e-01 4.93384996e-01 1.03478832e-02 1.82789154e+02] [-4.93352556e-01 8.69811022e-01 -5.66056141e-03 -2.82484160e+01] [-1.17935389e-02 -1.81884269e-04 9.99930437e-01 9.10934543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.412320588 meters 0.029066704482886865 Centerline is valid? [True, True] Translation: X:182.82, Y:-28.26, Z:0.91 [[ 8.70252720e-01 4.92492967e-01 1.05299889e-02 1.82817839e+02] [-4.92459217e-01 8.70316408e-01 -5.76802088e-03 -2.82619183e+01] [-1.20051319e-02 -1.65954240e-04 9.99927922e-01 9.09663069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.442320588 meters 0.02867930265013949 Centerline is valid? [True, True] Translation: X:182.85, Y:-28.28, Z:0.91 [[ 8.70911803e-01 4.91341216e-01 9.82046797e-03 1.82846991e+02] [-4.91311721e-01 8.70967159e-01 -5.38528002e-03 -2.82752967e+01] [-1.11993151e-02 -1.34807099e-04 9.99937277e-01 9.10451113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.472320588 meters 0.028628280739120365 Centerline is valid? [True, True] Translation: X:182.88, Y:-28.29, Z:0.91 [[ 8.71046058e-01 4.91079060e-01 1.09599689e-02 1.82878218e+02] [-4.91042209e-01 8.71114997e-01 -6.01758836e-03 -2.82864911e+01] [-1.25025049e-02 -1.40210707e-04 9.99921831e-01 9.10857334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.502320588 meters 0.028577025183579397 Centerline is valid? [True, True] Translation: X:182.91, Y:-28.30, Z:0.91 [[ 8.71137617e-01 4.90877694e-01 1.25833930e-02 1.82908404e+02] [-4.90829002e-01 8.71228481e-01 -6.91551057e-03 -2.82990827e+01] [-1.43576802e-02 -1.51932824e-04 9.99896912e-01 9.09523201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.532320588 meters 0.028607060661109473 Centerline is valid? [True, True] Translation: X:182.94, Y:-28.31, Z:0.91 [[ 8.71532635e-01 4.90091073e-01 1.55436723e-02 1.82937339e+02] [-4.90016497e-01 8.71671219e-01 -8.55099034e-03 -2.83126278e+01] [-1.77397358e-02 -1.64188687e-04 9.99842625e-01 9.08563584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.562320588 meters 0.028801978433528885 Centerline is valid? [True, True] Translation: X:182.96, Y:-28.33, Z:0.91 [[ 8.71771545e-01 4.89748052e-01 1.26972129e-02 1.82964329e+02] [-4.89698138e-01 8.71863998e-01 -6.99299719e-03 -2.83293455e+01] [-1.44950496e-02 -1.21505567e-04 9.99894934e-01 9.10409170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.592320588 meters 0.028586936748471813 Centerline is valid? [True, True] Translation: X:182.99, Y:-28.34, Z:0.91 [[ 8.71320740e-01 4.90566637e-01 1.20225634e-02 1.82994369e+02] [-4.90521846e-01 8.71403672e-01 -6.63008918e-03 -2.83424113e+01] [-1.37290065e-02 -1.20395804e-04 9.99905746e-01 9.12196734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.622320588 meters 0.028430299634147452 Centerline is valid? [True, True] Translation: X:183.03, Y:-28.35, Z:0.91 [[ 8.71387335e-01 4.90472604e-01 1.09880790e-02 1.83025200e+02] [-4.90435102e-01 8.71456605e-01 -6.06605446e-03 -2.83527192e+01] [-1.25508675e-02 -1.03056615e-04 9.99921229e-01 9.12665814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.652320588 meters 0.028542751441183758 Centerline is valid? [True, True] Translation: X:183.06, Y:-28.36, Z:0.91 [[ 8.71108368e-01 4.90930461e-01 1.25496668e-02 1.83056610e+02] [-4.90881552e-01 8.71198753e-01 -6.93069117e-03 -2.83613650e+01] [-1.43357414e-02 -1.23016820e-04 9.99897230e-01 9.10567663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.682320588 meters 0.028867077264272734 Centerline is valid? [True, True] Translation: X:183.08, Y:-28.38, Z:0.91 [[ 8.70608165e-01 4.91739450e-01 1.52884363e-02 1.83084014e+02] [-4.91666814e-01 8.70742378e-01 -8.45312510e-03 -2.83788291e+01] [-1.74690245e-02 -1.57457060e-04 9.99847393e-01 9.09303501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71232058799998 meters 0.02860719060712877 Centerline is valid? [True, True] Translation: X:183.11, Y:-28.39, Z:0.91 [[ 8.70741996e-01 4.91471059e-01 1.62657681e-02 1.83113372e+02] [-4.91388582e-01 8.70893894e-01 -9.00479784e-03 -2.83938685e+01] [-1.85913556e-02 -1.51957073e-04 9.99827154e-01 9.10251074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74232058799998 meters 0.028391178612320905 Centerline is valid? [True, True] Translation: X:183.14, Y:-28.40, Z:0.91 [[ 8.72096744e-01 4.89106247e-01 1.49113501e-02 1.83144619e+02] [-4.89036440e-01 8.72224209e-01 -8.26373770e-03 -2.84032641e+01] [-1.70478863e-02 -8.54148095e-05 9.99854671e-01 9.11777388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77232058799999 meters 0.028233145531710867 Centerline is valid? [True, True] Translation: X:183.17, Y:-28.42, Z:0.91 [[ 8.73175122e-01 4.87223783e-01 1.33488619e-02 1.83174223e+02] [-4.87167596e-01 8.73277152e-01 -7.39928732e-03 -2.84169652e+01] [-1.52623649e-02 -4.22593663e-05 9.99883522e-01 9.12017163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.802320588 meters 0.02821447080911736 Centerline is valid? [True, True] Translation: X:183.20, Y:-28.43, Z:0.91 [[ 8.73819979e-01 4.86081286e-01 1.27917230e-02 1.83203045e+02] [-4.86029407e-01 8.73913602e-01 -7.10157663e-03 -2.84327067e+01] [-1.46308042e-02 -1.16540126e-05 9.99892964e-01 9.10886347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.832320588 meters 0.028143492053415993 Centerline is valid? [True, True] Translation: X:183.23, Y:-28.45, Z:0.91 [[ 8.74000173e-01 4.85749022e-01 1.30990733e-02 1.83231534e+02] [-4.85694447e-01 8.74098328e-01 -7.28123308e-03 -2.84494538e+01] [-1.49867299e-02 1.65180976e-06 9.99887693e-01 9.11549966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.862320588 meters 0.028184060769296533 Centerline is valid? [True, True] Translation: X:183.26, Y:-28.47, Z:0.91 [[ 8.73070449e-01 4.87410180e-01 1.33906059e-02 1.83260674e+02] [-4.87353202e-01 8.73173131e-01 -7.45253866e-03 -2.84652955e+01] [-1.53247605e-02 -1.93633800e-05 9.99882569e-01 9.11991493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.892320588 meters 0.02823056394851514 Centerline is valid? [True, True] Translation: X:183.29, Y:-28.48, Z:0.91 [[ 8.71635053e-01 4.90024857e-01 1.13125826e-02 1.83288430e+02] [-4.89984322e-01 8.71708459e-01 -6.30297625e-03 -2.84813108e+01] [-1.29498890e-02 -4.90930574e-05 9.99916145e-01 9.12799325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.922320588 meters 0.028176305605310904 Centerline is valid? [True, True] Translation: X:183.32, Y:-28.50, Z:0.91 [[ 8.70892664e-01 4.91357887e-01 1.06487054e-02 1.83317299e+02] [-4.91321973e-01 8.70957762e-01 -5.94097804e-03 -2.84977011e+01] [-1.21937190e-02 -5.79887297e-05 9.99925652e-01 9.13251169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.952320588 meters 0.028236772176610025 Centerline is valid? [True, True] Translation: X:183.35, Y:-28.51, Z:0.91 [[ 8.70280919e-01 4.92404046e-01 1.22220175e-02 1.83346112e+02] [-4.92356747e-01 8.70366733e-01 -6.82524359e-03 -2.85124465e+01] [-1.39984150e-02 -7.77135110e-05 9.99902014e-01 9.12927963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.982320588 meters 0.02824933636586033 Centerline is valid? [True, True] Translation: X:183.38, Y:-28.53, Z:0.91 [[ 8.69814671e-01 4.93239071e-01 1.17327073e-02 1.83375740e+02] [-4.93195444e-01 8.69893794e-01 -6.56060005e-03 -2.85275882e+01] [-1.34421535e-02 -8.00116096e-05 9.99909647e-01 9.13231058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.012320588 meters 0.02805970238085409 Centerline is valid? [True, True] Translation: X:183.40, Y:-28.54, Z:0.91 [[ 8.69628465e-01 4.93633672e-01 8.49295686e-03 1.83404587e+02] [-4.93610811e-01 8.69669934e-01 -4.75108409e-03 -2.85427396e+01] [-9.73136432e-03 -6.05373621e-05 9.99952647e-01 9.14668963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.042320588 meters 0.02802718390478178 Centerline is valid? [True, True] Translation: X:183.43, Y:-28.56, Z:0.92 [[ 8.68766837e-01 4.95150514e-01 8.37564731e-03 1.83433473e+02] [-4.95128279e-01 8.68807207e-01 -4.69293069e-03 -2.85592389e+01] [-9.60052979e-03 -6.99572895e-05 9.99953911e-01 9.15208498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.072320588 meters 0.02822128947783957 Centerline is valid? [True, True] Translation: X:183.46, Y:-28.57, Z:0.92 [[ 8.66772179e-01 4.98616653e-01 9.35002333e-03 1.83461722e+02] [-4.98589093e-01 8.66822600e-01 -5.24371550e-03 -2.85742619e+01] [-1.07194154e-02 -1.16712942e-04 9.99942539e-01 9.17022118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.102320588 meters 0.0283272364123691 Centerline is valid? [True, True] Translation: X:183.49, Y:-28.59, Z:0.92 [[ 8.65450026e-01 5.00890689e-01 1.02357082e-02 1.83490540e+02] [-5.00857751e-01 8.65510540e-01 -5.74624803e-03 -2.85886146e+01] [-1.17373555e-02 -1.53543292e-04 9.99931103e-01 9.17734644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.132320588 meters 0.028842158752162526 Centerline is valid? [True, True] Translation: X:183.52, Y:-28.60, Z:0.92 [[ 8.63151862e-01 5.04787027e-01 1.26063380e-02 1.83518065e+02] [-5.04737391e-01 8.63243879e-01 -7.08316808e-03 -2.86043993e+01] [-1.44578355e-02 -2.49040425e-04 9.99895449e-01 9.15147829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.162320588 meters 0.029021883597173496 Centerline is valid? [True, True] Translation: X:183.55, Y:-28.62, Z:0.91 [[ 8.61923502e-01 5.06899337e-01 1.18717339e-02 1.83546503e+02] [-5.06855400e-01 8.62005217e-01 -6.67902423e-03 -2.86214462e+01] [-1.36190895e-02 -2.60444460e-04 9.99907222e-01 9.14659854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.192320588 meters 0.029220434315425793 Centerline is valid? [True, True] Translation: X:183.57, Y:-28.64, Z:0.92 [[ 8.60584225e-01 5.09189018e-01 1.10152993e-02 1.83573860e+02] [-5.09151299e-01 8.60654676e-01 -6.20346117e-03 -2.86374692e+01] [-1.26391032e-02 -2.69853147e-04 9.99920087e-01 9.15775242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.222320588 meters 0.029375359846616232 Centerline is valid? [True, True] Translation: X:183.60, Y:-28.65, Z:0.92 [[ 8.58336165e-01 5.13023637e-01 8.11017498e-03 1.83604759e+02] [-5.13003312e-01 8.58374447e-01 -4.57271036e-03 -2.86483721e+01] [-9.30747547e-03 -2.35623950e-04 9.99956657e-01 9.18878550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.252320588 meters 0.03007747718086899 Centerline is valid? [True, True] Translation: X:183.63, Y:-28.66, Z:0.92 [[ 8.55732998e-01 5.17336528e-01 9.16261949e-03 1.83634746e+02] [-5.17310785e-01 8.55781992e-01 -5.17050954e-03 -2.86599407e+01] [-1.05160982e-02 -3.15346259e-04 9.99944655e-01 9.19056792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.282320588 meters 0.030420820444309306 Centerline is valid? [True, True] Translation: X:183.66, Y:-28.68, Z:0.92 [[ 8.54169159e-01 5.19919575e-01 8.87038541e-03 1.83662602e+02] [-5.19895533e-01 8.54215152e-01 -5.01093232e-03 -2.86753778e+01] [-1.01824994e-02 -3.31489903e-04 9.99948102e-01 9.18942608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.312320588 meters 0.031316845586702065 Centerline is valid? [True, True] Translation: X:183.69, Y:-28.69, Z:0.92 [[ 8.51316859e-01 5.24563070e-01 9.65356158e-03 1.83692213e+02] [-5.24534840e-01 8.51371488e-01 -5.45802041e-03 -2.86873087e+01] [-1.10818430e-02 -4.17124596e-04 9.99938507e-01 9.18441861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.342320588 meters 0.031484916705767245 Centerline is valid? [True, True] Translation: X:183.72, Y:-28.70, Z:0.92 [[ 8.50074174e-01 5.26552898e-01 1.07677550e-02 1.83722211e+02] [-5.26517860e-01 8.50142227e-01 -6.09395177e-03 -2.86992080e+01] [-1.23629112e-02 -4.89104287e-04 9.99923457e-01 9.20174917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.372320588 meters 0.03218957333240425 Centerline is valid? [True, True] Translation: X:183.75, Y:-28.71, Z:0.92 [[ 8.47891934e-01 5.30075193e-01 9.97785973e-03 1.83753619e+02] [-5.30045350e-01 8.47950493e-01 -5.64692279e-03 -2.87091162e+01] [-1.14540248e-02 -5.00737868e-04 9.99934275e-01 9.22150998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.402320588 meters 0.03241636953879848 Centerline is valid? [True, True] Translation: X:183.78, Y:-28.72, Z:0.92 [[ 8.47005424e-01 5.31523170e-01 8.05803595e-03 1.83784133e+02] [-5.31503704e-01 8.47043652e-01 -4.56776832e-03 -2.87224562e+01] [-9.25338290e-03 -4.13951416e-04 9.99957101e-01 9.22943125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.432320588 meters 0.03260820088653217 Centerline is valid? [True, True] Translation: X:183.82, Y:-28.73, Z:0.92 [[ 8.45444713e-01 5.34026161e-01 6.26871805e-03 1.83816463e+02] [-5.34014425e-01 8.45467884e-01 -3.55679204e-03 -2.87297472e+01] [-7.19941978e-03 -3.40514835e-04 9.99974026e-01 9.21249875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46232058799998 meters 0.03262235081568363 Centerline is valid? [True, True] Translation: X:183.85, Y:-28.74, Z:0.92 [[ 8.44806156e-01 5.35028841e-01 6.83355948e-03 1.83846653e+02] [-5.35014901e-01 8.44833709e-01 -3.88063087e-03 -2.87407865e+01] [-7.84947084e-03 -3.77675301e-04 9.99969121e-01 9.21366223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49232058799998 meters 0.03267907686577628 Centerline is valid? [True, True] Translation: X:183.88, Y:-28.75, Z:0.92 [[ 8.44460675e-01 5.35537524e-01 9.25903656e-03 1.83876549e+02] [-5.35511913e-01 8.44511277e-01 -5.26255068e-03 -2.87523838e+01] [-1.06376541e-02 -5.14307286e-04 9.99943286e-01 9.21591948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52232058799999 meters 0.03289896192565939 Centerline is valid? [True, True] Translation: X:183.91, Y:-28.76, Z:0.92 [[ 8.43998878e-01 5.36239427e-01 1.06381543e-02 1.83908643e+02] [-5.36205606e-01 8.44065709e-01 -6.05199245e-03 -2.87618843e+01] [-1.22246182e-02 -5.96363154e-04 9.99925099e-01 9.24544010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.552320588 meters 0.03264298899571187 Centerline is valid? [True, True] Translation: X:183.94, Y:-28.77, Z:0.92 [[ 8.43865843e-01 5.36477138e-01 9.09497557e-03 1.83942239e+02] [-5.36452376e-01 8.43914700e-01 -5.17947540e-03 -2.87670842e+01] [-1.04540537e-02 -5.08238873e-04 9.99945226e-01 9.24471734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.582320588 meters 0.03262039359181684 Centerline is valid? [True, True] Translation: X:183.97, Y:-28.78, Z:0.92 [[ 8.43685593e-01 5.36772684e-01 8.34905650e-03 1.83973343e+02] [-5.36751784e-01 8.43726774e-01 -4.75957632e-03 -2.87769814e+01] [-9.59913306e-03 -4.65785004e-04 9.99953819e-01 9.22674172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.612320588 meters 0.032324348773227346 Centerline is valid? [True, True] Translation: X:184.01, Y:-28.79, Z:0.92 [[ 8.43442496e-01 5.37156998e-01 8.19241084e-03 1.84005081e+02] [-5.37136840e-01 8.43482158e-01 -4.67592181e-03 -2.87875262e+01] [-9.42185650e-03 -4.56574507e-04 9.99955509e-01 9.21985968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.642320588 meters 0.0316749150982481 Centerline is valid? [True, True] Translation: X:184.04, Y:-28.80, Z:0.92 [[ 8.44428475e-01 5.35622691e-01 6.99169019e-03 1.84035978e+02] [-5.35607923e-01 8.44457338e-01 -3.99464603e-03 -2.87978820e+01] [-8.04380713e-03 -3.71611811e-04 9.99967579e-01 9.23236107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.672320588 meters 0.031155609842192906 Centerline is valid? [True, True] Translation: X:184.07, Y:-28.81, Z:0.92 [[ 8.45280071e-01 5.34270609e-01 7.51788212e-03 1.84065390e+02] [-5.34253447e-01 8.45313415e-01 -4.29937703e-03 -2.88115673e+01] [-8.65199739e-03 -3.82276709e-04 9.99962498e-01 9.24577350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.702320588 meters 0.030353210572333245 Centerline is valid? [True, True] Translation: X:184.10, Y:-28.82, Z:0.93 [[ 8.47800943e-01 5.30273352e-01 6.61316028e-03 1.84096772e+02] [-5.30259959e-01 8.47826681e-01 -3.78070452e-03 -2.88197814e+01] [-7.61162059e-03 -3.01409244e-04 9.99970986e-01 9.25577117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.732320588 meters 0.029892124930583526 Centerline is valid? [True, True] Translation: X:184.13, Y:-28.83, Z:0.93 [[ 8.48603098e-01 5.28958186e-01 8.71892297e-03 1.84127564e+02] [-5.28934767e-01 8.48647804e-01 -4.99163787e-03 -2.88301679e+01] [-1.00396625e-02 -3.75822130e-04 9.99949531e-01 9.25054470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.762320588 meters 0.029063922807244333 Centerline is valid? [True, True] Translation: X:184.16, Y:-28.84, Z:0.92 [[ 8.51710238e-01 5.23901687e-01 1.08023859e-02 1.84160279e+02] [-5.23865337e-01 8.51778650e-01 -6.18388615e-03 -2.88370435e+01] [-1.24409901e-02 -3.92116403e-04 9.99922531e-01 9.24909037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.792320588 meters 0.028480659353422862 Centerline is valid? [True, True] Translation: X:184.19, Y:-28.85, Z:0.92 [[ 8.53018918e-01 5.21775676e-01 1.04340260e-02 1.84189463e+02] [-5.21741507e-01 8.53082661e-01 -5.98102332e-03 -2.88510160e+01] [-1.20218392e-02 -3.41938413e-04 9.99927677e-01 9.23661752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.822320588 meters 0.02783010954700177 Centerline is valid? [True, True] Translation: X:184.22, Y:-28.87, Z:0.92 [[ 8.55422248e-01 5.17889024e-01 6.61335533e-03 1.84217086e+02] [-5.17875187e-01 8.55447792e-01 -3.79024127e-03 -2.88658979e+01] [-7.62030457e-03 -1.82635916e-04 9.99970948e-01 9.23327578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.852320588 meters 0.027455496529072313 Centerline is valid? [True, True] Translation: X:184.25, Y:-28.88, Z:0.92 [[ 8.56306059e-01 5.16439585e-01 5.48519346e-03 1.84245984e+02] [-5.16430001e-01 8.56323617e-01 -3.14931612e-03 -2.88800171e+01] [-6.32353221e-03 -1.35939989e-04 9.99979997e-01 9.23578597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.882320588 meters 0.027455496529072313 Centerline is valid? [True, True] Translation: X:184.27, Y:-28.90, Z:0.92 [[ 8.56035065e-01 5.16888672e-01 5.48336688e-03 1.84274342e+02] [-5.16879077e-01 8.56052616e-01 -3.15249703e-03 -2.88959516e+01] [-6.32354057e-03 -1.35589612e-04 9.99979997e-01 9.23742507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.912320588 meters 0.027241386068264366 Centerline is valid? [True, True] Translation: X:184.30, Y:-28.91, Z:0.92 [[ 8.56401922e-01 5.16262443e-01 6.98844750e-03 1.84304995e+02] [-5.16246803e-01 8.56430420e-01 -4.02185477e-03 -2.89095810e+01] [-8.06145159e-03 -1.63439523e-04 9.99967493e-01 9.24916020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.942320588 meters 0.027079776761322012 Centerline is valid? [True, True] Translation: X:184.34, Y:-28.92, Z:0.93 [[ 8.56284852e-01 5.16417172e-01 9.46342582e-03 1.84336657e+02] [-5.16388454e-01 8.56337116e-01 -5.45053253e-03 -2.89182375e+01] [-1.09186314e-02 -2.19595380e-04 9.99940366e-01 9.27052575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.972320588 meters 0.02715212008356353 Centerline is valid? [True, True] Translation: X:184.37, Y:-28.93, Z:0.93 [[ 8.54636408e-01 5.19153255e-01 8.74686331e-03 1.84367175e+02] [-5.19128808e-01 8.54681136e-01 -5.04340132e-03 -2.89299568e+01] [-1.00940773e-02 -2.30474335e-04 9.99949027e-01 9.27174085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.002320588 meters 0.027347257157588435 Centerline is valid? [True, True] Translation: X:184.40, Y:-28.94, Z:0.93 [[ 8.53578652e-01 5.20879897e-01 9.36043897e-03 1.84396966e+02] [-5.20851944e-01 8.53629933e-01 -5.40267369e-03 -2.89430225e+01] [-1.08044950e-02 -2.63795917e-04 9.99941595e-01 9.26948023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.032320588 meters 0.027511433595062036 Centerline is valid? [True, True] Translation: X:184.43, Y:-28.96, Z:0.93 [[ 8.52802581e-01 5.22132290e-01 1.02776430e-02 1.84426692e+02] [-5.22098610e-01 8.52864456e-01 -5.93806711e-03 -2.89552701e+01] [-1.18658930e-02 -3.01944189e-04 9.99929552e-01 9.26919920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.062320588 meters 0.02757937633130189 Centerline is valid? [True, True] Translation: X:184.46, Y:-28.97, Z:0.93 [[ 8.51786494e-01 5.23793056e-01 1.00300984e-02 1.84456995e+02] [-5.23761022e-01 8.51845489e-01 -5.80122132e-03 -2.89665306e+01] [-1.15827335e-02 -3.11972599e-04 9.99932869e-01 9.28771669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.092320588 meters 0.027463527834295277 Centerline is valid? [True, True] Translation: X:184.49, Y:-28.98, Z:0.93 [[ 8.52171880e-01 5.23202686e-01 7.87634742e-03 1.84488537e+02] [-5.23182859e-01 8.52208246e-01 -4.56087209e-03 -2.89767972e+01] [-9.09854874e-03 -2.34123021e-04 9.99958580e-01 9.28002980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.122320588 meters 0.02749449458631803 Centerline is valid? [True, True] Translation: X:184.52, Y:-28.99, Z:0.93 [[ 8.52489537e-01 5.22678338e-01 8.30325266e-03 1.84519496e+02] [-5.22656284e-01 8.52529939e-01 -4.80751096e-03 -2.89884426e+01] [-9.59155332e-03 -2.41394384e-04 9.99953971e-01 9.26453752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.152320588 meters 0.02734273640985077 Centerline is valid? [True, True] Translation: X:184.55, Y:-29.00, Z:0.93 [[ 8.52999505e-01 5.21832168e-01 9.11222179e-03 1.84550151e+02] [-5.21805543e-01 8.53048137e-01 -5.27742227e-03 -2.89989838e+01] [-1.05270925e-02 -2.53169255e-04 9.99944557e-01 9.26168571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.182320588 meters 0.02706006222264691 Centerline is valid? [True, True] Translation: X:184.58, Y:-29.01, Z:0.93 [[ 8.54098122e-01 5.20017677e-01 9.90013642e-03 1.84582442e+02] [-5.19986107e-01 8.54155462e-01 -5.73542928e-03 -2.90082340e+01] [-1.14387802e-02 -2.49314024e-04 9.99934544e-01 9.28729025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21232058799998 meters 0.026749834718800602 Centerline is valid? [True, True] Translation: X:184.61, Y:-29.02, Z:0.93 [[ 8.55154039e-01 5.18282657e-01 9.72916645e-03 1.84611925e+02] [-5.18252036e-01 8.55209354e-01 -5.63811355e-03 -2.90219280e+01] [-1.12426106e-02 -2.20704745e-04 9.99936775e-01 9.29617042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24232058799998 meters 0.026486755652485292 Centerline is valid? [True, True] Translation: X:184.64, Y:-29.03, Z:0.93 [[ 8.57330538e-01 5.14707917e-01 7.75294984e-03 1.84642886e+02] [-5.14688313e-01 8.57365582e-01 -4.49442985e-03 -2.90330039e+01] [-8.96043098e-03 -1.37140713e-04 9.99959845e-01 9.27737700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27232058799999 meters 0.026295249177287587 Centerline is valid? [True, True] Translation: X:184.67, Y:-29.05, Z:0.93 [[ 8.58886707e-01 5.12103974e-01 7.94637578e-03 1.84672321e+02] [-5.12083254e-01 8.58923458e-01 -4.60794649e-03 -2.90459388e+01] [-9.18507628e-03 -1.11501989e-04 9.99957810e-01 9.26600713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.302320588 meters 0.026035951126616937 Centerline is valid? [True, True] Translation: X:184.70, Y:-29.06, Z:0.93 [[ 8.61824259e-01 5.07111486e-01 9.84311861e-03 1.84704214e+02] [-5.07079350e-01 8.61880465e-01 -5.70940308e-03 -2.90558458e+01] [-1.13788955e-02 -7.07401001e-05 9.99935256e-01 9.27824280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.332320588 meters 0.025930332283812002 Centerline is valid? [True, True] Translation: X:184.73, Y:-29.07, Z:0.93 [[ 8.63124963e-01 5.04866264e-01 1.11961248e-02 1.84733820e+02] [-5.04824472e-01 8.63197575e-01 -6.49605900e-03 -2.90692531e+01] [-1.29441088e-02 -4.51671067e-05 9.99916220e-01 9.29879190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.362320588 meters 0.025813562902391844 Centerline is valid? [True, True] Translation: X:184.76, Y:-29.08, Z:0.93 [[ 8.65304240e-01 5.01135876e-01 1.05548721e-02 1.84763966e+02] [-5.01098433e-01 8.65368611e-01 -6.12592362e-03 -2.90821683e+01] [-1.22037751e-02 1.17578202e-05 9.99925531e-01 9.30759444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.392320588 meters 0.02582139152167056 Centerline is valid? [True, True] Translation: X:184.79, Y:-29.10, Z:0.93 [[ 8.66271361e-01 4.99475974e-01 9.88334753e-03 1.84792198e+02] [-4.99443015e-01 8.66327739e-01 -5.73794250e-03 -2.90972503e+01] [-1.14281825e-02 3.44463666e-05 9.99934696e-01 9.30349425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.422320588 meters 0.025905317488382738 Centerline is valid? [True, True] Translation: X:184.82, Y:-29.11, Z:0.93 [[ 8.67584692e-01 4.97170162e-01 1.08918247e-02 1.84820018e+02] [-4.97129946e-01 8.67653056e-01 -6.32390839e-03 -2.91121054e+01] [-1.25943835e-02 7.18738991e-05 9.99920685e-01 9.27894666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.452320588 meters 0.025786583199907356 Centerline is valid? [True, True] Translation: X:184.85, Y:-29.13, Z:0.93 [[ 8.68127938e-01 4.96203378e-01 1.16658352e-02 1.84846885e+02] [-4.96157143e-01 8.68206311e-01 -6.77427656e-03 -2.91273942e+01] [-1.34897707e-02 9.28512635e-05 9.99909005e-01 9.27462395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.482320588 meters 0.026043999758502332 Centerline is valid? [True, True] Translation: X:184.87, Y:-29.14, Z:0.93 [[ 8.69103771e-01 4.94449044e-01 1.33707776e-02 1.84873759e+02] [-4.94388082e-01 8.69206606e-01 -7.76540412e-03 -2.91429169e+01] [-1.54615648e-02 1.38588933e-04 9.99880453e-01 9.30164131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.512320588 meters 0.02596442123331398 Centerline is valid? [True, True] Translation: X:184.90, Y:-29.16, Z:0.93 [[ 8.69199399e-01 4.94261332e-01 1.40762171e-02 1.84900967e+02] [-4.94193697e-01 8.69313357e-01 -8.17786432e-03 -2.91592904e+01] [-1.62786456e-02 1.51817021e-04 9.99867483e-01 9.30657423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.542320588 meters 0.02582952231512015 Centerline is valid? [True, True] Translation: X:184.93, Y:-29.18, Z:0.93 [[ 8.69536256e-01 4.93728697e-01 1.17759350e-02 1.84928161e+02] [-4.93681275e-01 8.69615981e-01 -6.84427393e-03 -2.91775973e+01] [-1.36197557e-02 1.37785730e-04 9.99907237e-01 9.30895694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.572320588 meters 0.025738092957024984 Centerline is valid? [True, True] Translation: X:184.95, Y:-29.19, Z:0.93 [[ 8.69503365e-01 4.93818187e-01 1.03680098e-02 1.84954944e+02] [-4.93781413e-01 8.69565169e-01 -6.02767079e-03 -2.91949265e+01] [-1.19922337e-02 1.21549482e-04 9.99928083e-01 9.30465462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.602320588 meters 0.025624581908744507 Centerline is valid? [True, True] Translation: X:184.98, Y:-29.21, Z:0.93 [[ 8.69551901e-01 4.93726697e-01 1.06508168e-02 1.84982578e+02] [-4.93687860e-01 8.69617118e-01 -6.19391346e-03 -2.92119310e+01] [-1.23202330e-02 1.27750292e-04 9.99924095e-01 9.29547910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.632320588 meters 0.025510439105437474 Centerline is valid? [True, True] Translation: X:185.01, Y:-29.23, Z:0.93 [[ 8.69323166e-01 4.94098335e-01 1.20028688e-02 1.85010392e+02] [-4.94049020e-01 8.69406013e-01 -6.98215758e-03 -2.92283144e+01] [-1.38852387e-02 1.39745774e-04 9.99903586e-01 9.31100021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.662320588 meters 0.025602294187099285 Centerline is valid? [True, True] Translation: X:185.04, Y:-29.25, Z:0.93 [[ 8.69607212e-01 4.93536155e-01 1.43304496e-02 1.85036999e+02] [-4.93465742e-01 8.69725262e-01 -8.33844888e-03 -2.92462172e+01] [-1.65788800e-02 1.79589346e-04 9.99862545e-01 9.33047637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.692320588 meters 0.02547743408489788 Centerline is valid? [True, True] Translation: X:185.06, Y:-29.26, Z:0.93 [[ 8.69457235e-01 4.93845614e-01 1.26738454e-02 1.85063100e+02] [-4.93790540e-01 8.69549588e-01 -7.37677779e-03 -2.92644251e+01] [-1.46635264e-02 1.55567857e-04 9.99892473e-01 9.33434810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.722320588 meters 0.02530388888678327 Centerline is valid? [True, True] Translation: X:185.09, Y:-29.29, Z:0.93 [[ 8.69166394e-01 4.94418578e-01 1.00024560e-02 1.85088468e+02] [-4.94384272e-01 8.69223939e-01 -5.82546385e-03 -2.92858657e+01] [-1.15745917e-02 1.18240499e-04 9.99933005e-01 9.30289585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.752320588 meters 0.025408924652681512 Centerline is valid? [True, True] Translation: X:185.12, Y:-29.30, Z:0.93 [[ 8.69260272e-01 4.94280640e-01 8.55734637e-03 1.85115481e+02] [-4.94255513e-01 8.69302386e-01 -4.98497129e-03 -2.93038145e+01] [-9.90289642e-03 1.03721881e-04 9.99950960e-01 9.30351272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.782320588 meters 0.025293802538604356 Centerline is valid? [True, True] Translation: X:185.14, Y:-29.32, Z:0.93 [[ 8.69107867e-01 4.94449848e-01 1.30714489e-02 1.85141605e+02] [-4.94391208e-01 8.69206145e-01 -7.61646211e-03 -2.93230305e+01] [-1.51277422e-02 1.57117744e-04 9.99885557e-01 9.32507154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.812320588 meters 0.025333390385832016 Centerline is valid? [True, True] Translation: X:185.17, Y:-29.34, Z:0.93 [[ 8.68906936e-01 4.94798803e-01 1.32242400e-02 1.85168992e+02] [-4.94738766e-01 8.69007549e-01 -7.70932244e-03 -2.93406451e+01] [-1.53065279e-02 1.56139541e-04 9.99882836e-01 9.33717838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.842320588 meters 0.025012882581797336 Centerline is valid? [True, True] Translation: X:185.19, Y:-29.36, Z:0.93 [[ 8.68332521e-01 4.95846422e-01 1.16171489e-02 1.85194675e+02] [-4.95800161e-01 8.68410220e-01 -6.77417902e-03 -2.93599055e+01] [-1.34474032e-02 1.22455670e-04 9.99909572e-01 9.33451856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.872320588 meters 0.025065071601953284 Centerline is valid? [True, True] Translation: X:185.22, Y:-29.38, Z:0.93 [[ 8.67868377e-01 4.96647541e-01 1.20706210e-02 1.85221821e+02] [-4.96597626e-01 8.67952306e-01 -7.04213220e-03 -2.93797911e+01] [-1.39741810e-02 1.17402099e-04 9.99902349e-01 9.32787892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.902320588 meters 0.025143843730866245 Centerline is valid? [True, True] Translation: X:185.25, Y:-29.40, Z:0.93 [[ 8.67225319e-01 4.97702754e-01 1.45675816e-02 1.85245890e+02] [-4.97630167e-01 8.67347654e-01 -8.50081357e-03 -2.94021520e+01] [-1.68660361e-02 1.22852697e-04 9.99857751e-01 9.32168268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.932320588 meters 0.025050615437759986 Centerline is valid? [True, True] Translation: X:185.27, Y:-29.42, Z:0.93 [[ 8.67119953e-01 4.97889835e-01 1.44464514e-02 1.85273627e+02] [-4.97818270e-01 8.67240276e-01 -8.44236833e-03 -2.94196465e+01] [-1.67319138e-02 1.28838592e-04 9.99860003e-01 9.32697459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96232058799998 meters 0.02497042714302548 Centerline is valid? [True, True] Translation: X:185.30, Y:-29.44, Z:0.93 [[ 8.66906440e-01 4.98257508e-01 1.45835383e-02 1.85301579e+02] [-4.98184462e-01 8.67029088e-01 -8.53249525e-03 -2.94367332e+01] [-1.68957317e-02 1.31582903e-04 9.99857248e-01 9.31853711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99232058799998 meters 0.02492103093433016 Centerline is valid? [True, True] Translation: X:185.33, Y:-29.46, Z:0.93 [[ 8.67111950e-01 4.97970660e-01 1.19200651e-02 1.85327162e+02] [-4.97921731e-01 8.67193870e-01 -6.98151772e-03 -2.94571794e+01] [-1.38135983e-02 1.18498009e-04 9.99904581e-01 9.32346094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02232058799999 meters 0.024651710097771694 Centerline is valid? [True, True] Translation: X:185.35, Y:-29.48, Z:0.93 [[ 8.66785581e-01 4.98571143e-01 1.04676783e-02 1.85352195e+02] [-4.98533375e-01 8.66848779e-01 -6.13750947e-03 -2.94780413e+01] [-1.21338793e-02 1.01417706e-04 9.99926377e-01 9.34737195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.052320588 meters 0.024762476914974962 Centerline is valid? [True, True] Translation: X:185.38, Y:-29.50, Z:0.94 [[ 8.66693180e-01 4.98724376e-01 1.08133792e-02 1.85380552e+02] [-4.98683986e-01 8.66760627e-01 -6.34804035e-03 -2.94954798e+01] [-1.25385338e-02 1.09344232e-04 9.99921384e-01 9.35453729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.082320588 meters 0.02492711148487592 Centerline is valid? [True, True] Translation: X:185.41, Y:-29.51, Z:0.93 [[ 8.66141418e-01 4.99615806e-01 1.35310840e-02 1.85406465e+02] [-4.99552558e-01 8.66247095e-01 -7.95060923e-03 -2.95147046e+01] [-1.56935122e-02 1.26864341e-04 9.99876841e-01 9.34272097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.112320588 meters 0.024944286201391115 Centerline is valid? [True, True] Translation: X:185.43, Y:-29.53, Z:0.93 [[ 8.65923956e-01 5.00008462e-01 1.29321741e-02 1.85433388e+02] [-4.99950589e-01 8.66020510e-01 -7.60826132e-03 -2.95333364e+01] [-1.50037231e-02 1.22727658e-04 9.99887430e-01 9.34187620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.142320588 meters 0.024823323220529513 Centerline is valid? [True, True] Translation: X:185.46, Y:-29.55, Z:0.93 [[ 8.66015813e-01 4.99865101e-01 1.23082532e-02 1.85460301e+02] [-4.99812538e-01 8.66103265e-01 -7.24996625e-03 -2.95533925e+01] [-1.42842234e-02 1.26766150e-04 9.99897967e-01 9.33277382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.172320588 meters 0.02489456340092496 Centerline is valid? [True, True] Translation: X:185.49, Y:-29.57, Z:0.93 [[ 8.65757603e-01 5.00307732e-01 1.24878311e-02 1.85489040e+02] [-5.00253544e-01 8.65847652e-01 -7.36444850e-03 -2.95699901e+01] [-1.44970497e-02 1.28745528e-04 9.99894904e-01 9.34206291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.202320588 meters 0.02470069815954525 Centerline is valid? [True, True] Translation: X:185.52, Y:-29.59, Z:0.94 [[ 8.65308905e-01 5.01094205e-01 1.20456505e-02 1.85516955e+02] [-5.01043744e-01 8.65392734e-01 -7.11218358e-03 -2.95874837e+01] [-1.39880924e-02 1.18837940e-04 9.99902155e-01 9.37194931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.232320588 meters 0.024611455772974942 Centerline is valid? [True, True] Translation: X:185.54, Y:-29.61, Z:0.94 [[ 8.64482650e-01 5.02466930e-01 1.40261070e-02 1.85543313e+02] [-5.02398566e-01 8.64596420e-01 -8.28924824e-03 -2.96062942e+01] [-1.62919950e-02 1.19215237e-04 9.99867270e-01 9.36573747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.262320588 meters 0.024765278088933185 Centerline is valid? [True, True] Translation: X:185.57, Y:-29.63, Z:0.93 [[ 8.63904340e-01 5.03469948e-01 1.36858545e-02 1.85569813e+02] [-5.03404825e-01 8.64012731e-01 -8.09826161e-03 -2.96268733e+01] [-1.59019839e-02 1.06598138e-04 9.99873550e-01 9.34548235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.292320588 meters 0.024812205510882236 Centerline is valid? [True, True] Translation: X:185.60, Y:-29.64, Z:0.93 [[ 8.63582488e-01 5.04027361e-01 1.34798321e-02 1.85598070e+02] [-5.03964105e-01 8.63687680e-01 -7.98578382e-03 -2.96435692e+01] [-1.56674184e-02 1.03031564e-04 9.99877253e-01 9.34055933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.322320588 meters 0.024765360789536114 Centerline is valid? [True, True] Translation: X:185.63, Y:-29.66, Z:0.93 [[ 8.63129692e-01 5.04804546e-01 1.33979138e-02 1.85627210e+02] [-5.04742002e-01 8.63233665e-01 -7.94676838e-03 -2.96600549e+01] [-1.55770950e-02 9.66019249e-05 9.99878665e-01 9.32827172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.352320588 meters 0.02493236576830165 Centerline is valid? [True, True] Translation: X:185.65, Y:-29.68, Z:0.93 [[ 8.63000400e-01 5.04989979e-01 1.46775760e-02 1.85654805e+02] [-5.04914799e-01 8.63125199e-01 -8.71413904e-03 -2.96772447e+01] [-1.70691386e-02 1.09380151e-04 9.99854306e-01 9.32917813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.382320588 meters 0.024623165179554336 Centerline is valid? [True, True] Translation: X:185.68, Y:-29.69, Z:0.94 [[ 8.62596724e-01 5.05690300e-01 1.42903016e-02 1.85683143e+02] [-5.05618957e-01 8.62715080e-01 -8.49472767e-03 -2.96943298e+01] [-1.66241601e-02 1.02076862e-04 9.99861804e-01 9.35196417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.412320588 meters 0.024757530516064025 Centerline is valid? [True, True] Translation: X:185.71, Y:-29.71, Z:0.94 [[ 8.62241483e-01 5.06309389e-01 1.37995325e-02 1.85712715e+02] [-5.06242783e-01 8.62351896e-01 -8.21285059e-03 -2.97096600e+01] [-1.60582964e-02 9.55467150e-05 9.99871053e-01 9.35342794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.442320588 meters 0.024709896610079413 Centerline is valid? [True, True] Translation: X:185.74, Y:-29.73, Z:0.93 [[ 8.62945102e-01 5.05125584e-01 1.31869531e-02 1.85741307e+02] [-5.05064478e-01 8.63045844e-01 -7.85773071e-03 -2.97261237e+01] [-1.53500859e-02 1.20528636e-04 9.99882173e-01 9.33849549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.472320588 meters 0.025011456844363605 Centerline is valid? [True, True] Translation: X:185.77, Y:-29.75, Z:0.93 [[ 8.63179045e-01 5.04696636e-01 1.42563117e-02 1.85767587e+02] [-5.04625021e-01 8.63296753e-01 -8.50314274e-03 -2.97450285e+01] [-1.65989351e-02 1.45643036e-04 9.99862218e-01 9.31182188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.502320588 meters 0.025143909477018823 Centerline is valid? [True, True] Translation: X:185.79, Y:-29.77, Z:0.93 [[ 8.64073501e-01 5.03130108e-01 1.53974138e-02 1.85791611e+02] [-5.03046157e-01 8.64210655e-01 -9.19284648e-03 -2.97669878e+01] [-1.79318069e-02 1.97685208e-04 9.99839193e-01 9.30952258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.532320588 meters 0.025137901997832356 Centerline is valid? [True, True] Translation: X:185.82, Y:-29.78, Z:0.93 [[ 8.64524235e-01 5.02382716e-01 1.44724811e-02 1.85819184e+02] [-5.02308264e-01 8.64645339e-01 -8.65134083e-03 -2.97844399e+01] [-1.68598475e-02 2.09646946e-04 9.99857841e-01 9.32465580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.562320588 meters 0.0249191861999719 Centerline is valid? [True, True] Translation: X:185.85, Y:-29.80, Z:0.93 [[ 8.64310054e-01 5.02830130e-01 1.14013199e-02 1.85846034e+02] [-5.02783869e-01 8.64385234e-01 -6.82264520e-03 -2.98018413e+01] [-1.32857641e-02 1.64481112e-04 9.99911727e-01 9.33495062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.592320588 meters 0.024515171472054367 Centerline is valid? [True, True] Translation: X:185.87, Y:-29.82, Z:0.94 [[ 8.62950082e-01 5.05210917e-01 8.89305563e-03 1.85872751e+02] [-5.05182835e-01 8.62995897e-01 -5.32774951e-03 -2.98191366e+01] [-1.03663077e-02 1.04962828e-04 9.99946263e-01 9.35002192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.622320588 meters 0.02456313916346502 Centerline is valid? [True, True] Translation: X:185.90, Y:-29.84, Z:0.93 [[ 8.60565369e-01 5.09224498e-01 1.08469805e-02 1.85899482e+02] [-5.09182942e-01 8.60633723e-01 -6.50588010e-03 -2.98383587e+01] [-1.26482307e-02 7.56376866e-05 9.99920005e-01 9.34293509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.652320588 meters 0.024852635349764854 Centerline is valid? [True, True] Translation: X:185.93, Y:-29.86, Z:0.93 [[ 8.59936170e-01 5.10186021e-01 1.48326814e-02 1.85926488e+02] [-5.10108320e-01 8.60064077e-01 -8.90424528e-03 -2.98556759e+01] [-1.72998779e-02 9.08083550e-05 9.99850342e-01 9.33453287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.682320588 meters 0.024891146127270086 Centerline is valid? [True, True] Translation: X:185.95, Y:-29.88, Z:0.93 [[ 8.59537100e-01 5.10871123e-01 1.43759934e-02 1.85952401e+02] [-5.10798050e-01 8.59657309e-01 -8.64082371e-03 -2.98765723e+01] [-1.67727751e-02 8.38791701e-05 9.99859324e-01 9.32319865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71232058799998 meters 0.024939789651984512 Centerline is valid? [True, True] Translation: X:185.98, Y:-29.89, Z:0.93 [[ 8.59333946e-01 5.11239189e-01 1.34037773e-02 1.85979224e+02] [-5.11175582e-01 8.59438471e-01 -8.06464139e-03 -2.98944756e+01] [-1.56426826e-02 7.85364524e-05 9.99877643e-01 9.32024148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74232058799998 meters 0.0249512269583818 Centerline is valid? [True, True] Translation: X:186.01, Y:-29.91, Z:0.93 [[ 8.60663269e-01 5.09046927e-01 1.14001398e-02 1.86007431e+02] [-5.09000623e-01 8.60738761e-01 -6.86666151e-03 -2.99104902e+01] [-1.33079952e-02 1.07205066e-04 9.99911439e-01 9.34099926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77232058799999 meters 0.0249512269583818 Centerline is valid? [True, True] Translation: X:186.04, Y:-29.93, Z:0.93 [[ 8.60396962e-01 5.09496998e-01 1.13963828e-02 1.86035448e+02] [-5.09450651e-01 8.60472427e-01 -6.87289662e-03 -2.99270020e+01] [-1.33079934e-02 1.07524735e-04 9.99911439e-01 9.34263816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.802320588 meters 0.024914320306807018 Centerline is valid? [True, True] Translation: X:186.06, Y:-29.94, Z:0.93 [[ 8.60992731e-01 5.08464432e-01 1.24675041e-02 1.86062750e+02] [-5.08408752e-01 8.61082982e-01 -7.52593396e-03 -2.99433736e+01] [-1.45622253e-02 1.41186239e-04 9.99893955e-01 9.33635782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.832320588 meters 0.025153008087673078 Centerline is valid? [True, True] Translation: X:186.09, Y:-29.96, Z:0.94 [[ 8.62496881e-01 5.05882097e-01 1.35068170e-02 1.86088161e+02] [-5.05816301e-01 8.62602609e-01 -8.16142907e-03 -2.99638358e+01] [-1.57797365e-02 2.07238895e-04 9.99875471e-01 9.35146918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.862320588 meters 0.025244999444932345 Centerline is valid? [True, True] Translation: X:186.11, Y:-29.98, Z:0.94 [[ 8.62537650e-01 5.05801737e-01 1.39070335e-02 1.86114748e+02] [-5.05731808e-01 8.62649728e-01 -8.41336402e-03 -2.99830040e+01] [-1.62523928e-02 2.23614051e-04 9.99867896e-01 9.36033648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.892320588 meters 0.025342591619135484 Centerline is valid? [True, True] Translation: X:186.14, Y:-30.00, Z:0.94 [[ 8.63234628e-01 5.04670535e-01 1.15597611e-02 1.86139968e+02] [-5.04622021e-01 8.63311999e-01 -7.00060888e-03 -3.00028191e+01] [-1.35126815e-02 2.09857973e-04 9.99908678e-01 9.37162444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.922320588 meters 0.0255222147238572 Centerline is valid? [True, True] Translation: X:186.17, Y:-30.02, Z:0.94 [[ 8.63469788e-01 5.04271289e-01 1.14189836e-02 1.86167287e+02] [-5.04223802e-01 8.63545261e-01 -6.92377780e-03 -3.00218468e+01] [-1.33522716e-02 2.20749604e-04 9.99910830e-01 9.37009479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.952320588 meters 0.025553650182143 Centerline is valid? [True, True] Translation: X:186.19, Y:-30.04, Z:0.94 [[ 8.63692358e-01 5.03900639e-01 1.09388023e-02 1.86194358e+02] [-5.03856932e-01 8.63761597e-01 -6.64045883e-03 -3.00417098e+01] [-1.27946488e-02 2.23722169e-04 9.99918120e-01 9.36387555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.982320588 meters 0.025823171724977688 Centerline is valid? [True, True] Translation: X:186.22, Y:-30.06, Z:0.93 [[ 8.63653308e-01 5.03945853e-01 1.18971105e-02 1.86218682e+02] [-5.03894063e-01 8.63735211e-01 -7.22897420e-03 -3.00632827e+01] [-1.39189648e-02 2.48444130e-04 9.99903096e-01 9.33960742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.012320588 meters 0.025386449835530723 Centerline is valid? [True, True] Translation: X:186.24, Y:-30.09, Z:0.94 [[ 8.62785360e-01 5.05433272e-01 1.17741291e-02 1.86242804e+02] [-5.05382635e-01 8.62865666e-01 -7.15790369e-03 -3.00864684e+01] [-1.37773344e-02 2.25294130e-04 9.99905063e-01 9.36763569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.042320588 meters 0.02554382328250036 Centerline is valid? [True, True] Translation: X:186.27, Y:-30.11, Z:0.94 [[ 8.61977020e-01 5.06816074e-01 1.15362514e-02 1.86268830e+02] [-5.06767475e-01 8.62054189e-01 -7.02148349e-03 -3.01058496e+01] [-1.35034745e-02 2.06160415e-04 9.99908803e-01 9.38544197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.072320588 meters 0.02531219174884738 Centerline is valid? [True, True] Translation: X:186.29, Y:-30.13, Z:0.94 [[ 8.59943928e-01 5.10264308e-01 1.12595154e-02 1.86294383e+02] [-5.10218215e-01 8.60017623e-01 -6.86010191e-03 -3.01258924e+01] [-1.31838468e-02 1.54493138e-04 9.99913077e-01 9.42008545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.102320588 meters 0.025163667760675544 Centerline is valid? [True, True] Translation: X:186.32, Y:-30.14, Z:0.94 [[ 8.58840427e-01 5.12127455e-01 1.08899923e-02 1.86321490e+02] [-5.12084398e-01 8.58909456e-01 -6.64197099e-03 -3.01428425e+01] [-1.27550530e-02 1.27798066e-04 9.99918643e-01 9.41779629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.132320588 meters 0.025340064859000342 Centerline is valid? [True, True] Translation: X:186.35, Y:-30.16, Z:0.94 [[ 8.57676332e-01 5.14075792e-01 1.08346582e-02 1.86348066e+02] [-5.14033221e-01 8.57744757e-01 -6.61659131e-03 -3.01620727e+01] [-1.26948007e-02 1.05519519e-04 9.99919412e-01 9.37957356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.162320588 meters 0.025160725652568678 Centerline is valid? [True, True] Translation: X:186.37, Y:-30.18, Z:0.94 [[ 8.57132430e-01 5.15007564e-01 9.55021931e-03 1.86374037e+02] [-5.14974478e-01 8.57185629e-01 -5.83825016e-03 -3.01809897e+01] [-1.11930537e-02 8.60343443e-05 9.99937352e-01 9.36781581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.192320588 meters 0.025521789117376757 Centerline is valid? [True, True] Translation: X:186.40, Y:-30.20, Z:0.94 [[ 8.56999259e-01 5.15220539e-01 1.00033410e-02 1.86400415e+02] [-5.15184165e-01 8.57057633e-01 -6.12283238e-03 -3.02006672e+01] [-1.17280488e-02 9.36999261e-05 9.99931220e-01 9.37639903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.222320588 meters 0.025633968707202637 Centerline is valid? [True, True] Translation: X:186.43, Y:-30.22, Z:0.94 [[ 8.57163656e-01 5.14921973e-01 1.12173609e-02 1.86427595e+02] [-5.14876183e-01 8.57237044e-01 -6.86785195e-03 -3.02168706e+01] [-1.31523452e-02 1.11321124e-04 9.99913498e-01 9.38933638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.252320588 meters 0.025655143734207533 Centerline is valid? [True, True] Translation: X:186.45, Y:-30.23, Z:0.94 [[ 8.57276491e-01 5.14693925e-01 1.29298604e-02 1.86454403e+02] [-5.14632930e-01 8.57373982e-01 -7.92486404e-03 -3.02337592e+01] [-1.51646052e-02 1.39667724e-04 9.99885001e-01 9.40981725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.282320588 meters 0.02571277371003007 Centerline is valid? [True, True] Translation: X:186.48, Y:-30.25, Z:0.94 [[ 8.56631098e-01 5.15785321e-01 1.21928139e-02 1.86480389e+02] [-5.15731077e-01 8.56717858e-01 -7.48117958e-03 -3.02526631e+01] [-1.43044840e-02 1.20398034e-04 9.99897678e-01 9.41569063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.312320588 meters 0.02577962804486129 Centerline is valid? [True, True] Translation: X:186.51, Y:-30.27, Z:0.94 [[ 8.56214984e-01 5.16511004e-01 1.05963986e-02 1.86505901e+02] [-5.16470001e-01 8.56280546e-01 -6.50880563e-03 -3.02734191e+01] [-1.24353597e-02 1.00214915e-04 9.99922673e-01 9.40851419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.342320588 meters 0.025735121589895313 Centerline is valid? [True, True] Translation: X:186.53, Y:-30.29, Z:0.94 [[ 8.55828563e-01 5.17185120e-01 8.77628440e-03 1.86532525e+02] [-5.17156966e-01 8.55873557e-01 -5.39691775e-03 -3.02909630e+01] [-1.03025953e-02 8.01197467e-05 9.99946924e-01 9.39103041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.372320588 meters 0.025734431266742807 Centerline is valid? [True, True] Translation: X:186.56, Y:-30.31, Z:0.94 [[ 8.55174459e-01 5.18245162e-01 9.92954088e-03 1.86558817e+02] [-5.18209193e-01 8.55232101e-01 -6.10626051e-03 -3.03091650e+01] [-1.16566021e-02 7.63386635e-05 9.99932057e-01 9.38008352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.402320588 meters 0.025855474052120315 Centerline is valid? [True, True] Translation: X:186.59, Y:-30.33, Z:0.94 [[ 8.54412872e-01 5.19494538e-01 1.02014218e-02 1.86586868e+02] [-5.19456543e-01 8.54473768e-01 -6.28328650e-03 -3.03271368e+01] [-1.19809804e-02 6.93255572e-05 9.99928223e-01 9.38819766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.432320588 meters 0.025729345727300696 Centerline is valid? [True, True] Translation: X:186.61, Y:-30.35, Z:0.94 [[ 8.53345593e-01 5.21268838e-01 8.94969134e-03 1.86612845e+02] [-5.21239690e-01 8.53392522e-01 -5.51255160e-03 -3.03459597e+01] [-1.05111210e-02 3.91772685e-05 9.99944756e-01 9.41255884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46232058799998 meters 0.02576695648036177 Centerline is valid? [True, True] Translation: X:186.64, Y:-30.36, Z:0.94 [[ 8.51850553e-01 5.23714380e-01 8.59557727e-03 1.86640784e+02] [-5.23687530e-01 8.51893918e-01 -5.30315658e-03 -3.03643961e+01] [-1.00998594e-02 1.61002308e-05 9.99948995e-01 9.41430447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49232058799998 meters 0.0258926450937746 Centerline is valid? [True, True] Translation: X:186.67, Y:-30.38, Z:0.94 [[ 8.49407674e-01 5.27661469e-01 8.94302265e-03 1.86668506e+02] [-5.27632553e-01 8.49454751e-01 -5.52403737e-03 -3.03827237e+01] [-1.05115147e-02 -2.64701467e-05 9.99944752e-01 9.40072724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52232058799999 meters 0.025976515379863375 Centerline is valid? [True, True] Translation: X:186.70, Y:-30.40, Z:0.94 [[ 8.47188177e-01 5.31215806e-01 9.05314546e-03 1.86696879e+02] [-5.31186307e-01 8.47236545e-01 -5.59862658e-03 -3.03994012e+01] [-1.06442346e-02 -6.58166520e-05 9.99943346e-01 9.40162941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.552320588 meters 0.026266599265293473 Centerline is valid? [True, True] Translation: X:186.72, Y:-30.42, Z:0.94 [[ 8.43140157e-01 5.37638374e-01 7.72364340e-03 1.86724620e+02] [-5.37617126e-01 8.43175524e-01 -4.78138584e-03 -3.04150579e+01] [-9.08304358e-03 -1.20984559e-04 9.99958741e-01 9.41990776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.582320588 meters 0.02645749360663781 Centerline is valid? [True, True] Translation: X:186.75, Y:-30.43, Z:0.94 [[ 8.41250283e-01 5.40581736e-01 8.32753786e-03 1.86751870e+02] [-5.40557130e-01 8.41291484e-01 -5.16026371e-03 -3.04312900e+01] [-9.79543100e-03 -1.60436663e-04 9.99952011e-01 9.43012738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.612320588 meters 0.026785781341853703 Centerline is valid? [True, True] Translation: X:186.78, Y:-30.45, Z:0.94 [[ 8.39644586e-01 5.43057725e-01 9.23452712e-03 1.86779981e+02] [-5.43027563e-01 8.39695341e-01 -5.72715437e-03 -3.04459653e+01] [-1.08643648e-02 -2.05828595e-04 9.99940960e-01 9.42661314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.642320588 meters 0.026940114463829348 Centerline is valid? [True, True] Translation: X:186.81, Y:-30.46, Z:0.94 [[ 8.39417313e-01 5.43396877e-01 9.92008632e-03 1.86809216e+02] [-5.43362007e-01 8.39475899e-01 -6.15984130e-03 -3.04615815e+01] [-1.16749119e-02 -2.19520581e-04 9.99931822e-01 9.40309069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.672320588 meters 0.026712363656842587 Centerline is valid? [True, True] Translation: X:186.84, Y:-30.48, Z:0.94 [[ 8.39548240e-01 5.43192870e-01 1.00129579e-02 1.86838521e+02] [-5.43157245e-01 8.39607921e-01 -6.22461404e-03 -3.04771570e+01] [-1.17881247e-02 -2.12746863e-04 9.99930495e-01 9.39675770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.702320588 meters 0.026713145771121913 Centerline is valid? [True, True] Translation: X:186.87, Y:-30.49, Z:0.94 [[ 8.39352744e-01 5.43485030e-01 1.05352925e-02 1.86867538e+02] [-5.43445524e-01 8.39418830e-01 -6.55669442e-03 -3.04931378e+01] [-1.24069882e-02 -2.21978088e-04 9.99923006e-01 9.40275774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.732320588 meters 0.026519054406950616 Centerline is valid? [True, True] Translation: X:186.90, Y:-30.50, Z:0.94 [[ 8.39791946e-01 5.42829195e-01 9.27105298e-03 1.86897739e+02] [-5.42798498e-01 8.39843099e-01 -5.77575729e-03 -3.05048289e+01] [-1.09214795e-02 -1.81879178e-04 9.99940342e-01 9.44726934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.762320588 meters 0.026267172624226672 Centerline is valid? [True, True] Translation: X:186.93, Y:-30.52, Z:0.95 [[ 8.40111237e-01 5.42342062e-01 8.84291001e-03 1.86927129e+02] [-5.42314048e-01 8.40157759e-01 -5.51477536e-03 -3.05189184e+01] [-1.04203341e-02 -1.62609573e-04 9.99945694e-01 9.45600154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.792320588 meters 0.0260265294766603 Centerline is valid? [True, True] Translation: X:186.96, Y:-30.53, Z:0.94 [[ 8.41486457e-01 5.40229836e-01 7.22957209e-03 1.86956430e+02] [-5.40210990e-01 8.41517506e-01 -4.51370656e-03 -3.05326605e+01] [-8.52225043e-03 -1.07271355e-04 9.99963679e-01 9.44956456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.822320588 meters 0.025980446098334005 Centerline is valid? [True, True] Translation: X:186.98, Y:-30.55, Z:0.94 [[ 8.41592124e-01 5.40054789e-01 7.97008451e-03 1.86984849e+02] [-5.40031820e-01 8.41629855e-01 -4.98207816e-03 -3.05491255e+01] [-9.39845624e-03 -1.11221503e-04 9.99955827e-01 9.43733721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.852320588 meters 0.025896131226187318 Centerline is valid? [True, True] Translation: X:187.01, Y:-30.56, Z:0.94 [[ 8.42060852e-01 5.39314921e-01 8.54031493e-03 1.87014057e+02] [-5.39288448e-01 8.42104153e-01 -5.34455128e-03 -3.05647438e+01] [-1.00742309e-02 -1.05255783e-04 9.99949248e-01 9.43713600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.882320588 meters 0.025668280566018224 Centerline is valid? [True, True] Translation: X:187.04, Y:-30.58, Z:0.94 [[ 8.43609085e-01 5.36881298e-01 9.06548361e-03 1.87044433e+02] [-5.36851272e-01 8.43657790e-01 -5.67853822e-03 -3.05772159e+01] [-1.06968668e-02 -7.63499712e-05 9.99942784e-01 9.44600548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.912320588 meters 0.02563234626547448 Centerline is valid? [True, True] Translation: X:187.07, Y:-30.59, Z:0.95 [[ 8.44304973e-01 5.35773733e-01 9.77851770e-03 1.87074587e+02] [-5.35738637e-01 8.44361595e-01 -6.13270322e-03 -3.05918578e+01] [-1.15423461e-02 -6.08579150e-05 9.99933383e-01 9.45686585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.942320588 meters 0.025341418122780443 Centerline is valid? [True, True] Translation: X:187.11, Y:-30.60, Z:0.95 [[ 8.46518514e-01 5.32280654e-01 9.14938888e-03 1.87105589e+02] [-5.32249661e-01 8.46567957e-01 -5.74394004e-03 -3.06026760e+01] [-1.08029676e-02 -7.40755060e-06 9.99941646e-01 9.45786338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.972320588 meters 0.02540011999585753 Centerline is valid? [True, True] Translation: X:187.13, Y:-30.62, Z:0.95 [[ 8.48881853e-01 5.28507115e-01 8.93474894e-03 1.87134466e+02] [-5.28477275e-01 8.48928871e-01 -5.61629208e-03 -3.06187535e+01] [-1.05532166e-02 4.57566549e-05 9.99944312e-01 9.45304828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.002320588 meters 0.025448623120125014 Centerline is valid? [True, True] Translation: X:187.16, Y:-30.64, Z:0.95 [[ 8.50536464e-01 5.25834084e-01 9.28652114e-03 1.87161108e+02] [-5.25801629e-01 8.50587155e-01 -5.84279697e-03 -3.06361431e+01] [-1.09713374e-02 8.66439333e-05 9.99939809e-01 9.45723461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.032320588 meters 0.025445001990733206 Centerline is valid? [True, True] Translation: X:187.19, Y:-30.65, Z:0.95 [[ 8.51525991e-01 5.24242477e-01 8.56226012e-03 1.87188871e+02] [-5.24214736e-01 8.51569031e-01 -5.39405119e-03 -3.06536210e+01] [-1.01191463e-02 1.04711856e-04 9.99948795e-01 9.46803384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.062320588 meters 0.025730349441590958 Centerline is valid? [True, True] Translation: X:187.22, Y:-30.67, Z:0.95 [[ 8.53514415e-01 5.20986766e-01 9.27002777e-03 1.87217025e+02] [-5.20954000e-01 8.53564739e-01 -5.84515110e-03 -3.06690223e+01] [-1.09578152e-02 1.59662672e-04 9.99939949e-01 9.47004967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.092320588 meters 0.02582292237715854 Centerline is valid? [True, True] Translation: X:187.25, Y:-30.69, Z:0.95 [[ 8.54340463e-01 5.19639976e-01 8.75609659e-03 1.87245113e+02] [-5.19610600e-01 8.54385315e-01 -5.52794399e-03 -3.06859282e+01] [-1.03536210e-02 1.72985618e-04 9.99946385e-01 9.45188130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.122320588 meters 0.02577677655445398 Centerline is valid? [True, True] Translation: X:187.27, Y:-30.70, Z:0.94 [[ 8.53837500e-01 5.20479030e-01 7.94380212e-03 1.87270852e+02] [-5.20454842e-01 8.53874438e-01 -5.02001473e-03 -3.07046128e+01] [-9.39582197e-03 1.51886550e-04 9.99955847e-01 9.44454530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.152320588 meters 0.025797294028502372 Centerline is valid? [True, True] Translation: X:187.30, Y:-30.73, Z:0.94 [[ 8.52906862e-01 5.21980370e-01 9.29398746e-03 1.87295925e+02] [-5.21947276e-01 8.52957482e-01 -5.88001037e-03 -3.07263842e+01] [-1.09966261e-02 1.64129749e-04 9.99939522e-01 9.42474300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.182320588 meters 0.025555282878979766 Centerline is valid? [True, True] Translation: X:187.32, Y:-30.74, Z:0.94 [[ 8.52060212e-01 5.23342244e-01 1.03097241e-02 1.87322954e+02] [-5.23301533e-01 8.52122566e-01 -6.52981090e-03 -3.07449096e+01] [-1.22024744e-02 1.68697630e-04 9.99925533e-01 9.43466210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21232058799998 meters 0.02558700915561275 Centerline is valid? [True, True] Translation: X:187.35, Y:-30.76, Z:0.94 [[ 8.51019812e-01 5.25027844e-01 1.05376549e-02 1.87350415e+02] [-5.24985346e-01 8.51085037e-01 -6.68183065e-03 -3.07627135e+01] [-1.24765876e-02 1.54255855e-04 9.99922152e-01 9.44314286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24232058799998 meters 0.025535162115159406 Centerline is valid? [True, True] Translation: X:187.38, Y:-30.78, Z:0.94 [[ 8.49600098e-01 5.27300510e-01 1.15691793e-02 1.87377337e+02] [-5.27249382e-01 8.49678853e-01 -7.34414071e-03 -3.07819086e+01] [-1.37026561e-02 1.39740030e-04 9.99906104e-01 9.44447571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27232058799999 meters 0.025317586926846908 Centerline is valid? [True, True] Translation: X:187.40, Y:-30.80, Z:0.94 [[ 8.47617922e-01 5.30519772e-01 9.62446692e-03 1.87402327e+02] [-5.30484589e-01 8.47672558e-01 -6.11023345e-03 -3.08033604e+01] [-1.13999962e-02 7.35120047e-05 9.99935015e-01 9.44040458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.302320588 meters 0.02545340372867404 Centerline is valid? [True, True] Translation: X:187.43, Y:-30.82, Z:0.94 [[ 8.46565890e-01 5.32196990e-01 9.62071559e-03 1.87429625e+02] [-5.32161835e-01 8.46620553e-01 -6.11724524e-03 -3.08217804e+01] [-1.14006751e-02 5.88734964e-05 9.99935008e-01 9.44320029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.332320588 meters 0.02521809797581064 Centerline is valid? [True, True] Translation: X:187.46, Y:-30.84, Z:0.94 [[ 8.45013287e-01 5.34642095e-01 1.05059136e-02 1.87456805e+02] [-5.34600267e-01 8.45078593e-01 -6.68772268e-03 -3.08396964e+01] [-1.24538608e-02 3.47502866e-05 9.99922447e-01 9.44228673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.362320588 meters 0.025036120450917743 Centerline is valid? [True, True] Translation: X:187.48, Y:-30.86, Z:0.94 [[ 8.42805110e-01 5.38102229e-01 1.12043379e-02 1.87484297e+02] [-5.38054849e-01 8.42879583e-01 -7.14060800e-03 -3.08571066e+01] [-1.32862847e-02 -1.04074104e-05 9.99911733e-01 9.44928766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.392320588 meters 0.0250646042742474 Centerline is valid? [True, True] Translation: X:187.51, Y:-30.87, Z:0.94 [[ 8.41037646e-01 5.40862898e-01 1.10906901e-02 1.87512330e+02] [-5.40816602e-01 8.41110768e-01 -7.07667791e-03 -3.08742974e+01] [-1.31560114e-02 -4.62767869e-05 9.99913455e-01 9.44191862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.422320588 meters 0.025030533995903888 Centerline is valid? [True, True] Translation: X:187.54, Y:-30.89, Z:0.94 [[ 8.39237049e-01 5.43679450e-01 9.68660731e-03 1.87542032e+02] [-5.43644234e-01 8.39292946e-01 -6.18842858e-03 -3.08891879e+01] [-1.14944226e-02 -7.25096756e-05 9.99933934e-01 9.44187462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.452320588 meters 0.024936887088739576 Centerline is valid? [True, True] Translation: X:187.57, Y:-30.91, Z:0.95 [[ 8.38220153e-01 5.45250816e-01 9.40864562e-03 1.87569975e+02] [-5.45217612e-01 8.38272951e-01 -6.01790630e-03 -3.09059635e+01] [-1.11682814e-02 -8.54289593e-05 9.99937629e-01 9.45801206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.482320588 meters 0.025033724438517334 Centerline is valid? [True, True] Translation: X:187.60, Y:-30.93, Z:0.95 [[ 8.37109272e-01 5.46914204e-01 1.15290885e-02 1.87595490e+02] [-5.46864416e-01 8.37188651e-01 -7.38059984e-03 -3.09255022e+01] [-1.36885770e-02 -1.26479720e-04 9.99906299e-01 9.48171675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.512320588 meters 0.024918424509109204 Centerline is valid? [True, True] Translation: X:187.62, Y:-30.94, Z:0.95 [[ 8.37076520e-01 5.46949756e-01 1.22010001e-02 1.87623123e+02] [-5.46893864e-01 8.37165425e-01 -7.82007340e-03 -3.09433668e+01] [-1.44914426e-02 -1.26652245e-04 9.99894986e-01 9.48356474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.542320588 meters 0.02484012998462054 Centerline is valid? [True, True] Translation: X:187.65, Y:-30.96, Z:0.95 [[ 8.36951106e-01 5.47147199e-01 1.19494183e-02 1.87652298e+02] [-5.47093479e-01 8.37036396e-01 -7.66787365e-03 -3.09589178e+01] [-1.41975537e-02 -1.19813520e-04 9.99899202e-01 9.48185907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.572320588 meters 0.02484981106972019 Centerline is valid? [True, True] Translation: X:187.68, Y:-30.97, Z:0.95 [[ 8.36601959e-01 5.47684159e-01 1.17993158e-02 1.87682000e+02] [-5.47631709e-01 8.36685154e-01 -7.58045406e-03 -3.09740456e+01] [-1.40240070e-02 -1.19856765e-04 9.99901652e-01 9.47868575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.602320588 meters 0.02458619730871241 Centerline is valid? [True, True] Translation: X:187.71, Y:-30.99, Z:0.95 [[ 8.35906872e-01 5.48788619e-01 9.52643966e-03 1.87711145e+02] [-5.48754428e-01 8.35961148e-01 -6.12671262e-03 -3.09879615e+01] [-1.13260036e-02 -1.06314771e-04 9.99935853e-01 9.46936293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.632320588 meters 0.024570675785001585 Centerline is valid? [True, True] Translation: X:187.74, Y:-31.01, Z:0.95 [[ 8.36214285e-01 5.48282330e-01 1.14959194e-02 1.87738290e+02] [-5.48232399e-01 8.36293294e-01 -7.40021901e-03 -3.10052578e+01] [-1.36713697e-02 -1.14266649e-04 9.99906536e-01 9.46857166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.662320588 meters 0.024621757996766767 Centerline is valid? [True, True] Translation: X:187.76, Y:-31.02, Z:0.95 [[ 8.36278462e-01 5.48130892e-01 1.38151662e-02 1.87764622e+02] [-5.48058619e-01 8.36392557e-01 -8.90172129e-03 -3.10240293e+01] [-1.64342106e-02 -1.27203125e-04 9.99864941e-01 9.46850409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.692320588 meters 0.024621757996766767 Centerline is valid? [True, True] Translation: X:187.79, Y:-31.04, Z:0.95 [[ 8.35987504e-01 5.48574671e-01 1.38102599e-02 1.87792110e+02] [-5.48502333e-01 8.36101558e-01 -8.90933256e-03 -3.10413751e+01] [-1.64342140e-02 -1.26869069e-04 9.99864941e-01 9.47014298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.722320588 meters 0.024511491905478158 Centerline is valid? [True, True] Translation: X:187.82, Y:-31.06, Z:0.95 [[ 8.36779691e-01 5.47364530e-01 1.38498693e-02 1.87819246e+02] [-5.47291439e-01 8.36894296e-01 -8.94530960e-03 -3.10606658e+01] [-1.64872218e-02 -9.46615211e-05 9.99864072e-01 9.47968774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.752320588 meters 0.02434035710103221 Centerline is valid? [True, True] Translation: X:187.85, Y:-31.08, Z:0.95 [[ 8.38668992e-01 5.44501198e-01 1.23599253e-02 1.87845916e+02] [-5.44442557e-01 8.38760064e-01 -7.99111623e-03 -3.10787332e+01] [-1.47181841e-02 -2.73679297e-05 9.99891681e-01 9.49143941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.782320588 meters 0.024163324396533892 Centerline is valid? [True, True] Translation: X:187.87, Y:-31.10, Z:0.95 [[ 8.39490850e-01 5.43266753e-01 1.07864609e-02 1.87873104e+02] [-5.43221975e-01 8.39560144e-01 -6.97497038e-03 -3.10958032e+01] [-1.28451521e-02 -4.01875365e-06 9.99917498e-01 9.48968166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.812320588 meters 0.02427534464975501 Centerline is valid? [True, True] Translation: X:187.90, Y:-31.11, Z:0.95 [[ 8.40120459e-01 5.42303385e-01 1.02300324e-02 1.87899666e+02] [-5.42262911e-01 8.40182741e-01 -6.62543277e-03 -3.11149304e+01] [-1.21880913e-02 1.87944624e-05 9.99925722e-01 9.47214658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.842320588 meters 0.0242865603723333 Centerline is valid? [True, True] Translation: X:187.93, Y:-31.13, Z:0.95 [[ 8.40232810e-01 5.42141077e-01 9.58526817e-03 1.87926417e+02] [-5.42105449e-01 8.40287482e-01 -6.21528340e-03 -3.11349842e+01] [-1.14239413e-02 2.60589300e-05 9.99934744e-01 9.46191729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.872320588 meters 0.024350873906332452 Centerline is valid? [True, True] Translation: X:187.95, Y:-31.16, Z:0.94 [[ 8.39682039e-01 5.42975151e-01 1.05857996e-02 1.87950374e+02] [-5.42931665e-01 8.39748763e-01 -6.87184553e-03 -3.11595518e+01] [-1.26206535e-02 2.27994690e-05 9.99920356e-01 9.44084452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.902320588 meters 0.02436054380525682 Centerline is valid? [True, True] Translation: X:187.98, Y:-31.18, Z:0.95 [[ 8.39504856e-01 5.43275264e-01 9.14245233e-03 1.87975272e+02] [-5.43242778e-01 8.39554636e-01 -5.94109627e-03 -3.11802673e+01] [-1.09032389e-02 2.10079691e-05 9.99940558e-01 9.45841471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.932320588 meters 0.024364042621646702 Centerline is valid? [True, True] Translation: X:188.00, Y:-31.20, Z:0.95 [[ 8.39131492e-01 5.43856882e-01 8.83349360e-03 1.88000298e+02] [-5.43826511e-01 8.39177986e-01 -5.74755592e-03 -3.12030670e+01] [-1.05387212e-02 1.90671721e-05 9.99944466e-01 9.46014618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96232058799998 meters 0.024277044208820472 Centerline is valid? [True, True] Translation: X:188.03, Y:-31.22, Z:0.95 [[ 8.38598676e-01 5.44695731e-01 7.66950839e-03 1.88026013e+02] [-5.44672824e-01 8.38633746e-01 -4.99543280e-03 -3.12219257e+01] [-9.15289947e-03 1.17905387e-05 9.99958111e-01 9.45906704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99232058799998 meters 0.02439600153042549 Centerline is valid? [True, True] Translation: X:188.05, Y:-31.24, Z:0.95 [[ 8.38112156e-01 5.45426728e-01 8.81471978e-03 1.88051830e+02] [-5.45396438e-01 8.38158508e-01 -5.74817220e-03 -3.12418487e+01] [-1.05233391e-02 1.00962219e-05 9.99944628e-01 9.45587450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02232058799999 meters 0.02432926562147065 Centerline is valid? [True, True] Translation: X:188.08, Y:-31.26, Z:0.95 [[ 8.37103387e-01 5.46959977e-01 9.62823378e-03 1.88078242e+02] [-5.46923857e-01 8.37158757e-01 -6.28578167e-03 -3.12617151e+01] [-1.14984312e-02 -4.06162396e-06 9.99933891e-01 9.46594895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.052320588 meters 0.024334103271513752 Centerline is valid? [True, True] Translation: X:188.10, Y:-31.28, Z:0.95 [[ 8.36076847e-01 5.48536277e-01 9.13557535e-03 1.88102564e+02] [-5.48503774e-01 8.36126756e-01 -5.97135698e-03 -3.12840835e+01] [-1.09140049e-02 -1.83842395e-05 9.99940440e-01 9.49839859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.082320588 meters 0.02435313023413728 Centerline is valid? [True, True] Translation: X:188.13, Y:-31.30, Z:0.95 [[ 8.35362472e-01 5.49630110e-01 8.73402092e-03 1.88129156e+02] [-5.49600390e-01 8.35408129e-01 -5.71568661e-03 -3.13033577e+01] [-1.04379855e-02 -2.55512095e-05 9.99945522e-01 9.49323174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.112320588 meters 0.024391283486224925 Centerline is valid? [True, True] Translation: X:188.15, Y:-31.33, Z:0.95 [[ 8.34764491e-01 5.50526434e-01 9.42815376e-03 1.88153761e+02] [-5.50491781e-01 8.34817731e-01 -6.17692927e-03 -3.13265397e+01] [-1.12713528e-02 -3.38399406e-05 9.99936476e-01 9.46540886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.142320588 meters 0.024332574391326727 Centerline is valid? [True, True] Translation: X:188.18, Y:-31.35, Z:0.95 [[ 8.34229794e-01 5.51296838e-01 1.15085983e-02 1.88178596e+02] [-5.51245188e-01 8.34309172e-01 -7.54645111e-03 -3.13472143e+01] [-1.37620638e-02 -4.85850933e-05 9.99905297e-01 9.46822511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.172320588 meters 0.024665561334193623 Centerline is valid? [True, True] Translation: X:188.20, Y:-31.37, Z:0.95 [[ 8.33228063e-01 5.52746900e-01 1.42077125e-02 1.88202663e+02] [-5.52668241e-01 8.33349181e-01 -9.32508078e-03 -3.13691628e+01] [-1.69943951e-02 -8.22324751e-05 9.99855581e-01 9.48189077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.202320588 meters 0.024604309087649538 Centerline is valid? [True, True] Translation: X:188.23, Y:-31.39, Z:0.95 [[ 8.30537265e-01 5.56849339e-01 1.12545295e-02 1.88228515e+02] [-5.56800251e-01 8.30613507e-01 -7.39475581e-03 -3.13885224e+01] [-1.34659291e-02 -1.24904570e-04 9.99909322e-01 9.49279733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.232320588 meters 0.024522558126794748 Centerline is valid? [True, True] Translation: X:188.26, Y:-31.41, Z:0.95 [[ 8.29110660e-01 5.59001445e-01 9.63837479e-03 1.88255402e+02] [-5.58965495e-01 8.29166670e-01 -6.34099900e-03 -3.14079514e+01] [-1.15364467e-02 -1.30129069e-04 9.99933445e-01 9.50786007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.262320588 meters 0.02477414211206777 Centerline is valid? [True, True] Translation: X:188.28, Y:-31.43, Z:0.95 [[ 8.28023156e-01 5.60620002e-01 9.10310017e-03 1.88282528e+02] [-5.60587954e-01 8.28073182e-01 -5.99596183e-03 -3.14274598e+01] [-1.08994893e-02 -1.38293062e-04 9.99940589e-01 9.51302741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.292320588 meters 0.024989143670581623 Centerline is valid? [True, True] Translation: X:188.31, Y:-31.45, Z:0.95 [[ 8.26527688e-01 5.62785326e-01 1.11649895e-02 1.88308229e+02] [-5.62737230e-01 8.26603071e-01 -7.36029639e-03 -3.14469713e+01] [-1.33712814e-02 -1.99466486e-04 9.99910581e-01 9.52363667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.322320588 meters 0.025235346410848288 Centerline is valid? [True, True] Translation: X:188.34, Y:-31.47, Z:0.95 [[ 8.25321050e-01 5.64555768e-01 1.10430983e-02 1.88335332e+02] [-5.64508780e-01 8.25394897e-01 -7.28703284e-03 -3.14650501e+01] [-1.32288534e-02 -2.19784340e-04 9.99912471e-01 9.52212010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.352320588 meters 0.025807425212176053 Centerline is valid? [True, True] Translation: X:188.36, Y:-31.48, Z:0.95 [[ 8.22977997e-01 5.67971665e-01 1.07426754e-02 1.88362704e+02] [-5.67927400e-01 8.23048066e-01 -7.09572439e-03 -3.14819299e+01] [-1.28719086e-02 -2.61434658e-04 9.99917119e-01 9.49358902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.382320588 meters 0.025777797160753273 Centerline is valid? [True, True] Translation: X:188.39, Y:-31.50, Z:0.95 [[ 8.22303336e-01 5.68957879e-01 1.02056959e-02 1.88391372e+02] [-5.68917908e-01 8.22366625e-01 -6.74890649e-03 -3.14976132e+01] [-1.22326672e-02 -2.56554841e-04 9.99925145e-01 9.48715523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.412320588 meters 0.025941175681507292 Centerline is valid? [True, True] Translation: X:188.42, Y:-31.51, Z:0.95 [[ 8.20644804e-01 5.71359508e-01 9.50880163e-03 1.88421275e+02] [-5.71324903e-01 8.20699848e-01 -6.29395985e-03 -3.15114781e+01] [-1.13999859e-02 -2.67509726e-04 9.99934982e-01 9.49215847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.442320588 meters 0.026056104250763913 Centerline is valid? [True, True] Translation: X:188.45, Y:-31.53, Z:0.95 [[ 8.20020571e-01 5.72247019e-01 9.98060889e-03 1.88449198e+02] [-5.72208886e-01 8.20081256e-01 -6.61247953e-03 -3.15274608e+01] [-1.19688820e-02 -2.88623859e-04 9.99928329e-01 9.49989260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.472320588 meters 0.02598224390135162 Centerline is valid? [True, True] Translation: X:188.48, Y:-31.54, Z:0.95 [[ 8.20411365e-01 5.71686066e-01 1.00117381e-02 1.88477797e+02] [-5.71647576e-01 8.20472404e-01 -6.63947548e-03 -3.15422701e+01] [-1.20100504e-02 -2.76084669e-04 9.99927839e-01 9.50950695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.502320588 meters 0.02593286166137539 Centerline is valid? [True, True] Translation: X:188.51, Y:-31.56, Z:0.95 [[ 8.20772025e-01 5.71169066e-01 9.95902703e-03 1.88505784e+02] [-5.71130866e-01 8.20832401e-01 -6.61091378e-03 -3.15575027e+01] [-1.19506415e-02 -2.61854640e-04 9.99928554e-01 9.50763267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.532320588 meters 0.02594792483650258 Centerline is valid? [True, True] Translation: X:188.54, Y:-31.57, Z:0.95 [[ 8.20332739e-01 5.71800774e-01 9.90312693e-03 1.88537325e+02] [-5.71762957e-01 8.20392470e-01 -6.58146713e-03 -3.15704303e+01] [-1.18877388e-02 -2.63248181e-04 9.99929304e-01 9.49979059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.562320588 meters 0.025987789226884536 Centerline is valid? [True, True] Translation: X:188.57, Y:-31.59, Z:0.95 [[ 8.19515420e-01 5.72968829e-01 1.00596564e-02 1.88566378e+02] [-5.72929822e-01 8.19577112e-01 -6.69156844e-03 -3.15851301e+01] [-1.20787243e-02 -2.79633642e-04 9.99927010e-01 9.49460661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.592320588 meters 0.026030232418948595 Centerline is valid? [True, True] Translation: X:188.60, Y:-31.60, Z:0.95 [[ 8.18827575e-01 5.73990462e-01 7.50683397e-03 1.88597466e+02] [-5.73968734e-01 8.18861956e-01 -4.99895201e-03 -3.15961422e+01] [-9.01641153e-03 -2.15408237e-04 9.99959328e-01 9.49382479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.622320588 meters 0.026053436133113585 Centerline is valid? [True, True] Translation: X:188.63, Y:-31.61, Z:0.95 [[ 8.18029533e-01 5.75138025e-01 6.62833254e-03 1.88626842e+02] [-5.75121079e-01 8.18056363e-01 -4.41947857e-03 -3.16111007e+01] [-7.96415979e-03 -1.96829768e-04 9.99968266e-01 9.49500848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.652320588 meters 0.025707485612472512 Centerline is valid? [True, True] Translation: X:188.66, Y:-31.62, Z:0.95 [[ 8.17960756e-01 5.75243867e-01 5.89031096e-03 1.88656004e+02] [-5.75230490e-01 8.17981945e-01 -3.92699637e-03 -3.16244255e+01] [-7.07714860e-03 -1.76157543e-04 9.99974941e-01 9.52497204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.682320588 meters 0.025862321774695593 Centerline is valid? [True, True] Translation: X:188.68, Y:-31.64, Z:0.95 [[ 8.18347932e-01 5.74683199e-01 6.77371391e-03 1.88684730e+02] [-5.74665432e-01 8.18375943e-01 -4.52305145e-03 -3.16403730e+01] [-8.14276619e-03 -1.91189433e-04 9.99966829e-01 9.52424582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71232058799998 meters 0.02556314699967929 Centerline is valid? [True, True] Translation: X:188.72, Y:-31.65, Z:0.95 [[ 8.19325431e-01 5.73252141e-01 9.37129231e-03 1.88716707e+02] [-5.73217974e-01 8.19378988e-01 -6.26331096e-03 -3.16524327e+01] [-1.12690964e-02 -2.40103239e-04 9.99936473e-01 9.53264516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74232058799998 meters 0.02541737879177641 Centerline is valid? [True, True] Translation: X:188.75, Y:-31.67, Z:0.95 [[ 8.19622639e-01 5.72790693e-01 1.13820582e-02 1.88746680e+02] [-5.72740139e-01 8.19701619e-01 -7.61504020e-03 -3.16677950e+01] [-1.36917157e-02 -2.77502273e-04 9.99906226e-01 9.53266749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77232058799999 meters 0.025244692790505802 Centerline is valid? [True, True] Translation: X:188.78, Y:-31.68, Z:0.95 [[ 8.20275750e-01 5.71875438e-01 1.03042314e-02 1.88776546e+02] [-5.71833850e-01 8.20340435e-01 -6.90061432e-03 -3.16802930e+01] [-1.23992695e-02 -2.31901733e-04 9.99923099e-01 9.54052459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.802320588 meters 0.025099181716657874 Centerline is valid? [True, True] Translation: X:188.81, Y:-31.69, Z:0.95 [[ 8.20199982e-01 5.72021790e-01 7.94111696e-03 1.88807718e+02] [-5.71997041e-01 8.20238405e-01 -5.32391734e-03 -3.16923286e+01] [-9.55900584e-03 -1.75618493e-04 9.99954296e-01 9.54509235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.832320588 meters 0.02490836686116825 Centerline is valid? [True, True] Translation: X:188.84, Y:-31.71, Z:0.95 [[ 8.20923035e-01 5.70996923e-01 6.91984403e-03 1.88836027e+02] [-5.70978092e-01 8.20952187e-01 -4.63946287e-03 -3.17079785e+01] [-8.32998011e-03 -1.42437399e-04 9.99965295e-01 9.54890115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.862320588 meters 0.024293335020226767 Centerline is valid? [True, True] Translation: X:188.86, Y:-31.72, Z:0.96 [[ 8.24152148e-01 5.66293200e-01 9.23298630e-03 1.88863464e+02] [-5.66259293e-01 8.24203857e-01 -6.19808062e-03 -3.17249377e+01] [-1.11197938e-02 -1.20102832e-04 9.99938166e-01 9.56653997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.892320588 meters 0.024366226315011646 Centerline is valid? [True, True] Translation: X:188.89, Y:-31.74, Z:0.96 [[ 8.25713300e-01 5.63990922e-01 1.05729153e-02 1.88890233e+02] [-5.63946164e-01 8.25780983e-01 -7.10581261e-03 -3.17437764e+01] [-1.27385262e-02 -9.51910514e-05 9.99918857e-01 9.56067038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.922320588 meters 0.024490716728606986 Centerline is valid? [True, True] Translation: X:188.92, Y:-31.76, Z:0.96 [[ 8.26659947e-01 5.62545451e-01 1.32645644e-02 1.88916801e+02] [-5.62474691e-01 8.26766357e-01 -8.92260077e-03 -3.17627058e+01] [-1.59860640e-02 -8.50250819e-05 9.99872211e-01 9.55748669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.952320588 meters 0.024265179554294983 Centerline is valid? [True, True] Translation: X:188.94, Y:-31.78, Z:0.96 [[ 8.28457531e-01 5.59936757e-01 1.13554898e-02 1.88944155e+02] [-5.59884544e-01 8.28535351e-01 -7.64658480e-03 -3.17796567e+01] [-1.36900286e-02 -2.28924609e-05 9.99906287e-01 9.55588630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.982320588 meters 0.02427342680861158 Centerline is valid? [True, True] Translation: X:188.97, Y:-31.80, Z:0.96 [[ 8.28456139e-01 5.59973141e-01 9.51354725e-03 1.88970907e+02] [-5.59936415e-01 8.28510761e-01 -6.41323206e-03 -3.17974221e+01] [-1.14733140e-02 -1.39000690e-05 9.99934179e-01 9.55125604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.012320588 meters 0.024347704525406487 Centerline is valid? [True, True] Translation: X:189.00, Y:-31.82, Z:0.96 [[ 8.28006256e-01 5.60645571e-01 9.06550165e-03 1.88997467e+02] [-5.60612180e-01 8.28055882e-01 -6.11887117e-03 -3.18169464e+01] [-1.09372600e-02 -1.57670332e-05 9.99940186e-01 9.55633541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.042320588 meters 0.024008650601807097 Centerline is valid? [True, True] Translation: X:189.02, Y:-31.84, Z:0.96 [[ 8.26836290e-01 5.62409231e-01 6.13236037e-03 1.89020539e+02] [-5.62393964e-01 8.26859031e-01 -4.14398985e-03 -3.18396847e+01] [-7.40121569e-03 -2.24012659e-05 9.99972610e-01 9.57707489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.072320588 meters 0.024184247115265012 Centerline is valid? [True, True] Translation: X:189.05, Y:-31.86, Z:0.96 [[ 8.25980725e-01 5.63665194e-01 6.11488493e-03 1.89046183e+02] [-5.63650009e-01 8.26003359e-01 -4.13743208e-03 -3.18606878e+01] [-7.38304195e-03 -2.92158046e-05 9.99972745e-01 9.56622446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.102320588 meters 0.024817668718865142 Centerline is valid? [True, True] Translation: X:189.07, Y:-31.88, Z:0.96 [[ 8.20402006e-01 5.71678753e-01 1.11334119e-02 1.89070899e+02] [-5.71629099e-01 8.20477526e-01 -7.53672688e-03 -3.18806795e+01] [-1.34433009e-02 -1.81036385e-04 9.99909618e-01 9.56679061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.132320588 meters 0.025719436169822297 Centerline is valid? [True, True] Translation: X:189.09, Y:-31.90, Z:0.96 [[ 8.14778601e-01 5.79694559e-01 9.48946854e-03 1.89094223e+02] [-5.79658952e-01 8.14833817e-01 -6.43037371e-03 -3.19033092e+01] [-1.14599925e-02 -2.61324494e-04 9.99934298e-01 9.59213491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.162320588 meters 0.02622635364240039 Centerline is valid? [True, True] Translation: X:189.12, Y:-31.92, Z:0.96 [[ 8.12574866e-01 5.82794253e-01 8.54087878e-03 1.89119988e+02] [-5.82765525e-01 8.12619705e-01 -5.79290291e-03 -3.19217808e+01] [-1.03165569e-02 -2.70162401e-04 9.99946746e-01 9.60514370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.192320588 meters 0.02658816540131149 Centerline is valid? [True, True] Translation: X:189.15, Y:-31.94, Z:0.96 [[ 8.10683003e-01 5.85414802e-01 9.08725296e-03 1.89147601e+02] [-5.85382387e-01 8.10733870e-01 -6.16871701e-03 -3.19376191e+01] [-1.09786020e-02 -3.18643795e-04 9.99939683e-01 9.60627672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.222320588 meters 0.027027115251439554 Centerline is valid? [True, True] Translation: X:189.18, Y:-31.95, Z:0.96 [[ 8.08970461e-01 5.87782108e-01 8.88742543e-03 1.89176194e+02] [-5.87751181e-01 8.09019208e-01 -6.03903422e-03 -3.19533024e+01] [-1.07397342e-02 -3.38194497e-04 9.99942270e-01 9.60101277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.252320588 meters 0.027027115251439554 Centerline is valid? [True, True] Translation: X:189.20, Y:-31.97, Z:0.96 [[ 8.08675889e-01 5.88187366e-01 8.88422842e-03 1.89203253e+02] [-5.88156412e-01 8.08724618e-01 -6.04373772e-03 -3.19713250e+01] [-1.07397444e-02 -3.37890946e-04 9.99942270e-01 9.60265225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.282320588 meters 0.02744548701729989 Centerline is valid? [True, True] Translation: X:189.23, Y:-31.99, Z:0.96 [[ 8.06731172e-01 5.90831983e-01 1.01184974e-02 1.89231696e+02] [-5.90791968e-01 8.06794516e-01 -6.88902047e-03 -3.19872123e+01] [-1.22338018e-02 -4.20339412e-04 9.99925076e-01 9.59273048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.312320588 meters 0.02744548701729989 Centerline is valid? [True, True] Translation: X:189.26, Y:-32.01, Z:0.96 [[ 8.06434947e-01 5.91236303e-01 1.01148591e-02 1.89258741e+02] [-5.91196253e-01 8.06498269e-01 -6.89436253e-03 -3.20052656e+01] [-1.22338138e-02 -4.20011907e-04 9.99925076e-01 9.59437014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.342320588 meters 0.028180146783502343 Centerline is valid? [True, True] Translation: X:189.29, Y:-32.02, Z:0.96 [[ 8.04300414e-01 5.94125443e-01 1.07611226e-02 1.89285280e+02] [-5.94080376e-01 8.04372248e-01 -7.33434708e-03 -3.20231096e+01] [-1.30134706e-02 -4.93953368e-04 9.99915199e-01 9.59408413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.372320588 meters 0.02952376776763884 Centerline is valid? [True, True] Translation: X:189.31, Y:-32.04, Z:0.96 [[ 8.00436139e-01 5.99324191e-01 1.06066329e-02 1.89312687e+02] [-5.99280855e-01 8.00506208e-01 -7.22962541e-03 -3.20389163e+01] [-1.28235649e-02 -5.69498555e-04 9.99917613e-01 9.61498654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.402320588 meters 0.03060964542675294 Centerline is valid? [True, True] Translation: X:189.34, Y:-32.05, Z:0.96 [[ 7.97043157e-01 6.03815837e-01 1.13420398e-02 1.89343252e+02] [-6.03766729e-01 7.97123557e-01 -7.73119307e-03 -3.20491400e+01] [-1.37092239e-02 -6.85851753e-04 9.99905789e-01 9.62473391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.432320588 meters 0.030816292125815277 Centerline is valid? [True, True] Translation: X:189.37, Y:-32.06, Z:0.96 [[ 7.95984151e-01 6.05198339e-01 1.20084043e-02 1.89371997e+02] [-6.05143306e-01 7.96074380e-01 -8.19519953e-03 -3.20636163e+01] [-1.45193042e-02 -7.43556558e-04 9.99894313e-01 9.61471673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46232058799998 meters 0.03118656963812864 Centerline is valid? [True, True] Translation: X:189.40, Y:-32.08, Z:0.96 [[ 7.94991480e-01 6.06519965e-01 1.10489604e-02 1.89401220e+02] [-6.06473408e-01 7.95067947e-01 -7.54747263e-03 -3.20774412e+01] [-1.33623671e-02 -7.00724246e-04 9.99910474e-01 9.60380860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49232058799998 meters 0.031071818443235727 Centerline is valid? [True, True] Translation: X:189.43, Y:-32.09, Z:0.96 [[ 7.95360967e-01 6.06040653e-01 1.07544814e-02 1.89430415e+02] [-6.05996414e-01 7.95433391e-01 -7.35300759e-03 -3.20922329e+01] [-1.30106951e-02 -6.68881913e-04 9.99915134e-01 9.60168112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52232058799999 meters 0.02995001944222824 Centerline is valid? [True, True] Translation: X:189.46, Y:-32.10, Z:0.96 [[ 7.97823361e-01 6.02832091e-01 8.44710659e-03 1.89463449e+02] [-6.02804629e-01 7.97867930e-01 -5.77453079e-03 -3.20995850e+01] [-1.02207479e-02 -4.84899387e-04 9.99947649e-01 9.60812499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.552320588 meters 0.029440328493438927 Centerline is valid? [True, True] Translation: X:189.49, Y:-32.11, Z:0.96 [[ 7.98671975e-01 6.01723597e-01 7.19639081e-03 1.89492662e+02] [-6.01703561e-01 7.98704298e-01 -4.92632078e-03 -3.21138534e+01] [-8.71207173e-03 -3.95579632e-04 9.99961971e-01 9.60484323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.582320588 meters 0.029440328493438927 Centerline is valid? [True, True] Translation: X:189.52, Y:-32.13, Z:0.96 [[ 7.98375382e-01 6.02117098e-01 7.19377439e-03 1.89519684e+02] [-6.02097043e-01 7.98407693e-01 -4.93014192e-03 -3.21319994e+01] [-8.71208756e-03 -3.95246349e-04 9.99961971e-01 9.60648367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.612320588 meters 0.028712686046394553 Centerline is valid? [True, True] Translation: X:189.55, Y:-32.15, Z:0.96 [[ 8.00180948e-01 5.99690015e-01 9.07396655e-03 1.89549034e+02] [-5.99657960e-01 8.00232259e-01 -6.21791443e-03 -3.21469431e+01] [-1.09901019e-02 -4.65819610e-04 9.99939499e-01 9.59537952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.642320588 meters 0.028482665908439644 Centerline is valid? [True, True] Translation: X:189.58, Y:-32.16, Z:0.96 [[ 8.00611116e-01 5.99093561e-01 1.04281412e-02 1.89577397e+02] [-5.99051069e-01 8.00678859e-01 -7.15410202e-03 -3.21629987e+01] [-1.26355687e-02 -5.19335543e-04 9.99920033e-01 9.60296951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.672320588 meters 0.02804345046519646 Centerline is valid? [True, True] Translation: X:189.61, Y:-32.17, Z:0.96 [[ 8.02224341e-01 5.96926896e-01 1.06952079e-02 1.89609373e+02] [-5.96881919e-01 8.02295481e-01 -7.34415435e-03 -3.21732863e+01] [-1.29646402e-02 -4.92116822e-04 9.99915834e-01 9.60724456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.702320588 meters 0.027472824203123303 Centerline is valid? [True, True] Translation: X:189.64, Y:-32.19, Z:0.96 [[ 8.03416584e-01 5.95308228e-01 1.13976189e-02 1.89639455e+02] [-5.95256965e-01 8.03497273e-01 -7.82795868e-03 -3.21871331e+01] [-1.38180039e-02 -4.95400216e-04 9.99904404e-01 9.60079551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.732320588 meters 0.0271430918767892 Centerline is valid? [True, True] Translation: X:189.67, Y:-32.20, Z:0.96 [[ 8.04270330e-01 5.94161962e-01 1.09908657e-02 1.89668861e+02] [-5.94114128e-01 8.04345296e-01 -7.55293025e-03 -3.22021176e+01] [-1.33281150e-02 -4.55230869e-04 9.99911073e-01 9.59731196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.762320588 meters 0.0268328517427545 Centerline is valid? [True, True] Translation: X:189.70, Y:-32.22, Z:0.96 [[ 8.06062069e-01 5.91714387e-01 1.17483820e-02 1.89699459e+02] [-5.91659412e-01 8.06147561e-01 -8.07771463e-03 -3.22152204e+01] [-1.42506295e-02 -4.39901423e-04 9.99898358e-01 9.59089837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.792320588 meters 0.025944495989237315 Centerline is valid? [True, True] Translation: X:189.73, Y:-32.23, Z:0.96 [[ 8.08667317e-01 5.88158362e-01 1.12654997e-02 1.89730253e+02] [-5.88107438e-01 8.08745703e-01 -7.74791439e-03 -3.22270610e+01] [-1.36679251e-02 -3.59839037e-04 9.99906525e-01 9.60948102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.822320588 meters 0.02586998149373629 Centerline is valid? [True, True] Translation: X:189.76, Y:-32.24, Z:0.96 [[ 8.09964846e-01 5.86368754e-01 1.13416282e-02 1.89758106e+02] [-5.86316833e-01 8.10044184e-01 -7.80974141e-03 -3.22431773e+01] [-1.37666083e-02 -3.24171530e-04 9.99905183e-01 9.60772760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.852320588 meters 0.025314140989371327 Centerline is valid? [True, True] Translation: X:189.79, Y:-32.26, Z:0.96 [[ 8.12731930e-01 5.82508564e-01 1.22712064e-02 1.89786969e+02] [-5.82447327e-01 8.12824517e-01 -8.45078422e-03 -3.22587356e+01] [-1.48969916e-02 -2.79109183e-04 9.99888995e-01 9.60014179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.882320588 meters 0.02538079216980341 Centerline is valid? [True, True] Translation: X:189.82, Y:-32.28, Z:0.96 [[ 8.13351698e-01 5.81617183e-01 1.34337810e-02 1.89815576e+02] [-5.81543465e-01 8.13462584e-01 -9.26406550e-03 -3.22757352e+01] [-1.63160179e-02 -2.77384157e-04 9.99866846e-01 9.59697836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.912320588 meters 0.02523335765248351 Centerline is valid? [True, True] Translation: X:189.84, Y:-32.29, Z:0.96 [[ 8.13501692e-01 5.81428973e-01 1.24638180e-02 1.89843925e+02] [-5.81365370e-01 8.13597129e-01 -8.60344205e-03 -3.22913380e+01] [-1.51428170e-02 -2.47117496e-04 9.99885310e-01 9.60675075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.942320588 meters 0.02504088846471177 Centerline is valid? [True, True] Translation: X:189.88, Y:-32.30, Z:0.96 [[ 8.13735827e-01 5.81147004e-01 1.01075953e-02 1.89876291e+02] [-5.81105117e-01 8.13798576e-01 -6.98002014e-03 -3.23018794e+01] [-1.22819644e-02 -1.93682888e-04 9.99924555e-01 9.62700950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.972320588 meters 0.025155436159528758 Centerline is valid? [True, True] Translation: X:189.91, Y:-32.31, Z:0.96 [[ 8.12808452e-01 5.82446002e-01 9.95362996e-03 1.89906530e+02] [-5.82405464e-01 8.12869369e-01 -6.87491527e-03 -3.23146570e+01] [-1.20952678e-02 -2.09059246e-04 9.99926828e-01 9.62733332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.002320588 meters 0.025144665949563702 Centerline is valid? [True, True] Translation: X:189.93, Y:-32.33, Z:0.96 [[ 8.12387957e-01 5.83030009e-01 1.00903808e-02 1.89932701e+02] [-5.82988371e-01 8.12450589e-01 -6.97132395e-03 -3.23329758e+01] [-1.22624269e-02 -2.19155069e-04 9.99924790e-01 9.63099251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.032320588 meters 0.025241481050311588 Centerline is valid? [True, True] Translation: X:189.96, Y:-32.35, Z:0.96 [[ 8.12494866e-01 5.82839358e-01 1.22627402e-02 1.89960412e+02] [-5.82777805e-01 8.12587358e-01 -8.47442474e-03 -3.23502534e+01] [-1.49037760e-02 -2.61026234e-04 9.99888898e-01 9.62387490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.062320588 meters 0.02530191498354285 Centerline is valid? [True, True] Translation: X:189.99, Y:-32.37, Z:0.96 [[ 8.12947461e-01 5.82205487e-01 1.23772839e-02 1.89989612e+02] [-5.82142669e-01 8.13041640e-01 -8.55597205e-03 -3.23650085e+01] [-1.50445811e-02 -2.49789330e-04 9.99886793e-01 9.62312093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.092320588 meters 0.02500850883945864 Centerline is valid? [True, True] Translation: X:190.02, Y:-32.38, Z:0.96 [[ 8.14712989e-01 5.79801109e-01 8.56853803e-03 1.90021693e+02] [-5.79770845e-01 8.14758034e-01 -5.92566788e-03 -3.23762554e+01] [-1.04169940e-02 -1.40069937e-04 9.99945732e-01 9.61350134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.122320588 meters 0.0249407547692635 Centerline is valid? [True, True] Translation: X:190.05, Y:-32.39, Z:0.96 [[ 8.15351565e-01 5.78896034e-01 9.01146601e-03 1.90048670e+02] [-5.78862488e-01 8.15401351e-01 -6.23347470e-03 -3.23930744e+01] [-1.09564953e-02 -1.33926285e-04 9.99939967e-01 9.59901234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.152320588 meters 0.024859185379220758 Centerline is valid? [True, True] Translation: X:190.08, Y:-32.41, Z:0.96 [[ 8.16706570e-01 5.76970395e-01 9.77457317e-03 1.90075070e+02] [-5.76930767e-01 8.16765052e-01 -6.76320171e-03 -3.24120160e+01] [-1.18856969e-02 -1.15700728e-04 9.99929356e-01 9.59058535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.182320588 meters 0.024801352266011236 Centerline is valid? [True, True] Translation: X:190.10, Y:-32.43, Z:0.96 [[ 8.18202552e-01 5.74807113e-01 1.18898090e-02 1.90101733e+02] [-5.74748216e-01 8.18288930e-01 -8.22891698e-03 -3.24295335e+01] [-1.44593391e-02 -1.00725660e-04 9.99895453e-01 9.61335083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21232058799998 meters 0.024842520670566543 Centerline is valid? [True, True] Translation: X:190.13, Y:-32.45, Z:0.96 [[ 8.18675889e-01 5.74120505e-01 1.24673300e-02 1.90130184e+02] [-5.74055607e-01 8.18770809e-01 -8.63266661e-03 -3.24458346e+01] [-1.51640768e-02 -8.95846928e-05 9.99885015e-01 9.62290132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24232058799998 meters 0.02465635508590886 Centerline is valid? [True, True] Translation: X:190.16, Y:-32.46, Z:0.96 [[ 8.19862468e-01 5.72446674e-01 1.14165796e-02 1.90159489e+02] [-5.72392066e-01 8.19941951e-01 -7.90701225e-03 -3.24604429e+01] [-1.38872754e-02 -5.20970131e-05 9.99903566e-01 9.63072560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27232058799999 meters 0.024709220674162542 Centerline is valid? [True, True] Translation: X:190.19, Y:-32.48, Z:0.96 [[ 8.19947117e-01 5.72337760e-01 1.07802205e-02 1.90185996e+02] [-5.72289032e-01 8.20017979e-01 -7.46840353e-03 -3.24781066e+01] [-1.31144240e-02 -4.57060078e-05 9.99914001e-01 9.62857994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.302320588 meters 0.024697038310511853 Centerline is valid? [True, True] Translation: X:190.21, Y:-32.50, Z:0.96 [[ 8.20705203e-01 5.71233178e-01 1.16458311e-02 1.90212766e+02] [-5.71176168e-01 8.20787826e-01 -8.07029375e-03 -3.24964634e+01] [-1.41687759e-02 -2.84891060e-05 9.99899617e-01 9.63473430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.332320588 meters 0.024756830837353062 Centerline is valid? [True, True] Translation: X:190.24, Y:-32.51, Z:0.96 [[ 8.21431755e-01 5.70162602e-01 1.28249472e-02 1.90240112e+02] [-5.70093295e-01 8.21531866e-01 -8.88978654e-03 -3.25140716e+01] [-1.56047267e-02 -9.06346176e-06 9.99878239e-01 9.63516143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.362320588 meters 0.024767382069046173 Centerline is valid? [True, True] Translation: X:190.27, Y:-32.53, Z:0.96 [[ 8.24261848e-01 5.66073042e-01 1.23982334e-02 1.90266035e+02] [-5.66007745e-01 8.24355085e-01 -8.59805257e-03 -3.25341054e+01] [-1.50876725e-02 6.95505633e-05 9.99886172e-01 9.63531708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.392320588 meters 0.024897657604332393 Centerline is valid? [True, True] Translation: X:190.29, Y:-32.56, Z:0.96 [[ 8.25132541e-01 5.64797285e-01 1.26616200e-02 1.90290964e+02] [-5.64729003e-01 8.25229676e-01 -8.78269862e-03 -3.25551276e+01] [-1.54091889e-02 9.65063716e-05 9.99881267e-01 9.63605433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.422320588 meters 0.025020076400275242 Centerline is valid? [True, True] Translation: X:190.32, Y:-32.57, Z:0.97 [[ 8.26009013e-01 5.63512902e-01 1.27404474e-02 1.90316940e+02] [-5.63443576e-01 8.26107253e-01 -8.83981339e-03 -3.25746082e+01] [-1.55063249e-02 1.23242307e-04 9.99879762e-01 9.65609983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.452320588 meters 0.02489516225556889 Centerline is valid? [True, True] Translation: X:190.34, Y:-32.59, Z:0.97 [[ 8.25552662e-01 5.64202671e-01 1.17536616e-02 1.90343890e+02] [-5.64143668e-01 8.25636321e-01 -8.16008124e-03 -3.25931220e+01] [-1.43081896e-02 1.05823020e-04 9.99897627e-01 9.65992887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.482320588 meters 0.02479406949803511 Centerline is valid? [True, True] Translation: X:190.37, Y:-32.61, Z:0.97 [[ 8.24723046e-01 5.65437379e-01 1.06051067e-02 1.90369835e+02] [-5.65389427e-01 8.24791225e-01 -7.36417307e-03 -3.26128006e+01] [-1.29109777e-02 7.73880349e-05 9.99916647e-01 9.65742268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.512320588 meters 0.024678947698533096 Centerline is valid? [True, True] Translation: X:190.39, Y:-32.64, Z:0.96 [[ 8.23049875e-01 5.67903610e-01 8.62516721e-03 1.90393644e+02] [-5.67872008e-01 8.23095067e-01 -5.99110841e-03 -3.26353053e+01] [-1.05017047e-02 3.29900029e-05 9.99944855e-01 9.63496481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.542320588 meters 0.024755377330099207 Centerline is valid? [True, True] Translation: X:190.42, Y:-32.66, Z:0.96 [[ 8.21579372e-01 5.70003280e-01 1.01782684e-02 1.90418638e+02] [-5.69959410e-01 8.21642417e-01 -7.07174521e-03 -3.26550053e+01] [-1.23938151e-02 8.80010306e-06 9.99923194e-01 9.62329019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.572320588 meters 0.02484412231125672 Centerline is valid? [True, True] Translation: X:190.45, Y:-32.67, Z:0.96 [[ 8.21500832e-01 5.70111090e-01 1.04751296e-02 1.90445405e+02] [-5.70064589e-01 8.21567614e-01 -7.28146372e-03 -3.26747713e+01] [-1.27572704e-02 1.02280591e-05 9.99918623e-01 9.62054512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.602320588 meters 0.024811100593339287 Centerline is valid? [True, True] Translation: X:190.47, Y:-32.70, Z:0.96 [[ 8.21097976e-01 5.70658899e-01 1.21051374e-02 1.90470761e+02] [-5.70596833e-01 8.21187202e-01 -8.41626100e-03 -3.26950712e+01] [-1.47433981e-02 3.42181660e-06 9.99891310e-01 9.62227181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.632320588 meters 0.024708053011173133 Centerline is valid? [True, True] Translation: X:190.49, Y:-32.72, Z:0.96 [[ 8.20756651e-01 5.71164182e-01 1.14016036e-02 1.90494806e+02] [-5.71109138e-01 8.20835841e-01 -7.92939665e-03 -3.27166212e+01] [-1.38878322e-02 -3.45493636e-06 9.99903559e-01 9.64243631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.662320588 meters 0.024724498768613903 Centerline is valid? [True, True] Translation: X:190.52, Y:-32.74, Z:0.96 [[ 8.19501891e-01 5.72977442e-01 1.06537223e-02 1.90521107e+02] [-5.72929508e-01 8.19571138e-01 -7.41142028e-03 -3.27359975e+01] [-1.29780599e-02 -3.01589413e-05 9.99915781e-01 9.62910578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.692320588 meters 0.024819663705983118 Centerline is valid? [True, True] Translation: X:190.55, Y:-32.76, Z:0.96 [[ 8.19298106e-01 5.73266111e-01 1.07971966e-02 1.90547281e+02] [-5.73216854e-01 8.19369248e-01 -7.51483096e-03 -3.27558317e+01] [-1.31548888e-02 -3.22483134e-05 9.99913470e-01 9.60835825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.722320588 meters 0.024934663494583526 Centerline is valid? [True, True] Translation: X:190.57, Y:-32.78, Z:0.96 [[ 8.18135715e-01 5.74925303e-01 1.07167459e-02 1.90572767e+02] [-5.74876785e-01 8.18205899e-01 -7.46914367e-03 -3.27774525e+01] [-1.30627044e-02 -5.00352288e-05 9.99914678e-01 9.59328273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.752320588 meters 0.024925721291000104 Centerline is valid? [True, True] Translation: X:190.60, Y:-32.80, Z:0.96 [[ 8.15834479e-01 5.78153970e-01 1.23325002e-02 1.90596543e+02] [-5.78089974e-01 8.15927677e-01 -8.60273594e-03 -3.28003464e+01] [-1.50361342e-02 -1.10886138e-04 9.99886945e-01 9.60910328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.782320588 meters 0.025170389077948677 Centerline is valid? [True, True] Translation: X:190.62, Y:-32.82, Z:0.96 [[ 8.14036898e-01 5.80681751e-01 1.23544938e-02 1.90623665e+02] [-5.80617664e-01 8.14130629e-01 -8.62823679e-03 -3.28197402e+01] [-1.50684315e-02 -1.49534225e-04 9.99886454e-01 9.61329953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.812320588 meters 0.0252711447922401 Centerline is valid? [True, True] Translation: X:190.65, Y:-32.84, Z:0.96 [[ 8.10218706e-01 5.86024199e-01 1.10130322e-02 1.90649936e+02] [-5.85973730e-01 8.10293521e-01 -7.69402046e-03 -3.28388954e+01] [-1.34326708e-02 -2.19508280e-04 9.99909754e-01 9.64158756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.842320588 meters 0.02594849367292569 Centerline is valid? [True, True] Translation: X:190.68, Y:-32.86, Z:0.96 [[ 8.06597747e-01 5.90970893e-01 1.23886343e-02 1.90675186e+02] [-5.90907585e-01 8.06692810e-01 -8.65660556e-03 -3.28585869e+01] [-1.51096241e-02 -3.38139415e-04 9.99885786e-01 9.64327715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.872320588 meters 0.02596324205598669 Centerline is valid? [True, True] Translation: X:190.70, Y:-32.88, Z:0.97 [[ 8.05799642e-01 5.92066956e-01 1.19856875e-02 1.90702800e+02] [-5.92007647e-01 8.05888706e-01 -8.38687416e-03 -3.28762722e+01] [-1.46247212e-02 -3.37478459e-04 9.99892996e-01 9.65113476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.902320588 meters 0.02614247555671866 Centerline is valid? [True, True] Translation: X:190.73, Y:-32.89, Z:0.96 [[ 8.05049299e-01 5.93081989e-01 1.22221181e-02 1.90731257e+02] [-5.93020293e-01 8.05141993e-01 -8.56174279e-03 -3.28938502e+01] [-1.49183560e-02 -3.55339049e-04 9.99888652e-01 9.64810964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.932320588 meters 0.026292575139888023 Centerline is valid? [True, True] Translation: X:190.76, Y:-32.91, Z:0.96 [[ 8.04353872e-01 5.94017983e-01 1.25492949e-02 1.90756810e+02] [-5.93952929e-01 8.04451673e-01 -8.79904045e-03 -3.29128537e+01] [-1.53220895e-02 -3.76148203e-04 9.99882539e-01 9.63146157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96232058799998 meters 0.02633769376574212 Centerline is valid? [True, True] Translation: X:190.78, Y:-32.93, Z:0.96 [[ 8.04133887e-01 5.94310294e-01 1.28049747e-02 1.90784200e+02] [-5.94242436e-01 8.04235743e-01 -8.98871393e-03 -3.29311246e+01] [-1.56403035e-02 -3.81129880e-04 9.99877610e-01 9.63129198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99232058799998 meters 0.02626676877005258 Centerline is valid? [True, True] Translation: X:190.82, Y:-32.94, Z:0.96 [[ 8.04572112e-01 5.93744554e-01 1.14507961e-02 1.90815274e+02] [-5.93690125e-01 8.04653527e-01 -8.04587575e-03 -3.29433869e+01] [-1.39911184e-02 -3.24737317e-04 9.99902067e-01 9.64320067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02232058799999 meters 0.02613725285179415 Centerline is valid? [True, True] Translation: X:190.84, Y:-32.96, Z:0.97 [[ 8.04931730e-01 5.93282535e-01 1.00371325e-02 1.90843640e+02] [-5.93240676e-01 8.04994259e-01 -7.05288640e-03 -3.29590639e+01] [-1.22641884e-02 -2.77343248e-04 9.99924754e-01 9.65190193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.052320588 meters 0.026038377974124772 Centerline is valid? [True, True] Translation: X:190.87, Y:-32.98, Z:0.96 [[ 8.05297817e-01 5.92803774e-01 8.89450921e-03 1.90869221e+02] [-5.92770854e-01 8.05346900e-01 -6.25184222e-03 -3.29786200e+01] [-1.08692811e-02 -2.37810931e-04 9.99940899e-01 9.64449189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.082320588 meters 0.025920741452356184 Centerline is valid? [True, True] Translation: X:190.89, Y:-33.00, Z:0.96 [[ 8.05690172e-01 5.92270134e-01 8.91264263e-03 1.90894955e+02] [-5.92237028e-01 8.05739434e-01 -6.26635931e-03 -3.29977462e+01] [-1.08926451e-02 -2.29652875e-04 9.99940647e-01 9.63538134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.112320588 meters 0.02607665700932294 Centerline is valid? [True, True] Translation: X:190.92, Y:-33.01, Z:0.96 [[ 8.06563288e-01 5.91063659e-01 9.97064393e-03 1.90923936e+02] [-5.91022111e-01 8.06624879e-01 -7.01210441e-03 -3.30128468e+01] [-1.21871695e-02 -2.37165031e-04 9.99925706e-01 9.63516526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.142320588 meters 0.02590113879030088 Centerline is valid? [True, True] Translation: X:190.95, Y:-33.03, Z:0.96 [[ 8.06618018e-01 5.90959721e-01 1.15750213e-02 1.90952031e+02] [-5.90903684e-01 8.06701019e-01 -8.14257121e-03 -3.30290026e+01] [-1.41495131e-02 -2.71778068e-04 9.99899854e-01 9.63980425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.172320588 meters 0.026084720466154825 Centerline is valid? [True, True] Translation: X:190.98, Y:-33.05, Z:0.96 [[ 8.06505308e-01 5.91089062e-01 1.27636139e-02 1.90979179e+02] [-5.91020903e-01 8.06606243e-01 -8.98114318e-03 -3.30464777e+01] [-1.56038662e-02 -3.00222994e-04 9.99878207e-01 9.64215470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.202320588 meters 0.026021067969672743 Centerline is valid? [True, True] Translation: X:191.01, Y:-33.06, Z:0.96 [[ 8.05822393e-01 5.92055305e-01 1.09903118e-02 1.91006236e+02] [-5.92004830e-01 8.05897289e-01 -7.73561601e-03 -3.30640044e+01] [-1.34369750e-02 -2.72785050e-04 9.99909683e-01 9.64050514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.232320588 meters 0.02615148557605631 Centerline is valid? [True, True] Translation: X:191.04, Y:-33.08, Z:0.96 [[ 8.04971301e-01 5.93248636e-01 8.78982133e-03 1.91035027e+02] [-5.93216401e-01 8.05019256e-01 -6.18868254e-03 -3.30788914e+01] [-1.07474029e-02 -2.32554343e-04 9.99942218e-01 9.64167405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.262320588 meters 0.02633126748863274 Centerline is valid? [True, True] Translation: X:191.06, Y:-33.10, Z:0.96 [[ 8.04671436e-01 5.93643409e-01 9.55950189e-03 1.91062298e+02] [-5.93605287e-01 8.04728176e-01 -6.73241225e-03 -3.30965885e+01] [-1.16894527e-02 -2.57191039e-04 9.99931643e-01 9.62855076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.292320588 meters 0.026207346449553987 Centerline is valid? [True, True] Translation: X:191.09, Y:-33.11, Z:0.96 [[ 8.04673215e-01 5.93657332e-01 8.48466599e-03 1.91088365e+02] [-5.93627284e-01 8.04717913e-01 -5.97722205e-03 -3.31148019e+01] [-1.03761844e-02 -2.27018748e-04 9.99946140e-01 9.64547316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.322320588 meters 0.02625256351541641 Centerline is valid? [True, True] Translation: X:191.12, Y:-33.13, Z:0.97 [[ 8.05749565e-01 5.92179879e-01 9.52000406e-03 1.91116283e+02] [-5.92141926e-01 8.05805769e-01 -6.70838398e-03 -3.31314542e+01] [-1.16438442e-02 -2.31916070e-04 9.99932181e-01 9.66093150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.352320588 meters 0.02592190347394103 Centerline is valid? [True, True] Translation: X:191.15, Y:-33.15, Z:0.97 [[ 8.07760796e-01 5.89402129e-01 1.12972113e-02 1.91145794e+02] [-5.89348381e-01 8.07839761e-01 -7.96282496e-03 -3.31456268e+01] [-1.38196424e-02 -2.25935350e-04 9.99904479e-01 9.67384105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.382320588 meters 0.025906013506755952 Centerline is valid? [True, True] Translation: X:191.17, Y:-33.16, Z:0.97 [[ 8.08008024e-01 5.89055851e-01 1.16720883e-02 1.91173436e+02] [-5.88998385e-01 8.08092293e-01 -8.23091500e-03 -3.31633850e+01] [-1.42805932e-02 -2.24195785e-04 9.99898002e-01 9.66459831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.412320588 meters 0.025891634041710933 Centerline is valid? [True, True] Translation: X:191.20, Y:-33.18, Z:0.97 [[ 8.08424914e-01 5.88516944e-01 9.84705166e-03 1.91201083e+02] [-5.88475984e-01 8.08484863e-01 -6.94565210e-03 -3.31807274e+01] [-1.20488262e-02 -1.79715205e-04 9.99927394e-01 9.65875697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.442320588 meters 0.026009797002151003 Centerline is valid? [True, True] Translation: X:191.23, Y:-33.19, Z:0.96 [[ 8.08046366e-01 5.89038410e-01 9.73760395e-03 1.91231340e+02] [-5.88998370e-01 8.08105016e-01 -6.87039390e-03 -3.31934431e+01] [-1.19159325e-02 -1.83836027e-04 9.99928986e-01 9.63350383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.472320588 meters 0.02593733375913582 Centerline is valid? [True, True] Translation: X:191.26, Y:-33.21, Z:0.96 [[ 8.07774866e-01 5.89396097e-01 1.05833165e-02 1.91259549e+02] [-5.89348804e-01 8.07844168e-01 -7.46909492e-03 -3.32094269e+01] [-1.29519259e-02 -2.03917774e-04 9.99916099e-01 9.63718041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.502320588 meters 0.02593733375913582 Centerline is valid? [True, True] Translation: X:191.29, Y:-33.23, Z:0.96 [[ 8.07697757e-01 5.89501778e-01 1.05823408e-02 1.91285462e+02] [-5.89454477e-01 8.07767053e-01 -7.47047727e-03 -3.32276722e+01] [-1.29519259e-02 -2.03920438e-04 9.99916099e-01 9.63877673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.532320588 meters 0.026005610804855354 Centerline is valid? [True, True] Translation: X:191.31, Y:-33.25, Z:0.96 [[ 8.07637256e-01 5.89589930e-01 1.02847515e-02 1.91311754e+02] [-5.89545233e-01 8.07702714e-01 -7.26243647e-03 -3.32462768e+01] [-1.25888811e-02 -1.97911942e-04 9.99920737e-01 9.64920763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.562320588 meters 0.025841064393461396 Centerline is valid? [True, True] Translation: X:191.34, Y:-33.27, Z:0.97 [[ 8.07735273e-01 5.89478907e-01 8.85139857e-03 1.91337394e+02] [-5.89445774e-01 8.07783752e-01 -6.25214580e-03 -3.32665193e+01] [-1.08355240e-02 -1.67340790e-04 9.99941280e-01 9.65743691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.592320588 meters 0.025902681125694577 Centerline is valid? [True, True] Translation: X:191.36, Y:-33.28, Z:0.96 [[ 8.08676667e-01 5.88175297e-01 9.58474022e-03 1.91364524e+02] [-5.88136349e-01 8.08733450e-01 -6.77060600e-03 -3.32819381e+01] [-1.17338032e-02 -1.61903029e-04 9.99931143e-01 9.64734194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.622320588 meters 0.025926109019647155 Centerline is valid? [True, True] Translation: X:191.39, Y:-33.30, Z:0.96 [[ 8.08575463e-01 5.88275976e-01 1.17088449e-02 1.91392144e+02] [-5.88217847e-01 8.08660211e-01 -8.27212244e-03 -3.32966390e+01] [-1.43347679e-02 -1.98716302e-04 9.99897232e-01 9.64753810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.652320588 meters 0.02602791846449977 Centerline is valid? [True, True] Translation: X:191.42, Y:-33.31, Z:0.96 [[ 8.07929687e-01 5.89128559e-01 1.33102406e-02 1.91421324e+02] [-5.89053564e-01 8.08039282e-01 -9.40302506e-03 -3.33086611e+01] [-1.62947878e-02 -2.43461552e-04 9.99867201e-01 9.64546842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.682320588 meters 0.02607344382681709 Centerline is valid? [True, True] Translation: X:191.45, Y:-33.33, Z:0.97 [[ 8.07644789e-01 5.89531335e-01 1.27553960e-02 1.91447057e+02] [-5.89462512e-01 8.07745472e-01 -9.01105485e-03 -3.33256594e+01] [-1.56154125e-02 -2.41096252e-04 9.99878043e-01 9.66117098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71232058799998 meters 0.026022016385299836 Centerline is valid? [True, True] Translation: X:191.47, Y:-33.34, Z:0.97 [[ 8.07692470e-01 5.89478671e-01 1.21560678e-02 1.91471929e+02] [-5.89416158e-01 8.07783910e-01 -8.58765925e-03 -3.33428174e+01] [-1.48817180e-02 -2.28795091e-04 9.99889235e-01 9.67392154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74232058799998 meters 0.025922241228016108 Centerline is valid? [True, True] Translation: X:191.50, Y:-33.36, Z:0.97 [[ 8.07676571e-01 5.89533958e-01 1.04052307e-02 1.91497099e+02] [-5.89488179e-01 8.07743569e-01 -7.34936256e-03 -3.33587064e+01] [-1.27374570e-02 -1.97852579e-04 9.99918856e-01 9.67398962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77232058799999 meters 0.025850909494813574 Centerline is valid? [True, True] Translation: X:191.52, Y:-33.37, Z:0.97 [[ 8.09519112e-01 5.86994109e-01 1.08038298e-02 1.91523497e+02] [-5.86944660e-01 8.09591185e-01 -7.62104114e-03 -3.33711249e+01] [-1.32201916e-02 -1.71871749e-04 9.99912595e-01 9.66863307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.802320588 meters 0.025731861864408703 Centerline is valid? [True, True] Translation: X:191.55, Y:-33.39, Z:0.97 [[ 8.10987844e-01 5.84942872e-01 1.18555115e-02 1.91547437e+02] [-5.84883243e-01 8.11074480e-01 -8.35345431e-03 -3.33859171e+01] [-1.45019964e-02 -1.59540122e-04 9.99894828e-01 9.67008793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.832320588 meters 0.025434407340087242 Centerline is valid? [True, True] Translation: X:191.57, Y:-33.40, Z:0.97 [[ 8.13111880e-01 5.81979285e-01 1.22140173e-02 1.91571914e+02] [-5.81915777e-01 8.13203602e-01 -8.59826775e-03 -3.34015761e+01] [-1.49364966e-02 -1.16175722e-04 9.99888438e-01 9.69305221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.862320588 meters 0.02522044177073694 Centerline is valid? [True, True] Translation: X:191.59, Y:-33.42, Z:0.97 [[ 8.13705345e-01 5.81149554e-01 1.21986669e-02 1.91594163e+02] [-5.81086260e-01 8.13796771e-01 -8.57753511e-03 -3.34185105e+01] [-1.49120664e-02 -1.08891540e-04 9.99888803e-01 9.70661361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.892320588 meters 0.025206138414112417 Centerline is valid? [True, True] Translation: X:191.62, Y:-33.43, Z:0.97 [[ 8.14470917e-01 5.80090330e-01 1.15036507e-02 1.91617310e+02] [-5.80034044e-01 8.14552148e-01 -8.08124211e-03 -3.34349539e+01] [-1.40581738e-02 -9.05723916e-05 9.99901175e-01 9.71622632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.922320588 meters 0.025226226431846393 Centerline is valid? [True, True] Translation: X:191.64, Y:-33.45, Z:0.97 [[ 8.16251064e-01 5.77604660e-01 1.03468535e-02 1.91642763e+02] [-5.77559019e-01 8.16316638e-01 -7.26119171e-03 -3.34492821e+01] [-1.26404068e-02 -4.89630882e-05 9.99920106e-01 9.70106363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.952320588 meters 0.025531258069692604 Centerline is valid? [True, True] Translation: X:191.67, Y:-33.46, Z:0.97 [[ 8.18282631e-01 5.74667196e-01 1.30824375e-02 1.91667089e+02] [-5.74593984e-01 8.18387203e-01 -9.17278709e-03 -3.34646104e+01] [-1.59777993e-02 -1.11575120e-05 9.99872347e-01 9.65854407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.982320588 meters 0.025327139056957836 Centerline is valid? [True, True] Translation: X:191.69, Y:-33.48, Z:0.97 [[ 8.19689589e-01 5.72664339e-01 1.28269823e-02 1.91688844e+02] [-5.72593873e-01 8.19789945e-01 -8.98347416e-03 -3.34823034e+01] [-1.56599464e-02 1.90087742e-05 9.99877375e-01 9.66166216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.012320588 meters 0.025524678585288892 Centerline is valid? [True, True] Translation: X:191.71, Y:-33.50, Z:0.97 [[ 8.21138672e-01 5.70589610e-01 1.26007345e-02 1.91710415e+02] [-5.70521488e-01 8.21235347e-01 -8.81688095e-03 -3.35011826e+01] [-1.53789892e-02 5.08921290e-05 9.99881735e-01 9.65983183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.042320588 meters 0.02546883149620542 Centerline is valid? [True, True] Translation: X:191.73, Y:-33.52, Z:0.97 [[ 8.22175411e-01 5.69090478e-01 1.27914826e-02 1.91732302e+02] [-5.69020078e-01 8.22274906e-01 -8.95154400e-03 -3.35216562e+01] [-1.56123536e-02 8.11289137e-05 9.99878116e-01 9.67583172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.072320588 meters 0.0255651190023424 Centerline is valid? [True, True] Translation: X:191.76, Y:-33.54, Z:0.97 [[ 8.22130058e-01 5.69159356e-01 1.26410100e-02 1.91756469e+02] [-5.69090629e-01 8.22227232e-01 -8.84504597e-03 -3.35382102e+01] [-1.54280233e-02 7.78978331e-05 9.99880978e-01 9.69091510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.102320588 meters 0.025402668783314236 Centerline is valid? [True, True] Translation: X:191.78, Y:-33.55, Z:0.97 [[ 8.21530247e-01 5.70056155e-01 1.11370683e-02 1.91780132e+02] [-5.70003025e-01 8.21605732e-01 -7.78282835e-03 -3.35539244e+01] [-1.35869283e-02 4.56662872e-05 9.99907692e-01 9.69739702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.132320588 meters 0.025361459751510173 Centerline is valid? [True, True] Translation: X:191.80, Y:-33.57, Z:0.97 [[ 8.20863147e-01 5.71007422e-01 1.15852574e-02 1.91802715e+02] [-5.70950156e-01 8.20944896e-01 -8.08677481e-03 -3.35700455e+01] [-1.41284663e-02 2.35309156e-05 9.99900188e-01 9.69825703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.162320588 meters 0.025285994932364497 Centerline is valid? [True, True] Translation: X:191.83, Y:-33.59, Z:0.97 [[ 8.17992195e-01 5.75152071e-01 9.42677540e-03 1.91825241e+02] [-5.75114416e-01 8.18046511e-01 -6.58140636e-03 -3.35901013e+01] [-1.14968502e-02 -3.79353947e-05 9.99933908e-01 9.70392064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.192320588 meters 0.02534294290286626 Centerline is valid? [True, True] Translation: X:191.85, Y:-33.61, Z:0.97 [[ 8.17050093e-01 5.76507182e-01 8.28334936e-03 1.91847857e+02] [-5.76478259e-01 8.17092079e-01 -5.77508474e-03 -3.36078604e+01] [-1.00976370e-02 -5.66372881e-05 9.99949016e-01 9.71953833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.222320588 meters 0.02553874144056684 Centerline is valid? [True, True] Translation: X:191.87, Y:-33.62, Z:0.97 [[ 8.15981409e-01 5.77980872e-01 1.06043544e-02 1.91872518e+02] [-5.77933676e-01 8.16050306e-01 -7.38680586e-03 -3.36231067e+01] [-1.29231191e-02 -1.01117247e-04 9.99916488e-01 9.72001747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.252320588 meters 0.02548413818034788 Centerline is valid? [True, True] Translation: X:191.90, Y:-33.64, Z:0.97 [[ 8.17221782e-01 5.76211696e-01 1.13419424e-02 1.91896381e+02] [-5.76157660e-01 8.17300479e-01 -7.89161744e-03 -3.36384957e+01] [-1.38170172e-02 -8.55453171e-05 9.99904537e-01 9.72013898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.282320588 meters 0.025304633847946727 Centerline is valid? [True, True] Translation: X:191.92, Y:-33.66, Z:0.97 [[ 8.18488817e-01 5.74418557e-01 1.09260414e-02 1.91919632e+02] [-5.74368336e-01 8.18561738e-01 -7.59578857e-03 -3.36563301e+01] [-1.33068014e-02 -5.85042487e-05 9.99911459e-01 9.72877496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.312320588 meters 0.02533770420988442 Centerline is valid? [True, True] Translation: X:191.94, Y:-33.67, Z:0.97 [[ 8.19683101e-01 5.72717633e-01 1.06830166e-02 1.91941974e+02] [-5.72669575e-01 8.19752714e-01 -7.41934942e-03 -3.36740459e+01] [-1.30066241e-02 -3.63232428e-05 9.99915410e-01 9.73272814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.342320588 meters 0.0254017520923712 Centerline is valid? [True, True] Translation: X:191.97, Y:-33.69, Z:0.97 [[ 8.21511873e-01 5.70112405e-01 9.49143063e-03 1.91966225e+02] [-5.70074374e-01 8.21566702e-01 -6.58505057e-03 -3.36901469e+01] [-1.15520624e-02 -1.12414135e-06 9.99933273e-01 9.73661063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.372320588 meters 0.025381336126595246 Centerline is valid? [True, True] Translation: X:191.99, Y:-33.71, Z:0.97 [[ 8.22500352e-01 5.68681277e-01 9.73530439e-03 1.91989433e+02] [-5.68641258e-01 8.22557965e-01 -6.74642513e-03 -3.37054924e+01] [-1.18444178e-02 1.30413084e-05 9.99929852e-01 9.72604311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.402320588 meters 0.025343976006806313 Centerline is valid? [True, True] Translation: X:192.01, Y:-33.72, Z:0.97 [[ 8.23330635e-01 5.67473040e-01 1.00505895e-02 1.92012057e+02] [-5.67430373e-01 8.23391977e-01 -6.95866913e-03 -3.37236965e+01] [-1.22244319e-02 2.62757255e-05 9.99925278e-01 9.70066221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.432320588 meters 0.02542104931954336 Centerline is valid? [True, True] Translation: X:192.03, Y:-33.74, Z:0.97 [[ 8.24044138e-01 5.66442049e-01 9.72954015e-03 1.92034143e+02] [-5.66402071e-01 8.24101574e-01 -6.72976982e-03 -3.37421094e+01] [-1.18301540e-02 3.47956863e-05 9.99930021e-01 9.70107166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46232058799998 meters 0.02526266906275041 Centerline is valid? [True, True] Translation: X:192.06, Y:-33.76, Z:0.97 [[ 8.24641631e-01 5.65601714e-01 7.80258730e-03 1.92055935e+02] [-5.65575956e-01 8.24678543e-01 -5.39801482e-03 -3.37622174e+01] [-9.48775276e-03 3.84719685e-05 9.99954990e-01 9.71931829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49232058799998 meters 0.02527559403119829 Centerline is valid? [True, True] Translation: X:192.08, Y:-33.78, Z:0.97 [[ 8.24644921e-01 5.65595331e-01 7.91683430e-03 1.92079480e+02] [-5.65568820e-01 8.24682921e-01 -5.47630851e-03 -3.37803699e+01] [-9.62625256e-03 3.84953587e-05 9.99953666e-01 9.72759232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52232058799999 meters 0.025305177442659 Centerline is valid? [True, True] Translation: X:192.10, Y:-33.80, Z:0.97 [[ 8.24524594e-01 5.65742373e-01 9.73450527e-03 1.92102679e+02] [-5.65702310e-01 8.24582055e-01 -6.73279409e-03 -3.37985735e+01] [-1.18359253e-02 4.45221895e-05 9.99929952e-01 9.72363914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.552320588 meters 0.02526350619751865 Centerline is valid? [True, True] Translation: X:192.13, Y:-33.82, Z:0.97 [[ 8.24298056e-01 5.66070257e-01 9.85790062e-03 1.92128136e+02] [-5.66029175e-01 8.24356999e-01 -6.81987924e-03 -3.38175003e+01] [-1.19869602e-02 4.17538405e-05 9.99928153e-01 9.72455922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.582320588 meters 0.025181671494955437 Centerline is valid? [True, True] Translation: X:192.15, Y:-33.84, Z:0.97 [[ 8.23631960e-01 5.67047337e-01 9.36545028e-03 1.92153186e+02] [-5.67010310e-01 8.23685205e-01 -6.48010003e-03 -3.38366249e+01] [-1.13887063e-02 2.69106277e-05 9.99935146e-01 9.72301112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.612320588 meters 0.025012176149580775 Centerline is valid? [True, True] Translation: X:192.18, Y:-33.86, Z:0.97 [[ 8.22204516e-01 5.69139756e-01 7.72473788e-03 1.92177504e+02] [-5.69114640e-01 8.22240803e-01 -5.34684306e-03 -3.38582234e+01] [-9.39469563e-03 -6.29036239e-08 9.99955869e-01 9.73751064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.642320588 meters 0.025021836537806236 Centerline is valid? [True, True] Translation: X:192.20, Y:-33.88, Z:0.98 [[ 8.19860951e-01 5.72485171e-01 9.42072080e-03 1.92201730e+02] [-5.72448031e-01 8.19915073e-01 -6.52107699e-03 -3.38782914e+01] [-1.14574109e-02 -4.64966916e-05 9.99934361e-01 9.76060933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.672320588 meters 0.02510456995363514 Centerline is valid? [True, True] Translation: X:192.23, Y:-33.90, Z:0.98 [[ 8.18219951e-01 5.74803615e-01 1.08127537e-02 1.92227474e+02] [-5.74754858e-01 8.18291389e-01 -7.48707966e-03 -3.38975840e+01] [-1.31515837e-02 -8.86047421e-05 9.99913510e-01 9.77178049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.702320588 meters 0.02523417623494486 Centerline is valid? [True, True] Translation: X:192.25, Y:-33.92, Z:0.98 [[ 8.16990557e-01 5.76546303e-01 1.09904531e-02 1.92253296e+02] [-5.76496060e-01 8.17064469e-01 -7.61224278e-03 -3.39168864e+01] [-1.33687192e-02 -1.16822469e-04 9.99910628e-01 9.76613256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.732320588 meters 0.025423862667663714 Centerline is valid? [True, True] Translation: X:192.28, Y:-33.94, Z:0.98 [[ 8.13856777e-01 5.80993207e-01 9.16735512e-03 1.92278008e+02] [-5.80958510e-01 8.13908391e-01 -6.35141924e-03 -3.39372898e+01] [-1.11515187e-02 -1.56707391e-04 9.99937808e-01 9.75829578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.762320588 meters 0.025695759789527824 Centerline is valid? [True, True] Translation: X:192.30, Y:-33.95, Z:0.98 [[ 8.10966941e-01 5.85004661e-01 1.01077707e-02 1.92304886e+02] [-5.84962768e-01 8.11029896e-01 -7.00483236e-03 -3.39549776e+01] [-1.22955638e-02 -2.31982060e-04 9.99924380e-01 9.75108359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.792320588 meters 0.02576276608589682 Centerline is valid? [True, True] Translation: X:192.33, Y:-33.97, Z:0.98 [[ 8.09609510e-01 5.86874147e-01 1.05440352e-02 1.92332341e+02] [-5.86828692e-01 8.09678123e-01 -7.30919028e-03 -3.39714388e+01] [-1.28268494e-02 -2.69952415e-04 9.99917696e-01 9.76435511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.822320588 meters 0.02608586260913024 Centerline is valid? [True, True] Translation: X:192.36, Y:-33.99, Z:0.98 [[ 8.08011439e-01 5.89033808e-01 1.25174772e-02 1.92360222e+02] [-5.88969967e-01 8.08108312e-01 -8.67947959e-03 -3.39878290e+01] [-1.52279843e-02 -3.59299334e-04 9.99883983e-01 9.77651230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.852320588 meters 0.026367153584802103 Centerline is valid? [True, True] Translation: X:192.39, Y:-34.00, Z:0.98 [[ 8.05756233e-01 5.92081332e-01 1.40210260e-02 1.92388293e+02] [-5.92001620e-01 8.05878081e-01 -9.72626620e-03 -3.40030580e+01] [-1.70579782e-02 -4.63470487e-04 9.99854395e-01 9.79814831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.882320588 meters 0.02665613842967511 Centerline is valid? [True, True] Translation: X:192.42, Y:-34.02, Z:0.98 [[ 8.04472216e-01 5.93808426e-01 1.46971738e-02 1.92415579e+02] [-5.93721084e-01 8.04606289e-01 -1.01977305e-02 -3.40208657e+01] [-1.78809368e-02 -5.22231143e-04 9.99839987e-01 9.79726979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.912320588 meters 0.027004089405362648 Centerline is valid? [True, True] Translation: X:192.44, Y:-34.04, Z:0.98 [[ 8.02922247e-01 5.95919831e-01 1.39793109e-02 1.92443502e+02] [-5.95841085e-01 8.03043750e-01 -9.70238070e-03 -3.40368460e+01] [-1.70078393e-02 -5.39190460e-04 9.99855211e-01 9.77443970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.942320588 meters 0.027146275145078315 Centerline is valid? [True, True] Translation: X:192.47, Y:-34.05, Z:0.98 [[ 8.02395957e-01 5.96664946e-01 1.23154671e-02 1.92470870e+02] [-5.96603881e-01 8.02490315e-01 -8.55004989e-03 -3.40531754e+01] [-1.49845581e-02 -4.86930002e-04 9.99887607e-01 9.75474554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.972320588 meters 0.027287098672737285 Centerline is valid? [True, True] Translation: X:192.50, Y:-34.06, Z:0.97 [[ 8.01621184e-01 5.97753918e-01 9.68144860e-03 1.92499412e+02] [-5.97716284e-01 8.01679545e-01 -6.71943074e-03 -3.40646579e+01] [-1.17779854e-02 -4.00321451e-04 9.99930557e-01 9.74877820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.002320588 meters 0.02734005486088821 Centerline is valid? [True, True] Translation: X:192.53, Y:-34.08, Z:0.98 [[ 8.01259077e-01 5.98248653e-01 9.07973681e-03 1.92525416e+02] [-5.98215677e-01 8.01310426e-01 -6.29335156e-03 -3.40775370e+01] [-1.10406769e-02 -3.89035838e-04 9.99938974e-01 9.76185715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.032320588 meters 0.02749862961384946 Centerline is valid? [True, True] Translation: X:192.55, Y:-34.09, Z:0.98 [[ 8.00264689e-01 5.99563729e-01 9.98811614e-03 1.92551142e+02] [-5.99523931e-01 8.00326892e-01 -6.92264272e-03 -3.40901313e+01] [-1.21443234e-02 -4.48168127e-04 9.99926155e-01 9.78864631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.062320588 meters 0.02767924141570688 Centerline is valid? [True, True] Translation: X:192.58, Y:-34.10, Z:0.98 [[ 7.99042618e-01 6.01209988e-01 8.80031635e-03 1.92579020e+02] [-6.01179216e-01 7.99090968e-01 -6.09717411e-03 -3.40994842e+01] [-1.06979353e-02 -4.18665316e-04 9.99942688e-01 9.82401998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.092320588 meters 0.027571985339510337 Centerline is valid? [True, True] Translation: X:192.60, Y:-34.11, Z:0.98 [[ 7.99598049e-01 6.00470782e-01 8.82040516e-03 1.92604259e+02] [-6.00439920e-01 7.99646588e-01 -6.10222163e-03 -3.41119310e+01] [-1.07174127e-02 -4.16798857e-04 9.99942480e-01 9.81975968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.122320588 meters 0.027273331087833922 Centerline is valid? [True, True] Translation: X:192.63, Y:-34.12, Z:0.98 [[ 8.01581190e-01 5.97782078e-01 1.11437582e-02 1.92631852e+02] [-5.97732639e-01 8.01658500e-01 -7.70333721e-03 -3.41232673e+01] [-1.35384054e-02 -4.86137770e-04 9.99908233e-01 9.78375467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.152320588 meters 0.026768870329169445 Centerline is valid? [True, True] Translation: X:192.66, Y:-34.14, Z:0.98 [[ 8.03753446e-01 5.94832911e-01 1.24180052e-02 1.92657259e+02] [-5.94771287e-01 8.03849218e-01 -8.57615623e-03 -3.41365363e+01] [-1.50835837e-02 -4.92757787e-04 9.99886115e-01 9.77857057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.182320588 meters 0.026401941612245582 Centerline is valid? [True, True] Translation: X:192.69, Y:-34.15, Z:0.98 [[ 8.07320023e-01 5.90017349e-01 1.06727931e-02 1.92685907e+02] [-5.89971413e-01 8.07390493e-01 -7.37045928e-03 -3.41458257e+01] [-1.29658105e-02 -3.46323475e-04 9.99915880e-01 9.78614136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21232058799998 meters 0.025959161965481103 Centerline is valid? [True, True] Translation: X:192.71, Y:-34.16, Z:0.98 [[ 8.09545096e-01 5.86979228e-01 9.59806946e-03 1.92711870e+02] [-5.86941955e-01 8.09601946e-01 -6.62042632e-03 -3.41595216e+01] [-1.16566684e-02 -2.73975992e-04 9.99932021e-01 9.80330461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24232058799998 meters 0.025452895414153135 Centerline is valid? [True, True] Translation: X:192.74, Y:-34.17, Z:0.98 [[ 8.13174870e-01 5.81939037e-01 9.67410894e-03 1.92738017e+02] [-5.81900893e-01 8.13232386e-01 -6.66617956e-03 -3.41726686e+01] [-1.17466088e-02 -2.08602936e-04 9.99930984e-01 9.81804877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27232058799999 meters 0.025178360215367717 Centerline is valid? [True, True] Translation: X:192.76, Y:-34.19, Z:0.98 [[ 8.15354710e-01 5.78878843e-01 9.79703232e-03 1.92762857e+02] [-5.78839579e-01 8.15413549e-01 -6.74434543e-03 -3.41868441e+01] [-1.18927918e-02 -1.71876253e-04 9.99929263e-01 9.81399184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.302320588 meters 0.024993660713872465 Centerline is valid? [True, True] Translation: X:192.79, Y:-34.20, Z:0.98 [[ 8.18825329e-01 5.73952647e-01 1.01705092e-02 1.92789418e+02] [-5.73910033e-01 8.18888483e-01 -6.99472082e-03 -3.41990053e+01] [-1.23431514e-02 -1.09502707e-04 9.99923814e-01 9.78719308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.332320588 meters 0.024952877727767737 Centerline is valid? [True, True] Translation: X:192.81, Y:-34.21, Z:0.98 [[ 8.20972286e-01 5.70862536e-01 1.09759302e-02 1.92813850e+02] [-5.70812743e-01 8.21045650e-01 -7.54010291e-03 -3.42130835e+01] [-1.33161020e-02 -7.49853293e-05 9.99911334e-01 9.78231895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.362320588 meters 0.025048399548946935 Centerline is valid? [True, True] Translation: X:192.84, Y:-34.23, Z:0.98 [[ 8.24975964e-01 5.65036294e-01 1.21920276e-02 1.92840216e+02] [-5.64974325e-01 8.25066050e-01 -8.36814987e-03 -3.42260954e+01] [-1.47875364e-02 1.53399472e-05 9.99890658e-01 9.77881076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.392320588 meters 0.025048399548946935 Centerline is valid? [True, True] Translation: X:192.86, Y:-34.24, Z:0.98 [[ 8.25263650e-01 5.64615935e-01 1.21964505e-02 1.92862626e+02] [-5.64554016e-01 8.25353770e-01 -8.36170340e-03 -3.42418731e+01] [-1.47875374e-02 1.50547368e-05 9.99890658e-01 9.78019546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.422320588 meters 0.025094150376022303 Centerline is valid? [True, True] Translation: X:192.89, Y:-34.26, Z:0.98 [[ 8.27016932e-01 5.62042048e-01 1.23178859e-02 1.92886647e+02] [-5.61978740e-01 8.27108659e-01 -8.43579668e-03 -3.42567492e+01] [-1.49295025e-02 5.41567137e-05 9.99888547e-01 9.78653643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.452320588 meters 0.025443101912240623 Centerline is valid? [True, True] Translation: X:192.91, Y:-34.27, Z:0.98 [[ 8.30764275e-01 5.56498090e-01 1.18573227e-02 1.92908895e+02] [-5.56438966e-01 8.30848877e-01 -8.11301891e-03 -3.42745859e+01] [-1.43665228e-02 1.42129892e-04 9.99896786e-01 9.78331870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.482320588 meters 0.025556929229574126 Centerline is valid? [True, True] Translation: X:192.93, Y:-34.29, Z:0.98 [[ 8.32481328e-01 5.53945937e-01 1.08966518e-02 1.92930045e+02] [-5.53895901e-01 8.32552624e-01 -7.44709936e-03 -3.42926425e+01] [-1.31973265e-02 1.63960375e-04 9.99912898e-01 9.78772361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.512320588 meters 0.025691929120058042 Centerline is valid? [True, True] Translation: X:192.95, Y:-34.31, Z:0.98 [[ 8.33889074e-01 5.51844268e-01 9.84461077e-03 1.92950835e+02] [-5.51803369e-01 8.33947165e-01 -6.72062673e-03 -3.43114699e+01] [-1.19186246e-02 1.71967806e-04 9.99928956e-01 9.80358309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.542320588 meters 0.0256651862588145 Centerline is valid? [True, True] Translation: X:192.97, Y:-34.33, Z:0.98 [[ 8.34175319e-01 5.51411461e-01 9.84565408e-03 1.92973855e+02] [-5.51370609e-01 8.34233403e-01 -6.71419839e-03 -3.43271804e+01] [-1.19158595e-02 1.72214296e-04 9.99928989e-01 9.80900155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.572320588 meters 0.0250609015177123 Centerline is valid? [True, True] Translation: X:193.00, Y:-34.34, Z:0.98 [[ 8.32005314e-01 5.54681450e-01 9.77989692e-03 1.92996825e+02] [-5.54641430e-01 8.32062783e-01 -6.66404418e-03 -3.43437724e+01] [-1.18339099e-02 1.20184154e-04 9.99929970e-01 9.81100064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.602320588 meters 0.02478121983718305 Centerline is valid? [True, True] Translation: X:193.02, Y:-34.36, Z:0.98 [[ 8.30734719e-01 5.56598868e-01 8.80491369e-03 1.93018865e+02] [-5.56566604e-01 8.30781376e-01 -5.99345812e-03 -3.43622319e+01] [-1.06509103e-02 7.84528357e-05 9.99943274e-01 9.81096170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.632320588 meters 0.024769144489815032 Centerline is valid? [True, True] Translation: X:193.04, Y:-34.38, Z:0.98 [[ 8.29190449e-01 5.58910646e-01 7.87960274e-03 1.93040471e+02] [-5.58884963e-01 8.29227886e-01 -5.35823236e-03 -3.43816965e+01] [-9.52875943e-03 3.92036131e-05 9.99954600e-01 9.80221616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.662320588 meters 0.024580691883606683 Centerline is valid? [True, True] Translation: X:193.06, Y:-34.40, Z:0.98 [[ 8.26997614e-01 5.62148500e-01 8.00069433e-03 1.93060764e+02] [-5.62122228e-01 8.27036314e-01 -5.43473659e-03 -3.44009504e+01] [-9.67199376e-03 -2.85393004e-06 9.99953225e-01 9.80963609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.692320588 meters 0.024719084034244516 Centerline is valid? [True, True] Translation: X:193.09, Y:-34.42, Z:0.98 [[ 8.25843024e-01 5.63822455e-01 9.35621483e-03 1.93085326e+02] [-5.63786631e-01 8.25896022e-01 -6.35574919e-03 -3.44151706e+01] [-1.13107747e-02 -2.60577083e-05 9.99936031e-01 9.81223072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.722320588 meters 0.02477793877607805 Centerline is valid? [True, True] Translation: X:193.11, Y:-34.43, Z:0.98 [[ 8.25004228e-01 5.65048228e-01 9.40871060e-03 1.93108888e+02] [-5.65012186e-01 8.25057875e-01 -6.38221981e-03 -3.44296043e+01] [-1.13689928e-02 -5.06778163e-05 9.99935370e-01 9.81184167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.752320588 meters 0.024761570653564668 Centerline is valid? [True, True] Translation: X:193.13, Y:-34.44, Z:0.98 [[ 8.24128183e-01 5.66319854e-01 9.72430497e-03 1.93133133e+02] [-5.66281511e-01 8.24185548e-01 -6.59034642e-03 -3.44447575e+01] [-1.17468756e-02 -7.54038901e-05 9.99931000e-01 9.81189161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.782320588 meters 0.02490061488935979 Centerline is valid? [True, True] Translation: X:193.16, Y:-34.46, Z:0.98 [[ 8.22123192e-01 5.69221865e-01 9.99627585e-03 1.93158932e+02] [-5.69181641e-01 8.22183953e-01 -6.76809554e-03 -3.44586343e+01] [-1.20713256e-02 -1.25488379e-04 9.99927131e-01 9.80859296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.812320588 meters 0.024764367884069983 Centerline is valid? [True, True] Translation: X:193.18, Y:-34.47, Z:0.98 [[ 8.21496264e-01 5.70140769e-01 9.13197649e-03 1.93183020e+02] [-5.70107341e-01 8.21547008e-01 -6.17527002e-03 -3.44723708e+01] [-1.10231212e-02 -1.33245584e-04 9.99939235e-01 9.81947042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.842320588 meters 0.024941956651559263 Centerline is valid? [True, True] Translation: X:193.21, Y:-34.49, Z:0.98 [[ 8.21770671e-01 5.69748021e-01 8.95297990e-03 1.93205542e+02] [-5.69715941e-01 8.21819430e-01 -6.04739289e-03 -3.44884891e+01] [-1.08032230e-02 -1.31085254e-04 9.99941635e-01 9.81845966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.872320588 meters 0.024893444231841075 Centerline is valid? [True, True] Translation: X:193.23, Y:-34.51, Z:0.98 [[ 8.21818012e-01 5.69661876e-01 1.00250594e-02 1.93229141e+02] [-5.69621716e-01 8.21879142e-01 -6.76581605e-03 -3.45057286e+01] [-1.20936147e-02 -1.50222040e-04 9.99926858e-01 9.81477652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.902320588 meters 0.024817089666148606 Centerline is valid? [True, True] Translation: X:193.25, Y:-34.52, Z:0.98 [[ 8.23967718e-01 5.66553758e-01 9.69742368e-03 1.93254517e+02] [-5.66516040e-01 8.24024774e-01 -6.53819210e-03 -3.45197672e+01] [-1.16951547e-02 -1.06486842e-04 9.99931604e-01 9.82463307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.932320588 meters 0.02482527750185265 Centerline is valid? [True, True] Translation: X:193.28, Y:-34.53, Z:0.98 [[ 8.25006557e-01 5.65016686e-01 1.09692993e-02 1.93280701e+02] [-5.64968380e-01 8.25079471e-01 -7.38887345e-03 -3.45331870e+01] [-1.32253804e-02 -1.01438207e-04 9.99912536e-01 9.82177305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96232058799998 meters 0.024783841579033777 Centerline is valid? [True, True] Translation: X:193.31, Y:-34.54, Z:0.98 [[ 8.26964056e-01 5.62120548e-01 1.22857313e-02 1.93307231e+02] [-5.62059769e-01 8.27055309e-01 -8.26631455e-03 -3.45431553e+01] [-1.48076445e-02 -6.93702655e-05 9.99890358e-01 9.82284051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99232058799998 meters 0.024711753599081444 Centerline is valid? [True, True] Translation: X:193.33, Y:-34.56, Z:0.98 [[ 8.28194188e-01 5.60330300e-01 1.11508241e-02 1.93330738e+02] [-5.60280165e-01 8.28269251e-01 -7.49560352e-03 -3.45595263e+01] [-1.34358985e-02 -3.97702738e-05 9.99909733e-01 9.84217933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02232058799999 meters 0.02455194825179825 Centerline is valid? [True, True] Translation: X:193.35, Y:-34.58, Z:0.98 [[ 8.28981715e-01 5.59183565e-01 1.01516758e-02 1.93354169e+02] [-5.59142009e-01 8.29043871e-01 -6.81709622e-03 -3.45762227e+01] [-1.22281928e-02 -2.49802894e-05 9.99925233e-01 9.84470120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.052320588 meters 0.024619101216348162 Centerline is valid? [True, True] Translation: X:193.38, Y:-34.59, Z:0.98 [[ 8.30003641e-01 5.57692555e-01 8.54222792e-03 1.93378812e+02] [-5.57663115e-01 8.30047597e-01 -5.73033345e-03 -3.45917590e+01] [-1.02862201e-02 -7.48779848e-06 9.99947095e-01 9.84920592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.082320588 meters 0.024572997335062293 Centerline is valid? [True, True] Translation: X:193.40, Y:-34.60, Z:0.98 [[ 8.31866462e-01 5.54910185e-01 8.53676069e-03 1.93404457e+02] [-5.54880704e-01 8.31910263e-01 -5.71995109e-03 -3.46042018e+01] [-1.02758780e-02 2.13516930e-05 9.99947202e-01 9.83714231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.112320588 meters 0.024680972449357713 Centerline is valid? [True, True] Translation: X:193.43, Y:-34.62, Z:0.98 [[ 8.32952459e-01 5.53279338e-01 8.49566915e-03 1.93428873e+02] [-5.53250119e-01 8.32995782e-01 -5.68614612e-03 -3.46185828e+01] [-1.02228837e-02 3.60594147e-05 9.99947744e-01 9.82272330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.142320588 meters 0.024716415276435533 Centerline is valid? [True, True] Translation: X:193.45, Y:-34.63, Z:0.98 [[ 8.34559187e-01 5.50864069e-01 7.72929968e-03 1.93453185e+02] [-5.50839836e-01 8.34594977e-01 -5.16723296e-03 -3.46319240e+01] [-9.29727766e-03 5.47555710e-05 9.99956778e-01 9.83074296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.172320588 meters 0.024947131389821776 Centerline is valid? [True, True] Translation: X:193.48, Y:-34.65, Z:0.98 [[ 8.35353056e-01 5.49664173e-01 7.38702516e-03 1.93475574e+02] [-5.49642041e-01 8.35385715e-01 -4.93292042e-03 -3.46478215e+01] [-8.88246492e-03 6.05105678e-05 9.99960548e-01 9.83641498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.202320588 meters 0.02501780628524897 Centerline is valid? [True, True] Translation: X:193.50, Y:-34.67, Z:0.98 [[ 8.36210202e-01 5.48351951e-01 7.91434800e-03 1.93498097e+02] [-5.48326529e-01 8.36247650e-01 -5.28063400e-03 -3.46660724e+01] [-9.51400087e-03 7.60730539e-05 9.99954738e-01 9.82912576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.232320588 meters 0.024976728411082928 Centerline is valid? [True, True] Translation: X:193.52, Y:-34.68, Z:0.98 [[ 8.36692607e-01 5.47611462e-01 8.19566847e-03 1.93521585e+02] [-5.47584226e-01 8.36732741e-01 -5.46214424e-03 -3.46812745e+01] [-9.84871693e-03 8.23169239e-05 9.99951497e-01 9.82679662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.262320588 meters 0.025015053829577572 Centerline is valid? [True, True] Translation: X:193.55, Y:-34.69, Z:0.98 [[ 8.36891692e-01 5.47295201e-01 8.95871802e-03 1.93545711e+02] [-5.47262707e-01 8.36939636e-01 -5.96447125e-03 -3.46949923e+01] [-1.07622327e-02 8.88441642e-05 9.99942082e-01 9.83149384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.292320588 meters 0.025083101006912443 Centerline is valid? [True, True] Translation: X:193.57, Y:-34.71, Z:0.99 [[ 8.37562883e-01 5.46259993e-01 9.40407951e-03 1.93571031e+02] [-5.46224182e-01 8.37615669e-01 -6.25564218e-03 -3.47079519e+01] [-1.12942114e-02 1.02758057e-04 9.99936213e-01 9.85174367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.322320588 meters 0.024904793133348698 Centerline is valid? [True, True] Translation: X:193.59, Y:-34.72, Z:0.99 [[ 8.38011792e-01 5.45587486e-01 8.39825064e-03 1.93593887e+02] [-5.45558961e-01 8.38053868e-01 -5.57979678e-03 -3.47245124e+01] [-1.00824537e-02 9.41946041e-05 9.99949166e-01 9.85539140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.352320588 meters 0.02527086873847172 Centerline is valid? [True, True] Translation: X:193.62, Y:-34.74, Z:0.99 [[ 8.40309931e-01 5.42080935e-01 5.24213369e-03 1.93615846e+02] [-5.42069784e-01 8.40326278e-01 -3.47795333e-03 -3.47413663e+01] [-6.29043488e-03 8.09564509e-05 9.99980212e-01 9.85867112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.382320588 meters 0.02545501610001163 Centerline is valid? [True, True] Translation: X:193.64, Y:-34.76, Z:0.99 [[ 8.41843149e-01 5.39690144e-01 5.88737805e-03 1.93639779e+02] [-5.39676041e-01 8.41863728e-01 -3.90316244e-03 -3.47571152e+01] [-7.06286833e-03 1.08573682e-04 9.99975052e-01 9.85875801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.412320588 meters 0.026018373516888474 Centerline is valid? [True, True] Translation: X:193.66, Y:-34.77, Z:0.99 [[ 8.43874228e-01 5.36498416e-01 6.76291996e-03 1.93664410e+02] [-5.36479734e-01 8.43901313e-01 -4.47980525e-03 -3.47727035e+01] [-8.11064545e-03 1.52222694e-04 9.99967097e-01 9.86464034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.442320588 meters 0.026749958703113065 Centerline is valid? [True, True] Translation: X:193.69, Y:-34.79, Z:0.99 [[ 8.46518113e-01 5.32284093e-01 8.98489653e-03 1.93686638e+02] [-5.32250930e-01 8.46565757e-01 -5.94701762e-03 -3.47909522e+01] [-1.07718086e-02 2.52038596e-04 9.99941951e-01 9.86521242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.472320588 meters 0.02683484064089516 Centerline is valid? [True, True] Translation: X:193.71, Y:-34.81, Z:0.99 [[ 8.47288043e-01 5.31066237e-01 8.46309196e-03 1.93708035e+02] [-5.31036819e-01 8.47330273e-01 -5.59519410e-03 -3.48086906e+01] [-1.01424527e-02 2.46527623e-04 9.99948534e-01 9.85968147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.502320588 meters 0.026823458117389797 Centerline is valid? [True, True] Translation: X:193.73, Y:-34.83, Z:0.99 [[ 8.47896845e-01 5.30132296e-01 5.53968413e-03 1.93731280e+02] [-5.30119699e-01 8.47914926e-01 -3.65841623e-03 -3.48262145e+01] [-6.63662545e-03 1.65263893e-04 9.99977964e-01 9.85653000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.532320588 meters 0.026710015029425174 Centerline is valid? [True, True] Translation: X:193.75, Y:-34.84, Z:0.99 [[ 8.47940767e-01 5.30074368e-01 4.19758829e-03 1.93754490e+02] [-5.30067150e-01 8.47951148e-01 -2.76891494e-03 -3.48432659e+01] [-5.02708064e-03 1.22872200e-04 9.99987357e-01 9.85377302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.562320588 meters 0.026518434207365108 Centerline is valid? [True, True] Translation: X:193.78, Y:-34.86, Z:0.99 [[ 8.47183754e-01 5.31269189e-01 5.72155037e-03 1.93776999e+02] [-5.31255824e-01 8.47203060e-01 -3.77161655e-03 -3.48620329e+01] [-6.85105864e-03 1.55645313e-04 9.99976519e-01 9.85602438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.592320588 meters 0.026427648312975633 Centerline is valid? [True, True] Translation: X:193.80, Y:-34.88, Z:0.99 [[ 8.46966512e-01 5.31602009e-01 6.85800718e-03 1.93799318e+02] [-5.31582856e-01 8.46994258e-01 -4.51611181e-03 -3.48796392e+01] [-8.20946681e-03 1.79396428e-04 9.99966286e-01 9.86162575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.622320588 meters 0.02617765162513569 Centerline is valid? [True, True] Translation: X:193.82, Y:-34.90, Z:0.99 [[ 8.46578675e-01 5.32226605e-01 6.27600130e-03 1.93821194e+02] [-5.32210611e-01 8.46601923e-01 -4.12911858e-03 -3.48981997e+01] [-7.51090154e-03 1.55469247e-04 9.99971781e-01 9.85848907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.652320588 meters 0.026138497265514475 Centerline is valid? [True, True] Translation: X:193.84, Y:-34.91, Z:0.99 [[ 8.46842361e-01 5.31818011e-01 5.25530152e-03 1.93843211e+02] [-5.31806816e-01 8.46858658e-01 -3.45311233e-03 -3.49149072e+01] [-6.28692492e-03 1.29436630e-04 9.99980229e-01 9.85140736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.682320588 meters 0.026033908541757644 Centerline is valid? [True, True] Translation: X:193.87, Y:-34.93, Z:0.98 [[ 8.46989927e-01 5.31577885e-01 5.74591057e-03 1.93865223e+02] [-5.31564523e-01 8.47009405e-01 -3.77165869e-03 -3.49323292e+01] [-6.87177065e-03 1.40234708e-04 9.99976379e-01 9.84545721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71232058799998 meters 0.025828463732510985 Centerline is valid? [True, True] Translation: X:193.89, Y:-34.95, Z:0.99 [[ 8.46225691e-01 5.32770040e-01 7.62658810e-03 1.93886429e+02] [-5.32746588e-01 8.46260040e-01 -5.00177122e-03 -3.49514923e+01] [-9.11887061e-03 1.69588514e-04 9.99958408e-01 9.86921492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74232058799998 meters 0.02553790432328532 Centerline is valid? [True, True] Translation: X:193.91, Y:-34.97, Z:0.99 [[ 8.45234839e-01 5.34316791e-01 9.14516543e-03 1.93908591e+02] [-5.34283224e-01 8.45284292e-01 -5.99177625e-03 -3.49683839e+01] [-1.09317714e-02 1.78349558e-04 9.99940230e-01 9.87413981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77232058799999 meters 0.025215083352548483 Centerline is valid? [True, True] Translation: X:193.93, Y:-34.99, Z:0.99 [[ 8.43940053e-01 5.36361881e-01 9.00666049e-03 1.93931398e+02] [-5.36329490e-01 8.43988099e-01 -5.89635447e-03 -3.49861467e+01] [-1.07640940e-02 1.45632078e-04 9.99942055e-01 9.88514376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.802320588 meters 0.024964468206756078 Centerline is valid? [True, True] Translation: X:193.95, Y:-35.00, Z:0.99 [[ 8.41741304e-01 5.39801948e-01 9.24309687e-03 1.93953712e+02] [-5.39768107e-01 8.41792045e-01 -6.04512509e-03 -3.50041307e+01] [-1.10439357e-02 9.93025700e-05 9.99939009e-01 9.86708221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.832320588 meters 0.02486218173883974 Centerline is valid? [True, True] Translation: X:193.98, Y:-35.02, Z:0.99 [[ 8.40875016e-01 5.41141996e-01 9.72358602e-03 1.93976486e+02] [-5.41104719e-01 8.40931230e-01 -6.35213149e-03 -3.50200926e+01] [-1.16142723e-02 7.98703902e-05 9.99932549e-01 9.85528499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.862320588 meters 0.024781978320847324 Centerline is valid? [True, True] Translation: X:194.00, Y:-35.04, Z:0.99 [[ 8.40525472e-01 5.41691845e-01 9.32074757e-03 1.93999005e+02] [-5.41657702e-01 8.40577148e-01 -6.08213255e-03 -3.50359079e+01] [-1.11294490e-02 6.35326212e-05 9.99938064e-01 9.86493678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.892320588 meters 0.024645269425538813 Centerline is valid? [True, True] Translation: X:194.02, Y:-35.06, Z:0.99 [[ 8.40646984e-01 5.41515944e-01 8.55162837e-03 1.94019132e+02] [-5.41487260e-01 8.40690478e-01 -5.57385451e-03 -3.50567932e+01] [-1.02076036e-02 5.50461656e-05 9.99947900e-01 9.87110114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.922320588 meters 0.024538704390613945 Centerline is valid? [True, True] Translation: X:194.04, Y:-35.08, Z:0.99 [[ 8.40968312e-01 5.41022803e-01 8.16239172e-03 1.94039995e+02] [-5.40996701e-01 8.41007921e-01 -5.31466332e-03 -3.50758435e+01] [-9.73999014e-03 5.36364493e-05 9.99952564e-01 9.88269770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.952320588 meters 0.024558732766695457 Centerline is valid? [True, True] Translation: X:194.06, Y:-35.09, Z:0.99 [[ 8.40755354e-01 5.41352228e-01 8.25826247e-03 1.94061806e+02] [-5.41325587e-01 8.40795910e-01 -5.37081489e-03 -3.50935768e+01] [-9.85101592e-03 4.51325939e-05 9.99951477e-01 9.89199266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.982320588 meters 0.02443724789054364 Centerline is valid? [True, True] Translation: X:194.08, Y:-35.11, Z:0.99 [[ 8.40244009e-01 5.42131530e-01 9.13284172e-03 1.94084194e+02] [-5.42099063e-01 8.40293641e-01 -5.93322663e-03 -3.51094677e+01] [-1.08908581e-02 3.44531962e-05 9.99940692e-01 9.89293130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.012320588 meters 0.024471691922252306 Centerline is valid? [True, True] Translation: X:194.11, Y:-35.13, Z:0.99 [[ 8.38525818e-01 5.44733372e-01 1.18324355e-02 1.94108187e+02] [-5.44679220e-01 8.38609297e-01 -7.68075159e-03 -3.51256915e+01] [-1.41067522e-02 -4.37324756e-06 9.99900495e-01 9.88269816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.042320588 meters 0.02463735743363522 Centerline is valid? [True, True] Translation: X:194.13, Y:-35.14, Z:0.99 [[ 8.37391619e-01 5.46441494e-01 1.33030226e-02 1.94130694e+02] [-5.46373388e-01 8.37497279e-01 -8.62720467e-03 -3.51436541e+01] [-1.58555079e-02 -4.40686680e-05 9.99874293e-01 9.87662415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.072320588 meters 0.024566860840104253 Centerline is valid? [True, True] Translation: X:194.15, Y:-35.16, Z:0.99 [[ 8.36522039e-01 5.47761420e-01 1.37224142e-02 1.94152469e+02] [-5.47689272e-01 8.36634580e-01 -8.89047742e-03 -3.51621521e+01] [-1.63505068e-02 -7.85387474e-05 9.99866318e-01 9.87747135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.102320588 meters 0.024795737491664797 Centerline is valid? [True, True] Translation: X:194.17, Y:-35.18, Z:0.99 [[ 8.35067840e-01 5.50005152e-01 1.24914301e-02 1.94173313e+02] [-5.49945765e-01 8.35161253e-01 -8.08316662e-03 -3.51816218e+01] [-1.48781417e-02 -1.19616573e-04 9.99889307e-01 9.85830072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.132320588 meters 0.024673194512934808 Centerline is valid? [True, True] Translation: X:194.20, Y:-35.20, Z:0.99 [[ 8.34955922e-01 5.50176495e-01 1.24270970e-02 1.94195783e+02] [-5.50117874e-01 8.35048386e-01 -8.03230038e-03 -3.51975490e+01] [-1.47964102e-02 -1.29751420e-04 9.99890519e-01 9.85731622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.162320588 meters 0.024686296066290303 Centerline is valid? [True, True] Translation: X:194.22, Y:-35.21, Z:0.99 [[ 8.34749129e-01 5.50523675e-01 1.08432054e-02 1.94220061e+02] [-5.50479164e-01 8.34819542e-01 -7.00163034e-03 -3.52135038e+01] [-1.29066831e-02 -1.24353835e-04 9.99916698e-01 9.86645280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.192320588 meters 0.02469231946727839 Centerline is valid? [True, True] Translation: X:194.25, Y:-35.23, Z:0.99 [[ 8.34173496e-01 5.51381633e-01 1.15270500e-02 1.94246129e+02] [-5.51331510e-01 8.34253122e-01 -7.43602098e-03 -3.52267378e+01] [-1.37165629e-02 -1.52294279e-04 9.99905912e-01 9.90299068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.222320588 meters 0.0246602369477334 Centerline is valid? [True, True] Translation: X:194.27, Y:-35.24, Z:0.99 [[ 8.33912124e-01 5.51780898e-01 1.13318352e-02 1.94270243e+02] [-5.51732614e-01 8.33989097e-01 -7.30129430e-03 -3.52404647e+01] [-1.34793417e-02 -1.63505203e-04 9.99909136e-01 9.91588484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.252320588 meters 0.02469866471685537 Centerline is valid? [True, True] Translation: X:194.29, Y:-35.26, Z:0.99 [[ 8.33448752e-01 5.52467173e-01 1.19666039e-02 1.94294898e+02] [-5.52413502e-01 8.33534634e-01 -7.70306003e-03 -3.52554340e+01] [-1.42302666e-02 -1.90407779e-04 9.99898727e-01 9.90824089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.282320588 meters 0.024781090156131537 Centerline is valid? [True, True] Translation: X:194.32, Y:-35.27, Z:0.99 [[ 8.33175586e-01 5.52892626e-01 1.13219415e-02 1.94317723e+02] [-5.52844740e-01 8.33252486e-01 -7.27921382e-03 -3.52723767e+01] [-1.34586595e-02 -1.94412553e-04 9.99909409e-01 9.89381476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.312320588 meters 0.024847788147152754 Centerline is valid? [True, True] Translation: X:194.34, Y:-35.29, Z:0.99 [[ 8.33498971e-01 5.52400372e-01 1.15453420e-02 1.94340651e+02] [-5.52350645e-01 8.33578905e-01 -7.41447016e-03 -3.52890219e+01] [-1.37197096e-02 -1.97123877e-04 9.99905861e-01 9.88339716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.342320588 meters 0.024847788147152754 Centerline is valid? [True, True] Translation: X:194.36, Y:-35.30, Z:0.99 [[ 8.33783818e-01 5.51970254e-01 1.15491599e-02 1.94363560e+02] [-5.51920569e-01 8.33863778e-01 -7.40852311e-03 -3.53041008e+01] [-1.37197105e-02 -1.97112198e-04 9.99905861e-01 9.88478246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.372320588 meters 0.024923462505178382 Centerline is valid? [True, True] Translation: X:194.39, Y:-35.32, Z:0.99 [[ 8.35211880e-01 5.49750395e-01 1.39863584e-02 1.94388482e+02] [-5.49677345e-01 8.35328955e-01 -8.96405113e-03 -3.53177875e+01] [-1.66112008e-02 -2.01102368e-04 9.99862004e-01 9.87758889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.402320588 meters 0.024699175140761698 Centerline is valid? [True, True] Translation: X:194.41, Y:-35.33, Z:0.99 [[ 8.35968431e-01 5.48642913e-01 1.21546725e-02 1.94413481e+02] [-5.48587734e-01 8.36056773e-01 -7.78272111e-03 -3.53317204e+01] [-1.44319310e-02 -1.61795060e-04 9.99895841e-01 9.89009077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.432320588 meters 0.024681203433777815 Centerline is valid? [True, True] Translation: X:194.44, Y:-35.35, Z:0.99 [[ 8.37233468e-01 5.46721321e-01 1.16583686e-02 1.94438138e+02] [-5.46670479e-01 8.37314624e-01 -7.45702258e-03 -3.53458634e+01] [-1.38386358e-02 -1.30017098e-04 9.99904233e-01 9.89823136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46232058799998 meters 0.02439182945365667 Centerline is valid? [True, True] Translation: X:194.46, Y:-35.36, Z:0.99 [[ 8.37782097e-01 5.45918714e-01 9.69107515e-03 1.94463079e+02] [-5.45883605e-01 8.37838139e-01 -6.19207074e-03 -3.53601485e+01] [-1.14999197e-02 -1.02593033e-04 9.99933868e-01 9.91330424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49232058799998 meters 0.024291864601992463 Centerline is valid? [True, True] Translation: X:194.49, Y:-35.38, Z:0.99 [[ 8.38348447e-01 5.45063533e-01 8.81060654e-03 1.94488241e+02] [-5.45034490e-01 8.38394739e-01 -5.62735256e-03 -3.53751852e+01] [-1.04540308e-02 -8.44021586e-05 9.99945352e-01 9.91975890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52232058799999 meters 0.024270532198075873 Centerline is valid? [True, True] Translation: X:194.51, Y:-35.39, Z:0.99 [[ 8.39428869e-01 5.43399541e-01 8.72430474e-03 1.94512160e+02] [-5.43371057e-01 8.39474201e-01 -5.56415151e-03 -3.53900092e+01] [-1.03473861e-02 -6.98252820e-05 9.99946462e-01 9.90532413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.552320588 meters 0.024392249245834344 Centerline is valid? [True, True] Translation: X:194.54, Y:-35.41, Z:0.99 [[ 8.40031082e-01 5.42421758e-01 1.12435796e-02 1.94535929e+02] [-5.42374439e-01 8.40106321e-01 -7.16504407e-03 -3.54069802e+01] [-1.33322781e-02 -7.93704310e-05 9.99911118e-01 9.88665067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.582320588 meters 0.02450661542419599 Centerline is valid? [True, True] Translation: X:194.56, Y:-35.42, Z:0.99 [[ 8.40281899e-01 5.41981982e-01 1.34856428e-02 1.94559302e+02] [-5.41913981e-01 8.40390102e-01 -8.58573851e-03 -3.54239059e+01] [-1.59865163e-02 -9.36176997e-05 9.99872203e-01 9.89180345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.612320588 meters 0.024525754291414764 Centerline is valid? [True, True] Translation: X:194.58, Y:-35.44, Z:0.99 [[ 8.40401568e-01 5.41815684e-01 1.26873782e-02 1.94583089e+02] [-5.41755624e-01 8.40497327e-01 -8.06767483e-03 -3.54379865e+01] [-1.50349002e-02 -9.33719031e-05 9.99886965e-01 9.90259861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.642320588 meters 0.02449073624953865 Centerline is valid? [True, True] Translation: X:194.61, Y:-35.45, Z:0.99 [[ 8.40241981e-01 5.42089587e-01 1.15018620e-02 1.94607609e+02] [-5.42040351e-01 8.40320695e-01 -7.30664587e-03 -3.54521502e+01] [-1.36261093e-02 -9.51226937e-05 9.99907156e-01 9.90661416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.672320588 meters 0.024461014171979954 Centerline is valid? [True, True] Translation: X:194.63, Y:-35.47, Z:0.99 [[ 8.39109026e-01 5.43883115e-01 9.33808796e-03 1.94632652e+02] [-5.43850837e-01 8.39160977e-01 -5.92630426e-03 -3.54655100e+01] [-1.10593758e-02 -1.05711563e-04 9.99938838e-01 9.91699511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.702320588 meters 0.02450338120639839 Centerline is valid? [True, True] Translation: X:194.66, Y:-35.48, Z:0.99 [[ 8.39120803e-01 5.43832218e-01 1.10813438e-02 1.94657132e+02] [-5.43786849e-01 8.39193960e-01 -7.02576197e-03 -3.54807164e+01] [-1.31202325e-02 -1.30425969e-04 9.99913918e-01 9.91654846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.732320588 meters 0.02456610307127207 Centerline is valid? [True, True] Translation: X:194.68, Y:-35.50, Z:0.99 [[ 8.38787204e-01 5.44310727e-01 1.27223759e-02 1.94680960e+02] [-5.44251096e-01 8.38883666e-01 -8.05848147e-03 -3.54961308e+01] [-1.50589113e-02 -1.64815891e-04 9.99886595e-01 9.91668280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.762320588 meters 0.024789291439105656 Centerline is valid? [True, True] Translation: X:194.70, Y:-35.51, Z:0.99 [[ 8.38630264e-01 5.44559081e-01 1.24373244e-02 1.94704889e+02] [-5.44502261e-01 8.38722467e-01 -7.86836526e-03 -3.55096534e+01] [-1.47162532e-02 -1.73502012e-04 9.99891695e-01 9.92386530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.792320588 meters 0.024771540088512397 Centerline is valid? [True, True] Translation: X:194.73, Y:-35.52, Z:0.99 [[ 8.38947936e-01 5.44112438e-01 1.03930520e-02 1.94730281e+02] [-5.44072802e-01 8.39012297e-01 -6.56901866e-03 -3.55242666e+01] [-1.22941831e-02 -1.43512253e-04 9.99924413e-01 9.92571738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.822320588 meters 0.02475943281805073 Centerline is valid? [True, True] Translation: X:194.75, Y:-35.54, Z:0.99 [[ 8.38589844e-01 5.44692646e-01 8.77460459e-03 1.94754543e+02] [-5.44664502e-01 8.38635739e-01 -5.53876147e-03 -3.55382914e+01] [-1.03756197e-02 -1.34466513e-04 9.99946163e-01 9.92284633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.852320588 meters 0.024873371874738662 Centerline is valid? [True, True] Translation: X:194.78, Y:-35.55, Z:0.99 [[ 8.38231332e-01 5.45220699e-01 1.01303797e-02 1.94781332e+02] [-5.45183289e-01 8.38292528e-01 -6.38899156e-03 -3.55495655e+01] [-1.19756321e-02 -1.67460844e-04 9.99928276e-01 9.92193016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.882320588 meters 0.025155064527273355 Centerline is valid? [True, True] Translation: X:194.81, Y:-35.56, Z:0.99 [[ 8.37542858e-01 5.46242532e-01 1.18767478e-02 1.94806888e+02] [-5.46191222e-01 8.37627035e-01 -7.48991639e-03 -3.55620606e+01] [-1.40395959e-02 -2.13849392e-04 9.99901417e-01 9.93737492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.912320588 meters 0.025081794276748667 Centerline is valid? [True, True] Translation: X:194.83, Y:-35.58, Z:0.99 [[ 8.37237336e-01 5.46688638e-01 1.28520775e-02 1.94832889e+02] [-5.46628754e-01 8.37335937e-01 -8.09523715e-03 -3.55750825e+01] [-1.51870805e-02 -2.47680321e-04 9.99884639e-01 9.94450078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.942320588 meters 0.025215170997635063 Centerline is valid? [True, True] Translation: X:194.86, Y:-35.59, Z:1.00 [[ 8.36742719e-01 5.47434666e-01 1.33007343e-02 1.94858422e+02] [-5.47370753e-01 8.36848379e-01 -8.36954829e-03 -3.55886773e+01] [-1.57124788e-02 -2.77274365e-04 9.99876513e-01 9.95073192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.972320588 meters 0.025302515219762522 Centerline is valid? [True, True] Translation: X:194.88, Y:-35.60, Z:0.99 [[ 8.36662934e-01 5.47578046e-01 1.23862222e-02 1.94882627e+02] [-5.47522774e-01 8.36754571e-01 -7.78467483e-03 -3.56022888e+01] [-1.46269451e-02 -2.68589858e-04 9.99892984e-01 9.94450000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.002320588 meters 0.025195742733201087 Centerline is valid? [True, True] Translation: X:194.91, Y:-35.62, Z:0.99 [[ 8.37567031e-01 5.46206698e-01 1.18199441e-02 1.94908885e+02] [-5.46156327e-01 8.37650396e-01 -7.42164397e-03 -3.56152389e+01] [-1.39547325e-02 -2.39412943e-04 9.99902599e-01 9.93141780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.032320588 meters 0.02516356643930519 Centerline is valid? [True, True] Translation: X:194.93, Y:-35.63, Z:0.99 [[ 8.38315295e-01 5.45033614e-01 1.28773385e-02 1.94934372e+02] [-5.44973833e-01 8.38414157e-01 -8.07606865e-03 -3.56276651e+01] [-1.51982717e-02 -2.47520628e-04 9.99884469e-01 9.93529485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.062320588 meters 0.025125988476129603 Centerline is valid? [True, True] Translation: X:194.96, Y:-35.64, Z:0.99 [[ 8.40679084e-01 5.41332251e-01 1.47672500e-02 1.94961926e+02] [-5.41253238e-01 8.40808746e-01 -9.25116484e-03 -3.56357446e+01] [-1.74243869e-02 -2.15561107e-04 9.99848161e-01 9.92790406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.092320588 meters 0.024876023025522512 Centerline is valid? [True, True] Translation: X:194.99, Y:-35.65, Z:0.99 [[ 8.42048165e-01 5.39234681e-01 1.34479584e-02 1.94986852e+02] [-5.39169019e-01 8.42155527e-01 -8.41648970e-03 -3.56501964e+01] [-1.58637357e-02 -1.63632842e-04 9.99874150e-01 9.93611636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.122320588 meters 0.02468242583017238 Centerline is valid? [True, True] Translation: X:195.01, Y:-35.67, Z:0.99 [[ 8.43387548e-01 5.37149022e-01 1.29758336e-02 1.95010518e+02] [-5.37087769e-01 8.43487351e-01 -8.11273926e-03 -3.56665370e+01] [-1.53027015e-02 -1.26978244e-04 9.99882899e-01 9.93532728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.152320588 meters 0.02475093435915857 Centerline is valid? [True, True] Translation: X:195.03, Y:-35.68, Z:0.99 [[ 8.44449197e-01 5.35507645e-01 1.17096465e-02 1.95034214e+02] [-5.35457708e-01 8.44530375e-01 -7.31360410e-03 -3.56833789e+01] [-1.38056431e-02 -9.40533727e-05 9.99904693e-01 9.93621287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.182320588 meters 0.024778093769980334 Centerline is valid? [True, True] Translation: X:195.06, Y:-35.70, Z:0.99 [[ 8.46246595e-01 5.32680507e-01 1.08709903e-02 1.95059555e+02] [-5.32637323e-01 8.46316415e-01 -6.78289007e-03 -3.56971696e+01] [-1.28134108e-02 -5.02975221e-05 9.99917904e-01 9.92944737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21232058799998 meters 0.024929907029977688 Centerline is valid? [True, True] Translation: X:195.08, Y:-35.71, Z:0.99 [[ 8.46859197e-01 5.31684380e-01 1.18835950e-02 1.95084884e+02] [-5.31632777e-01 8.46942571e-01 -7.40762476e-03 -3.57103245e+01] [-1.40032408e-02 -4.44934300e-05 9.99901949e-01 9.92630040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24232058799998 meters 0.02488746573928349 Centerline is valid? [True, True] Translation: X:195.11, Y:-35.72, Z:0.99 [[ 8.47446159e-01 5.30710377e-01 1.34723100e-02 1.95110529e+02] [-5.30643981e-01 8.47553240e-01 -8.39473436e-03 -3.57231143e+01] [-1.58736726e-02 -3.49148215e-05 9.99874005e-01 9.92663706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27232058799999 meters 0.024870785101518356 Centerline is valid? [True, True] Translation: X:195.14, Y:-35.74, Z:0.99 [[ 8.48056231e-01 5.29718537e-01 1.41032067e-02 1.95135637e+02] [-5.29645804e-01 8.48173491e-01 -8.77791771e-03 -3.57374797e+01] [-1.66117917e-02 -2.55364214e-05 9.99862014e-01 9.93509300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.302320588 meters 0.024826763153137033 Centerline is valid? [True, True] Translation: X:195.16, Y:-35.75, Z:0.99 [[ 8.49966188e-01 5.26680552e-01 1.28481795e-02 1.95160617e+02] [-5.26619967e-01 8.50063289e-01 -7.98844390e-03 -3.57522328e+01] [-1.51291238e-02 2.37993254e-05 9.99885548e-01 9.93470971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.332320588 meters 0.024827587953981597 Centerline is valid? [True, True] Translation: X:195.18, Y:-35.77, Z:0.99 [[ 8.51423039e-01 5.24341761e-01 1.20218721e-02 1.95183659e+02] [-5.24288611e-01 8.51507906e-01 -7.46579370e-03 -3.57679239e+01] [-1.41513465e-02 5.36181485e-05 9.99899863e-01 9.93015032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.362320588 meters 0.024968908871308794 Centerline is valid? [True, True] Translation: X:195.21, Y:-35.78, Z:0.99 [[ 8.53400401e-01 5.21157234e-01 1.01435857e-02 1.95207798e+02] [-5.21119245e-01 8.53460679e-01 -6.29306470e-03 -3.57841040e+01] [-1.19368277e-02 8.44862168e-05 9.99928750e-01 9.92077706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.392320588 meters 0.025611887649505886 Centerline is valid? [True, True] Translation: X:195.23, Y:-35.80, Z:0.99 [[ 8.55857443e-01 5.17051495e-01 1.28758831e-02 1.95231050e+02] [-5.16989923e-01 8.55954275e-01 -7.98110032e-03 -3.58016688e+01] [-1.51478070e-02 1.73982320e-04 9.99885250e-01 9.91579401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.422320588 meters 0.025729116949732074 Centerline is valid? [True, True] Translation: X:195.25, Y:-35.82, Z:0.99 [[ 8.56754038e-01 5.15540358e-01 1.38078977e-02 1.95254938e+02] [-5.15469483e-01 8.56865273e-01 -8.55078652e-03 -3.58169357e+01] [-1.62397836e-02 2.08370968e-04 9.99868104e-01 9.92418144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.452320588 meters 0.025737450751000493 Centerline is valid? [True, True] Translation: X:195.28, Y:-35.83, Z:0.99 [[ 8.57362866e-01 5.14551410e-01 1.28748624e-02 1.95278109e+02] [-5.14489818e-01 8.57459507e-01 -7.96375690e-03 -3.58317398e+01] [-1.51374355e-02 2.03843809e-04 9.99885402e-01 9.92592987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.482320588 meters 0.025870825339710864 Centerline is valid? [True, True] Translation: X:195.30, Y:-35.85, Z:0.99 [[ 8.58451034e-01 5.12793109e-01 1.02493571e-02 1.95302645e+02] [-5.12754028e-01 8.58512198e-01 -6.33339022e-03 -3.58475488e+01] [-1.20469169e-02 1.81506253e-04 9.99927417e-01 9.93088318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.512320588 meters 0.025717048956733594 Centerline is valid? [True, True] Translation: X:195.32, Y:-35.87, Z:0.99 [[ 8.58366700e-01 5.12957147e-01 9.03178408e-03 1.95324333e+02] [-5.12926870e-01 8.58414202e-01 -5.57538184e-03 -3.58679981e+01] [-1.06129437e-02 1.53077369e-04 9.99943669e-01 9.92888183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.542320588 meters 0.025680287828139393 Centerline is valid? [True, True] Translation: X:195.35, Y:-35.89, Z:0.99 [[ 8.58296587e-01 5.13067539e-01 9.41645127e-03 1.95345675e+02] [-5.13034708e-01 8.58348226e-01 -5.80612638e-03 -3.58870700e+01] [-1.10615292e-02 1.52412120e-04 9.99938808e-01 9.93225664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.572320588 meters 0.025711067201041545 Centerline is valid? [True, True] Translation: X:195.37, Y:-35.91, Z:0.99 [[ 8.58038116e-01 5.13455963e-01 1.15570527e-02 1.95367549e+02] [-5.13406623e-01 8.58115926e-01 -7.12012057e-03 -3.59068927e+01] [-1.35731593e-02 1.75867457e-04 9.99907865e-01 9.92703462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.602320588 meters 0.02568838767104365 Centerline is valid? [True, True] Translation: X:195.39, Y:-35.93, Z:0.99 [[ 8.57356871e-01 5.14557642e-01 1.30241867e-02 1.95386943e+02] [-5.14495242e-01 8.57455774e-01 -8.01511544e-03 -3.59285075e+01] [-1.52919030e-02 1.70932218e-04 9.99883057e-01 9.94179436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.632320588 meters 0.02533121857209358 Centerline is valid? [True, True] Translation: X:195.41, Y:-35.95, Z:0.99 [[ 8.56978087e-01 5.15214026e-01 1.19609875e-02 1.95410383e+02] [-5.15161561e-01 8.57061543e-01 -7.35377870e-03 -3.59459850e+01] [-1.40400723e-02 1.40186223e-04 9.99901423e-01 9.94938277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.662320588 meters 0.025183601803115248 Centerline is valid? [True, True] Translation: X:195.43, Y:-35.96, Z:1.00 [[ 8.55741694e-01 5.17272285e-01 1.16419980e-02 1.95433745e+02] [-5.17222870e-01 8.55820877e-01 -7.15047945e-03 -3.59630635e+01] [-1.36622098e-02 9.74557826e-05 9.99906663e-01 9.95127684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.692320588 meters 0.024800876460641268 Centerline is valid? [True, True] Translation: X:195.46, Y:-35.98, Z:1.00 [[ 8.52184729e-01 5.23127338e-01 1.09076384e-02 1.95455632e+02] [-5.23084527e-01 8.52254533e-01 -6.69252140e-03 -3.59830206e+01] [-1.27971252e-02 -2.35235799e-06 9.99918113e-01 9.95108414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.722320588 meters 0.02485591525184653 Centerline is valid? [True, True] Translation: X:195.48, Y:-36.00, Z:1.00 [[ 8.50079484e-01 5.26527671e-01 1.15534364e-02 1.95477922e+02] [-5.26480048e-01 8.50157990e-01 -7.08177497e-03 -3.60014998e+01] [-1.35509968e-02 -6.25821612e-05 9.99908179e-01 9.95053760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.752320588 meters 0.02494655087779309 Centerline is valid? [True, True] Translation: X:195.50, Y:-36.02, Z:1.00 [[ 8.48229306e-01 5.29504502e-01 1.14902742e-02 1.95501154e+02] [-5.29457758e-01 8.48307119e-01 -7.03661577e-03 -3.60195440e+01] [-1.34732011e-02 -1.14951088e-04 9.99909226e-01 9.95386216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.782320588 meters 0.0255492694964063 Centerline is valid? [True, True] Translation: X:195.52, Y:-36.04, Z:0.99 [[ 8.44126500e-01 5.35985523e-01 1.30373057e-02 1.95524011e+02] [-5.35926235e-01 8.44227134e-01 -7.97599964e-03 -3.60374810e+01] [-1.52814676e-02 -2.54281528e-04 9.99883199e-01 9.94061633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.812320588 meters 0.025712600972507084 Centerline is valid? [True, True] Translation: X:195.55, Y:-36.05, Z:0.99 [[ 8.42584047e-01 5.38394364e-01 1.35510994e-02 1.95547844e+02] [-5.38330754e-01 8.42692950e-01 -8.28195154e-03 -3.60525527e+01] [-1.58783720e-02 -3.16733341e-04 9.99873881e-01 9.94656191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.842320588 meters 0.02629543533287242 Centerline is valid? [True, True] Translation: X:195.57, Y:-36.07, Z:1.00 [[ 8.41326837e-01 5.40359743e-01 1.34351115e-02 1.95571749e+02] [-5.40297602e-01 8.41434026e-01 -8.20248350e-03 -3.60685843e+01] [-1.57370518e-02 -3.57989010e-04 9.99876101e-01 9.95362636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.872320588 meters 0.02664957745570528 Centerline is valid? [True, True] Translation: X:195.60, Y:-36.08, Z:1.00 [[ 8.39017273e-01 5.43926697e-01 1.39199054e-02 1.95596660e+02] [-5.43860617e-01 8.39132617e-01 -8.49005570e-03 -3.60828730e+01] [-1.62986146e-02 -4.47184962e-04 9.99867069e-01 9.97125398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.902320588 meters 0.026789684477560693 Centerline is valid? [True, True] Translation: X:195.62, Y:-36.10, Z:1.00 [[ 8.37893165e-01 5.45691363e-01 1.24892372e-02 1.95621706e+02] [-5.45638482e-01 8.37986124e-01 -7.60936078e-03 -3.60960394e+01] [-1.46181699e-02 -4.38777028e-04 9.99893053e-01 9.97452448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.932320588 meters 0.02709364420719171 Centerline is valid? [True, True] Translation: X:195.65, Y:-36.11, Z:1.00 [[ 8.36574954e-01 5.47732033e-01 1.14876289e-02 1.95647589e+02] [-5.47687588e-01 8.36653706e-01 -6.99160907e-03 -3.61093925e+01] [-1.34406956e-02 -4.42626731e-04 9.99909572e-01 9.97189241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96232058799998 meters 0.02793852920558021 Centerline is valid? [True, True] Translation: X:195.67, Y:-36.12, Z:1.00 [[ 8.33611422e-01 5.52228169e-01 1.16638586e-02 1.95674545e+02] [-5.52182778e-01 8.33692855e-01 -7.09949460e-03 -3.61210288e+01] [-1.36446165e-02 -5.22362075e-04 9.99906771e-01 9.95076947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99232058799998 meters 0.028241801109049332 Centerline is valid? [True, True] Translation: X:195.70, Y:-36.14, Z:0.99 [[ 8.32554093e-01 5.53801936e-01 1.25338300e-02 1.95699664e+02] [-5.53749843e-01 8.32648220e-01 -7.61922052e-03 -3.61351065e+01] [-1.46558104e-02 -5.97193187e-04 9.99892420e-01 9.94930920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02232058799999 meters 0.028426468268670697 Centerline is valid? [True, True] Translation: X:195.72, Y:-36.15, Z:1.00 [[ 8.31874750e-01 5.54802538e-01 1.33620197e-02 1.95724735e+02] [-5.54743587e-01 8.31981794e-01 -8.11462736e-03 -3.61489104e+01] [-1.56189729e-02 -6.62141100e-04 9.99877797e-01 9.95800121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.052320588 meters 0.028823335952834254 Centerline is valid? [True, True] Translation: X:195.75, Y:-36.16, Z:1.00 [[ 8.31023398e-01 5.56054743e-01 1.42560481e-02 1.95749817e+02] [-5.55987843e-01 8.31145346e-01 -8.65632230e-03 -3.61622423e+01] [-1.66622371e-02 -7.32583052e-04 9.99860907e-01 9.97102004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.082320588 meters 0.029042212829513834 Centerline is valid? [True, True] Translation: X:195.78, Y:-36.17, Z:1.00 [[ 8.29772472e-01 5.57941842e-01 1.33620825e-02 1.95777700e+02] [-5.57883468e-01 8.29879731e-01 -8.10363545e-03 -3.61722130e+01] [-1.56102788e-02 -7.30311332e-04 9.99877885e-01 9.97829788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.112320588 meters 0.02891541653378219 Centerline is valid? [True, True] Translation: X:195.80, Y:-36.18, Z:1.00 [[ 8.30037166e-01 5.57562028e-01 1.27627910e-02 1.95803344e+02] [-5.57508868e-01 8.30134987e-01 -7.73079184e-03 -3.61834905e+01] [-1.49052353e-02 -6.98524599e-04 9.99888667e-01 9.97167339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.142320588 meters 0.028808301624574602 Centerline is valid? [True, True] Translation: X:195.83, Y:-36.20, Z:1.00 [[ 8.30886835e-01 5.56335163e-01 1.08744545e-02 1.95830145e+02] [-5.56296551e-01 8.30957790e-01 -6.58022490e-03 -3.61954110e+01] [-1.26970232e-02 -5.81999300e-04 9.99919220e-01 9.96519104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.172320588 meters 0.028345240314858973 Centerline is valid? [True, True] Translation: X:195.86, Y:-36.20, Z:1.00 [[ 8.32917433e-01 5.53259175e-01 1.23626582e-02 1.95858338e+02] [-5.53209038e-01 8.33008948e-01 -7.47345579e-03 -3.62038583e+01] [-1.44329629e-02 -6.14362667e-04 9.99895651e-01 9.97005455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.202320588 meters 0.028345240314858973 Centerline is valid? [True, True] Translation: X:195.88, Y:-36.22, Z:1.00 [[ 8.33202848e-01 5.52829159e-01 1.23666814e-02 1.95881666e+02] [-5.52779073e-01 8.33294392e-01 -7.46679800e-03 -3.62182805e+01] [-1.44329499e-02 -6.14685320e-04 9.99895651e-01 9.97144040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.232320588 meters 0.02848461662562262 Centerline is valid? [True, True] Translation: X:195.91, Y:-36.23, Z:1.00 [[ 8.33789820e-01 5.51900861e-01 1.41412481e-02 1.95908049e+02] [-5.51835366e-01 8.33909445e-01 -8.53034819e-03 -3.62310636e+01] [-1.65004268e-02 -6.91123324e-04 9.99863620e-01 9.97771793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.262320588 meters 0.02820838914146135 Centerline is valid? [True, True] Translation: X:195.93, Y:-36.24, Z:1.00 [[ 8.34756832e-01 5.50449385e-01 1.36567431e-02 1.95933909e+02] [-5.50388241e-01 8.34868287e-01 -8.22967154e-03 -3.62433392e+01] [-1.59315993e-02 -6.46736268e-04 9.99872875e-01 9.98840642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.292320588 meters 0.02784532597683019 Centerline is valid? [True, True] Translation: X:195.96, Y:-36.25, Z:1.00 [[ 8.36554647e-01 5.47743511e-01 1.23842042e-02 1.95961149e+02] [-5.47693046e-01 8.36646130e-01 -7.45521557e-03 -3.62536101e+01] [-1.44447425e-02 -5.46047284e-04 9.99895520e-01 9.98229476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.322320588 meters 0.027513027587852214 Centerline is valid? [True, True] Translation: X:195.99, Y:-36.27, Z:1.00 [[ 8.37745629e-01 5.45944181e-01 1.12788908e-02 1.95987350e+02] [-5.45902244e-01 8.37821417e-01 -6.78330937e-03 -3.62668019e+01] [-1.31530045e-02 -4.74484025e-04 9.99913383e-01 9.97653655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.352320588 meters 0.027561810396785277 Centerline is valid? [True, True] Translation: X:196.01, Y:-36.28, Z:1.00 [[ 8.38782681e-01 5.44357579e-01 1.08830779e-02 1.96012949e+02] [-5.44318489e-01 8.38853165e-01 -6.53828490e-03 -3.62808281e+01] [-1.26884693e-02 -4.39660400e-04 9.99919401e-01 9.95721190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.382320588 meters 0.02730108847688438 Centerline is valid? [True, True] Translation: X:196.04, Y:-36.29, Z:1.00 [[ 8.40625699e-01 5.41511512e-01 1.06638052e-02 1.96039794e+02] [-5.41473826e-01 8.40693242e-01 -6.40064417e-03 -3.62930581e+01] [-1.24310115e-02 -3.93625434e-04 9.99922655e-01 9.97540280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.412320588 meters 0.026977636995368603 Centerline is valid? [True, True] Translation: X:196.07, Y:-36.30, Z:1.00 [[ 8.41433578e-01 5.40268569e-01 9.97030394e-03 1.96065885e+02] [-5.40235612e-01 8.41492571e-01 -5.97803486e-03 -3.63047551e+01] [-1.16196810e-02 -3.56193989e-04 9.99932426e-01 9.99483334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.442320588 meters 0.026895743968300127 Centerline is valid? [True, True] Translation: X:196.09, Y:-36.32, Z:1.00 [[ 8.42018376e-01 5.39356877e-01 9.96060507e-03 1.96092317e+02] [-5.39323991e-01 8.42077216e-01 -5.96618270e-03 -3.63157136e+01] [-1.16055003e-02 -3.48357811e-04 9.99932593e-01 1.00095258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.472320588 meters 0.026573897302924452 Centerline is valid? [True, True] Translation: X:196.12, Y:-36.33, Z:1.00 [[ 8.43670987e-01 5.36769888e-01 9.86679295e-03 1.96120522e+02] [-5.36737504e-01 8.43728623e-01 -5.90453573e-03 -3.63254987e+01] [-1.14942726e-02 -3.14392330e-04 9.99933889e-01 1.00198787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.502320588 meters 0.026383468399136 Centerline is valid? [True, True] Translation: X:196.15, Y:-36.34, Z:1.00 [[ 8.44733944e-01 5.35077624e-01 1.07935325e-02 1.96146213e+02] [-5.35038806e-01 8.44802836e-01 -6.45325295e-03 -3.63394776e+01] [-1.25713981e-02 -3.23676912e-04 9.99920924e-01 1.00289092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.532320588 meters 0.0265044720156522 Centerline is valid? [True, True] Translation: X:196.17, Y:-36.35, Z:1.00 [[ 8.45402613e-01 5.34004244e-01 1.15710360e-02 1.96170034e+02] [-5.33959645e-01 8.45481729e-01 -6.90963069e-03 -3.63534214e+01] [-1.34728716e-02 -3.37046446e-04 9.99909180e-01 1.00212710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.562320588 meters 0.026283119997210443 Centerline is valid? [True, True] Translation: X:196.20, Y:-36.37, Z:1.00 [[ 8.46511426e-01 5.32253518e-01 1.11623599e-02 1.96195587e+02] [-5.32211946e-01 8.46584964e-01 -6.65913603e-03 -3.63660560e+01] [-1.29942346e-02 -3.03706515e-04 9.99915525e-01 1.00080822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.592320588 meters 0.02614823051361386 Centerline is valid? [True, True] Translation: X:196.22, Y:-36.38, Z:1.00 [[ 8.47254443e-01 5.31105078e-01 9.34369267e-03 1.96221930e+02] [-5.31075939e-01 8.47305929e-01 -5.56871916e-03 -3.63790144e+01] [-1.08745412e-02 -2.44088300e-04 9.99940841e-01 1.00104207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.622320588 meters 0.026015765648071194 Centerline is valid? [True, True] Translation: X:196.25, Y:-36.39, Z:1.00 [[ 8.47939629e-01 5.30008754e-01 9.43963755e-03 1.96247036e+02] [-5.29979023e-01 8.47992137e-01 -5.61879092e-03 -3.63904428e+01] [-1.09827468e-02 -2.38414409e-04 9.99939659e-01 1.00119873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.652320588 meters 0.025965390767479366 Centerline is valid? [True, True] Translation: X:196.27, Y:-36.40, Z:1.00 [[ 8.48806140e-01 5.28640892e-01 8.18188197e-03 1.96273655e+02] [-5.28618540e-01 8.48845550e-01 -4.86521807e-03 -3.64021903e+01] [-9.51710733e-03 -1.95467534e-04 9.99954692e-01 1.00205576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.682320588 meters 0.025816618658719967 Centerline is valid? [True, True] Translation: X:196.30, Y:-36.41, Z:1.00 [[ 8.49526011e-01 5.27480265e-01 8.37417620e-03 1.96299539e+02] [-5.27456853e-01 8.49567262e-01 -4.97347306e-03 -3.64132255e+01] [-9.73783483e-03 -1.91921898e-04 9.99952568e-01 1.00280992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71232058799998 meters 0.02571164165524173 Centerline is valid? [True, True] Translation: X:196.32, Y:-36.43, Z:1.00 [[ 8.50319709e-01 5.26199603e-01 8.38865625e-03 1.96324867e+02] [-5.26176093e-01 8.50361067e-01 -4.97741433e-03 -3.64273118e+01] [-9.75250013e-03 -1.81516865e-04 9.99952427e-01 1.00305229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74232058799998 meters 0.02580362684877684 Centerline is valid? [True, True] Translation: X:196.35, Y:-36.44, Z:1.00 [[ 8.51259696e-01 5.24651565e-01 9.88256044e-03 1.96349134e+02] [-5.24618908e-01 8.51317036e-01 -5.85707681e-03 -3.64401894e+01] [-1.14861166e-02 -1.98684638e-04 9.99934013e-01 1.00236805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77232058799999 meters 0.0254742269567492 Centerline is valid? [True, True] Translation: X:196.37, Y:-36.45, Z:1.00 [[ 8.52303221e-01 5.22957089e-01 9.75205363e-03 1.96374925e+02] [-5.22925240e-01 8.52358992e-01 -5.77425374e-03 -3.64536491e+01] [-1.13319375e-02 -1.78179918e-04 9.99935776e-01 1.00272035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.802320588 meters 0.025345010549771757 Centerline is valid? [True, True] Translation: X:196.40, Y:-36.46, Z:1.00 [[ 8.54297704e-01 5.19691533e-01 9.80528658e-03 1.96401434e+02] [-5.19659188e-01 8.54353961e-01 -5.79982487e-03 -3.64648117e+01] [-1.13913053e-02 -1.40630183e-04 9.99935107e-01 1.00140885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.832320588 meters 0.025318405032647824 Centerline is valid? [True, True] Translation: X:196.43, Y:-36.48, Z:1.00 [[ 8.54716560e-01 5.18985776e-01 1.06473558e-02 1.96426174e+02] [-5.18947673e-01 8.54782863e-01 -6.29050893e-03 -3.64773490e+01] [-1.23658619e-02 -1.48818365e-04 9.99923529e-01 1.00144782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.862320588 meters 0.025310087095105356 Centerline is valid? [True, True] Translation: X:196.45, Y:-36.49, Z:1.00 [[ 8.55037850e-01 5.18464958e-01 1.02157808e-02 1.96451660e+02] [-5.18429929e-01 8.55098864e-01 -6.02843018e-03 -3.64898805e+01] [-1.18610324e-02 -1.41630560e-04 9.99929645e-01 1.00215246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.892320588 meters 0.025249426362151713 Centerline is valid? [True, True] Translation: X:196.48, Y:-36.50, Z:1.00 [[ 8.55709711e-01 5.17385045e-01 8.57941789e-03 1.96477702e+02] [-5.17360336e-01 8.55752712e-01 -5.05759060e-03 -3.65028843e+01] [-9.95858186e-03 -1.10821137e-04 9.99950406e-01 1.00340673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.922320588 meters 0.02504900440716128 Centerline is valid? [True, True] Translation: X:196.50, Y:-36.52, Z:1.00 [[ 8.56436334e-01 5.16190592e-01 8.00488031e-03 1.96502057e+02] [-5.16169076e-01 8.56473738e-01 -4.71401016e-03 -3.65189105e+01] [-9.28929746e-03 -9.46220896e-05 9.99956849e-01 1.00341656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.952320588 meters 0.02504458991547023 Centerline is valid? [True, True] Translation: X:196.53, Y:-36.53, Z:1.00 [[ 8.57092014e-01 5.15084315e-01 9.02376339e-03 1.96525508e+02] [-5.15056976e-01 8.57139509e-01 -5.30777718e-03 -3.65347685e+01] [-1.04685769e-02 -9.84988563e-05 9.99945198e-01 1.00166770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.982320588 meters 0.02522976020977278 Centerline is valid? [True, True] Translation: X:196.55, Y:-36.55, Z:1.00 [[ 8.58483542e-01 5.12729882e-01 1.06805929e-02 1.96549963e+02] [-5.12691482e-01 8.58549975e-01 -6.27567539e-03 -3.65473683e+01] [-1.23875491e-02 -8.82849538e-05 9.99923267e-01 1.00112244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.012320588 meters 0.025154270543571517 Centerline is valid? [True, True] Translation: X:196.58, Y:-36.56, Z:1.00 [[ 8.59839520e-01 5.10469016e-01 9.86830433e-03 1.96575890e+02] [-5.10436151e-01 8.59896145e-01 -5.79271632e-03 -3.65604588e+01] [-1.14427191e-02 -5.63328517e-05 9.99934528e-01 1.00187655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.042320588 meters 0.02514361993722568 Centerline is valid? [True, True] Translation: X:196.60, Y:-36.57, Z:1.00 [[ 8.61232935e-01 5.08114166e-01 9.89071536e-03 1.96600637e+02] [-5.08081077e-01 8.61289727e-01 -5.79879486e-03 -3.65741277e+01] [-1.14652213e-02 -3.11721952e-05 9.99934272e-01 1.00152439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.072320588 meters 0.02500059891092882 Centerline is valid? [True, True] Translation: X:196.62, Y:-36.59, Z:1.00 [[ 8.62256674e-01 5.06377760e-01 9.74640944e-03 1.96624157e+02] [-5.06345593e-01 8.62311755e-01 -5.70758449e-03 -3.65892419e+01] [-1.12946373e-02 -1.36486565e-05 9.99936213e-01 1.00155138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.102320588 meters 0.024749694935090435 Centerline is valid? [True, True] Translation: X:196.65, Y:-36.61, Z:1.00 [[ 8.63908394e-01 5.03599684e-01 7.04596443e-03 1.96646668e+02] [-5.03582818e-01 8.63937126e-01 -4.12157611e-03 -3.66069166e+01] [-8.16289469e-03 1.24375693e-05 9.99966683e-01 1.00187083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.132320588 meters 0.024710699394683382 Centerline is valid? [True, True] Translation: X:196.67, Y:-36.62, Z:1.00 [[ 8.64625709e-01 5.02383890e-01 5.72810237e-03 1.96669326e+02] [-5.02372747e-01 8.64644683e-01 -3.34597014e-03 -3.66231133e+01] [-6.63373475e-03 1.53692765e-05 9.99977996e-01 1.00266924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.162320588 meters 0.024619794862571587 Centerline is valid? [True, True] Translation: X:196.69, Y:-36.64, Z:1.00 [[ 8.64976293e-01 5.01769752e-01 6.56727887e-03 1.96691748e+02] [-5.01755119e-01 8.65001223e-01 -3.83215822e-03 -3.66392322e+01] [-7.60356533e-03 1.95602210e-05 9.99971092e-01 1.00218987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.192320588 meters 0.024679911268380827 Centerline is valid? [True, True] Translation: X:196.71, Y:-36.66, Z:1.00 [[ 8.64799597e-01 5.02069609e-01 6.91126690e-03 1.96713948e+02] [-5.02053448e-01 8.64827213e-01 -4.02840642e-03 -3.66560380e+01] [-7.99959213e-03 1.39388721e-05 9.99968003e-01 1.00203752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.222320588 meters 0.024461964269560443 Centerline is valid? [True, True] Translation: X:196.74, Y:-36.67, Z:1.00 [[ 8.64538353e-01 5.02529484e-01 6.12820657e-03 1.96736888e+02] [-5.02516821e-01 8.64560072e-01 -3.56744691e-03 -3.66713865e+01] [-7.09094997e-03 4.66779649e-06 9.99974859e-01 1.00310717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.252320588 meters 0.024334135706213268 Centerline is valid? [True, True] Translation: X:196.76, Y:-36.69, Z:1.00 [[ 8.64198541e-01 5.03115680e-01 5.95774435e-03 1.96759436e+02] [-5.03103754e-01 8.64219077e-01 -3.46408563e-03 -3.66870674e+01] [-6.89163211e-03 -3.70580027e-06 9.99976252e-01 1.00380788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.282320588 meters 0.024364158849746458 Centerline is valid? [True, True] Translation: X:196.78, Y:-36.71, Z:1.00 [[ 8.62555189e-01 5.05922266e-01 6.41922403e-03 1.96781033e+02] [-5.05908523e-01 8.62579074e-01 -3.72920710e-03 -3.67064811e+01] [-7.42377723e-03 -3.08932178e-05 9.99972443e-01 1.00382257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.312320588 meters 0.02436621147854801 Centerline is valid? [True, True] Translation: X:196.80, Y:-36.72, Z:1.00 [[ 8.61953095e-01 5.06947430e-01 6.41594921e-03 1.96803888e+02] [-5.06933764e-01 8.61976973e-01 -3.72259632e-03 -3.67234750e+01] [-7.41756112e-03 -4.37578590e-05 9.99972489e-01 1.00468983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.342320588 meters 0.02471105048081344 Centerline is valid? [True, True] Translation: X:196.83, Y:-36.74, Z:1.00 [[ 8.60147877e-01 5.10008457e-01 6.08307797e-03 1.96827559e+02] [-5.09996272e-01 8.60169384e-01 -3.52611589e-03 -3.67403058e+01] [-7.03082635e-03 -6.93659902e-05 9.99975281e-01 1.00357331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.372320588 meters 0.024733745748150633 Centerline is valid? [True, True] Translation: X:196.85, Y:-36.75, Z:1.00 [[ 8.59046948e-01 5.11857113e-01 6.37474779e-03 1.96852106e+02] [-5.11843787e-01 8.59070595e-01 -3.69449106e-03 -3.67543305e+01] [-7.36740991e-03 -8.91337833e-05 9.99972856e-01 1.00316901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.402320588 meters 0.024723409057690427 Centerline is valid? [True, True] Translation: X:196.88, Y:-36.77, Z:1.00 [[ 8.58866771e-01 5.12158807e-01 6.42083218e-03 1.96876714e+02] [-5.12145340e-01 8.58890766e-01 -3.71530314e-03 -3.67684264e+01] [-7.41761869e-03 -9.74488710e-05 9.99972484e-01 1.00340419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.432320588 meters 0.024857508590738736 Centerline is valid? [True, True] Translation: X:196.90, Y:-36.78, Z:1.00 [[ 8.58117384e-01 5.13396863e-01 7.62989216e-03 1.96900932e+02] [-5.13377928e-01 8.58151294e-01 -4.41130910e-03 -3.67833535e+01] [-8.81235408e-03 -1.31597202e-04 9.99961162e-01 1.00306303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46232058799998 meters 0.024671812143294402 Centerline is valid? [True, True] Translation: X:196.92, Y:-36.80, Z:1.00 [[ 8.58085005e-01 5.13451875e-01 7.56948189e-03 1.96924805e+02] [-5.13433289e-01 8.58118380e-01 -4.37087136e-03 -3.67985581e+01] [-8.73974363e-03 -1.35844806e-04 9.99961798e-01 1.00496144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49232058799998 meters 0.024807013634251127 Centerline is valid? [True, True] Translation: X:196.95, Y:-36.82, Z:1.01 [[ 8.57062044e-01 5.15138639e-01 8.76562584e-03 1.96947974e+02] [-5.15113847e-01 8.57106849e-01 -5.05714741e-03 -3.68154207e+01] [-1.01182100e-02 -1.81006154e-04 9.99948793e-01 1.00784486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52232058799999 meters 0.02491504766589531 Centerline is valid? [True, True] Translation: X:196.97, Y:-36.83, Z:1.01 [[ 8.57216960e-01 5.14886886e-01 8.40106402e-03 1.96971894e+02] [-5.14864162e-01 8.57258108e-01 -4.84060716e-03 -3.68307095e+01] [-9.69424540e-03 -1.75956228e-04 9.99952994e-01 1.00861245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.552320588 meters 0.02521394733936667 Centerline is valid? [True, True] Translation: X:197.00, Y:-36.84, Z:1.01 [[ 8.57701414e-01 5.14088543e-01 7.82648896e-03 1.96996568e+02] [-5.14068838e-01 8.57737107e-01 -4.50401115e-03 -3.68441734e+01] [-9.02853053e-03 -1.60257352e-04 9.99959229e-01 1.00631354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.582320588 meters 0.025149670253164325 Centerline is valid? [True, True] Translation: X:197.02, Y:-36.86, Z:1.00 [[ 8.58355619e-01 5.12981271e-01 8.70902145e-03 1.97021563e+02] [-5.12956870e-01 8.58399782e-01 -5.00632790e-03 -3.68566126e+01] [-1.00439746e-02 -1.70142694e-04 9.99949544e-01 1.00458822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.612320588 meters 0.02493526379709013 Centerline is valid? [True, True] Translation: X:197.05, Y:-36.87, Z:1.01 [[ 8.58611794e-01 5.12549719e-01 8.86406853e-03 1.97047036e+02] [-5.12524480e-01 8.58657531e-01 -5.08946081e-03 -3.68690016e+01] [-1.02198009e-02 -1.73181034e-04 9.99947761e-01 1.00534203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.642320588 meters 0.024880320960605582 Centerline is valid? [True, True] Translation: X:197.07, Y:-36.88, Z:1.01 [[ 8.58804882e-01 5.12231994e-01 8.51817983e-03 1.97071823e+02] [-5.12208729e-01 8.58847109e-01 -4.88482728e-03 -3.68827921e+01] [-9.81797893e-03 -1.67972550e-04 9.99951788e-01 1.00581070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.672320588 meters 0.0250422623361186 Centerline is valid? [True, True] Translation: X:197.09, Y:-36.90, Z:1.01 [[ 8.59345535e-01 5.11333243e-01 7.97281082e-03 1.97094636e+02] [-5.11312874e-01 8.59382506e-01 -4.56646902e-03 -3.68984997e+01] [-9.18668155e-03 -1.52426056e-04 9.99957790e-01 1.00809334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.702320588 meters 0.024969099707586387 Centerline is valid? [True, True] Translation: X:197.12, Y:-36.91, Z:1.01 [[ 8.59842740e-01 5.10495884e-01 8.02588349e-03 1.97118006e+02] [-5.10475257e-01 8.59880184e-01 -4.59147245e-03 -3.69131523e+01] [-9.24522596e-03 -1.49070683e-04 9.99957251e-01 1.00785496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.732320588 meters 0.025069807212958817 Centerline is valid? [True, True] Translation: X:197.14, Y:-36.93, Z:1.01 [[ 8.60614650e-01 5.09181170e-01 8.77271747e-03 1.97142362e+02] [-5.09156510e-01 8.60659348e-01 -5.01351340e-03 -3.69277452e+01] [-1.01031079e-02 -1.51983139e-04 9.99948951e-01 1.00637396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.762320588 meters 0.02516415496315693 Centerline is valid? [True, True] Translation: X:197.17, Y:-36.94, Z:1.00 [[ 8.61557005e-01 5.07569039e-01 9.65388874e-03 1.97166418e+02] [-5.07539146e-01 8.61611077e-01 -5.51072086e-03 -3.69413297e+01] [-1.11149688e-02 -1.51926291e-04 9.99938215e-01 1.00458734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.792320588 meters 0.02497951655801481 Centerline is valid? [True, True] Translation: X:197.19, Y:-36.95, Z:1.00 [[ 8.63154802e-01 5.04841340e-01 9.95032580e-03 1.97191813e+02] [-5.04809463e-01 8.63212144e-01 -5.67452694e-03 -3.69542943e+01] [-1.14539779e-02 -1.25023445e-04 9.99934393e-01 1.00350869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.822320588 meters 0.024831207455372147 Centerline is valid? [True, True] Translation: X:197.22, Y:-36.97, Z:1.00 [[ 8.64353963e-01 5.02780498e-01 1.01979168e-02 1.97216961e+02] [-5.02746955e-01 8.64414113e-01 -5.80855997e-03 -3.69671518e+01] [-1.17356539e-02 -1.06319785e-04 9.99931129e-01 1.00405514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.852320588 meters 0.024892990512231455 Centerline is valid? [True, True] Translation: X:197.24, Y:-36.98, Z:1.01 [[ 8.64874623e-01 5.01891965e-01 9.81542688e-03 1.97241732e+02] [-5.01860910e-01 8.64930313e-01 -5.58399823e-03 -3.69794966e+01] [-1.12922241e-02 -9.65207014e-05 9.99936236e-01 1.00526134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.882320588 meters 0.024865037338593826 Centerline is valid? [True, True] Translation: X:197.27, Y:-36.99, Z:1.01 [[ 8.65323234e-01 5.01134164e-01 8.95829687e-03 1.97267406e+02] [-5.01108308e-01 8.65369599e-01 -5.09122287e-03 -3.69924882e+01] [-1.03036235e-02 -8.35235526e-05 9.99946913e-01 1.00731786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.912320588 meters 0.024727440369802945 Centerline is valid? [True, True] Translation: X:197.29, Y:-37.01, Z:1.01 [[ 8.66136056e-01 4.99733183e-01 8.66480847e-03 1.97290803e+02] [-4.99708986e-01 8.66179393e-01 -4.91815930e-03 -3.70068070e+01] [-9.96304594e-03 -7.00875634e-05 9.99950365e-01 1.00732077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.942320588 meters 0.024743300884910814 Centerline is valid? [True, True] Translation: X:197.31, Y:-37.02, Z:1.01 [[ 8.66803734e-01 4.98581609e-01 8.22594814e-03 1.97314522e+02] [-4.98559803e-01 8.66842763e-01 -4.66333315e-03 -3.70223427e+01] [-9.45565576e-03 -5.89325029e-05 9.99955293e-01 1.00705612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.972320588 meters 0.02485122590373055 Centerline is valid? [True, True] Translation: X:197.34, Y:-37.04, Z:1.00 [[ 8.68242176e-01 4.96051066e-01 9.42676334e-03 1.97337559e+02] [-4.96022343e-01 8.68293348e-01 -5.33817500e-03 -3.70386843e+01] [-1.08332033e-02 -4.10565636e-05 9.99941318e-01 1.00460858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.002320588 meters 0.024844703186984347 Centerline is valid? [True, True] Translation: X:197.36, Y:-37.05, Z:1.01 [[ 8.69521331e-01 4.93794932e-01 9.96093948e-03 1.97361540e+02] [-4.93762790e-01 8.69578383e-01 -5.63410808e-03 -3.70528203e+01] [-1.14439117e-02 -1.93641079e-05 9.99934516e-01 1.00554214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.032320588 meters 0.02489385228691275 Centerline is valid? [True, True] Translation: X:197.39, Y:-37.07, Z:1.01 [[ 8.70538924e-01 4.91989825e-01 1.03920223e-02 1.97385868e+02] [-4.91954793e-01 8.70600949e-01 -5.87111604e-03 -3.70667468e+01] [-1.19358338e-02 -1.37013173e-06 9.99928765e-01 1.00628712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.062320588 meters 0.024999484847628987 Centerline is valid? [True, True] Translation: X:197.41, Y:-37.08, Z:1.01 [[ 8.73555587e-01 4.86658482e-01 8.00991790e-03 1.97410441e+02] [-4.86637491e-01 8.73592307e-01 -4.52035333e-03 -3.70813020e+01] [-9.19727095e-03 5.08535569e-05 9.99957703e-01 1.00844989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.092320588 meters 0.024935156507536388 Centerline is valid? [True, True] Translation: X:197.43, Y:-37.10, Z:1.01 [[ 8.74327059e-01 4.85280792e-01 7.39912913e-03 1.97433315e+02] [-4.85262877e-01 8.74358365e-01 -4.17014210e-03 -3.70974502e+01] [-8.49318031e-03 5.55453853e-05 9.99963931e-01 1.00829857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.122320588 meters 0.02502786718262325 Centerline is valid? [True, True] Translation: X:197.46, Y:-37.11, Z:1.01 [[ 8.74912038e-01 4.84211257e-01 8.26944520e-03 1.97456295e+02] [-4.84188871e-01 8.74951115e-01 -4.65659346e-03 -3.71145322e+01] [-9.49013527e-03 7.01363405e-05 9.99954965e-01 1.00783441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.152320588 meters 0.02502786718262325 Centerline is valid? [True, True] Translation: X:197.48, Y:-37.13, Z:1.01 [[ 8.75153394e-01 4.83774858e-01 8.27191263e-03 1.97479993e+02] [-4.83752493e-01 8.75192483e-01 -4.65221037e-03 -3.71282523e+01] [-9.49013816e-03 6.98393378e-05 9.99954965e-01 1.00797285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.182320588 meters 0.025035342065680737 Centerline is valid? [True, True] Translation: X:197.50, Y:-37.15, Z:1.01 [[ 8.75380950e-01 4.83333211e-01 9.85899910e-03 1.97503394e+02] [-4.83301467e-01 8.75436463e-01 -5.54006389e-03 -3.71461811e+01] [-1.13086242e-02 8.47976640e-05 9.99936052e-01 1.00890800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21232058799998 meters 0.02510178180197284 Centerline is valid? [True, True] Translation: X:197.53, Y:-37.16, Z:1.01 [[ 8.75270975e-01 4.83514296e-01 1.07072447e-02 1.97525519e+02] [-4.83476957e-01 8.75336460e-01 -6.00948509e-03 -3.71646522e+01] [-1.22781137e-02 8.32217764e-05 9.99924618e-01 1.00851407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24232058799998 meters 0.024967673420864464 Centerline is valid? [True, True] Translation: X:197.55, Y:-37.18, Z:1.01 [[ 8.75343282e-01 4.83425905e-01 8.57518696e-03 1.97549612e+02] [-4.83402002e-01 8.75385281e-01 -4.80771785e-03 -3.71807109e+01] [-9.83076780e-03 6.31409753e-05 9.99951675e-01 1.00938396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27232058799999 meters 0.024871810171750705 Centerline is valid? [True, True] Translation: X:197.57, Y:-37.20, Z:1.01 [[ 8.75198113e-01 4.83706513e-01 7.50148397e-03 1.97573331e+02] [-4.83688272e-01 8.75230259e-01 -4.20102762e-03 -3.71974564e+01] [-8.59759018e-03 4.83516287e-05 9.99963039e-01 1.00941645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.302320588 meters 0.024777027448922857 Centerline is valid? [True, True] Translation: X:197.59, Y:-37.22, Z:1.01 [[ 8.74474923e-01 4.85012898e-01 7.48985735e-03 1.97593978e+02] [-4.84994807e-01 8.74506997e-01 -4.18920109e-03 -3.72184585e+01] [-8.58174922e-03 3.08093868e-05 9.99963176e-01 1.00967304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.332320588 meters 0.02498759020218779 Centerline is valid? [True, True] Translation: X:197.62, Y:-37.24, Z:1.01 [[ 8.74420659e-01 4.85096406e-01 8.36594273e-03 1.97615830e+02] [-4.85073888e-01 8.74460677e-01 -4.67405192e-03 -3.72355805e+01] [-9.58305373e-03 2.89871899e-05 9.99954081e-01 1.00979841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.362320588 meters 0.02509173204816295 Centerline is valid? [True, True] Translation: X:197.64, Y:-37.25, Z:1.01 [[ 8.74491276e-01 4.84974742e-01 8.03167133e-03 1.97638897e+02] [-4.84954034e-01 8.74528158e-01 -4.48177494e-03 -3.72516896e+01] [-9.19747038e-03 2.42816794e-05 9.99957702e-01 1.00930301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.392320588 meters 0.02491713819681863 Centerline is valid? [True, True] Translation: X:197.66, Y:-37.27, Z:1.01 [[ 8.73374209e-01 4.86964403e-01 9.11926923e-03 1.97661091e+02] [-4.86937862e-01 8.73421817e-01 -5.08411842e-03 -3.72707289e+01] [-1.04407534e-02 -1.79557818e-07 9.99945494e-01 1.00829509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.422320588 meters 0.025004708685784655 Centerline is valid? [True, True] Translation: X:197.68, Y:-37.29, Z:1.01 [[ 8.72694884e-01 4.88183232e-01 8.98725048e-03 1.97684075e+02] [-4.88157585e-01 8.72741159e-01 -5.00404438e-03 -3.72870004e+01] [-1.02864340e-02 -2.01905570e-05 9.99947093e-01 1.00924388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.452320588 meters 0.02489873088874653 Centerline is valid? [True, True] Translation: X:197.71, Y:-37.30, Z:1.01 [[ 8.70918225e-01 4.91344139e-01 9.07650589e-03 1.97707540e+02] [-4.91318202e-01 8.70965518e-01 -5.04889201e-03 -3.73045362e+01] [-1.03860671e-02 -6.22804838e-05 9.99946061e-01 1.01055181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.482320588 meters 0.02519919994871355 Centerline is valid? [True, True] Translation: X:197.73, Y:-37.32, Z:1.01 [[ 8.69641623e-01 4.93591281e-01 9.54438091e-03 1.97731703e+02] [-4.93562739e-01 8.69693991e-01 -5.30894858e-03 -3.73193564e+01] [-1.09211415e-02 -9.38681259e-05 9.99940358e-01 1.01155685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.512320588 meters 0.02507888755597466 Centerline is valid? [True, True] Translation: X:197.76, Y:-37.33, Z:1.01 [[ 8.68987411e-01 4.94738980e-01 9.70671023e-03 1.97757100e+02] [-4.94709611e-01 8.69041615e-01 -5.39194649e-03 -3.73338055e+01] [-1.11031412e-02 -1.16469217e-04 9.99938351e-01 1.01201787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.542320588 meters 0.0253041179401511 Centerline is valid? [True, True] Translation: X:197.78, Y:-37.35, Z:1.01 [[ 8.67786324e-01 4.96856536e-01 8.97097055e-03 1.97782106e+02] [-4.96831619e-01 8.67832682e-01 -4.97782896e-03 -3.73485947e+01] [-1.02585683e-02 -1.37369920e-04 9.99947370e-01 1.01175258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.572320588 meters 0.025526434371719458 Centerline is valid? [True, True] Translation: X:197.81, Y:-37.36, Z:1.01 [[ 8.66620482e-01 4.98883557e-01 9.17258797e-03 1.97806857e+02] [-4.98857676e-01 8.66669007e-01 -5.08444267e-03 -3.73630546e+01] [-1.04861426e-02 -1.69533759e-04 9.99945005e-01 1.01164932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.602320588 meters 0.02590329347378018 Centerline is valid? [True, True] Translation: X:197.83, Y:-37.38, Z:1.01 [[ 8.64628950e-01 5.02332465e-01 8.88110761e-03 1.97831424e+02] [-5.02308437e-01 8.64674535e-01 -4.91759637e-03 -3.73786911e+01] [-1.01495359e-02 -2.09159101e-04 9.99948470e-01 1.00965802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.632320588 meters 0.02598877312082237 Centerline is valid? [True, True] Translation: X:197.86, Y:-37.39, Z:1.01 [[ 8.64205504e-01 5.03037357e-01 1.01126092e-02 1.97856658e+02] [-5.03006316e-01 8.64264632e-01 -5.59393514e-03 -3.73932419e+01] [-1.15539288e-02 -2.52396761e-04 9.99933219e-01 1.00974598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.662320588 meters 0.02594246829590801 Centerline is valid? [True, True] Translation: X:197.88, Y:-37.41, Z:1.01 [[ 8.63678707e-01 5.03936443e-01 1.03514481e-02 1.97881513e+02] [-5.03903989e-01 8.63740695e-01 -5.72559723e-03 -3.74068111e+01] [-1.18263040e-02 -2.71059555e-04 9.99930030e-01 1.01113319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.692320588 meters 0.026180367472617552 Centerline is valid? [True, True] Translation: X:197.91, Y:-37.42, Z:1.01 [[ 8.63205410e-01 5.04756429e-01 9.86746528e-03 1.97907913e+02] [-5.04727077e-01 8.63261763e-01 -5.45037472e-03 -3.74188015e+01] [-1.12693172e-02 -2.75583951e-04 9.99936461e-01 1.01351666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.722320588 meters 0.026360016729919535 Centerline is valid? [True, True] Translation: X:197.93, Y:-37.43, Z:1.01 [[ 8.62699858e-01 5.05609660e-01 1.03839488e-02 1.97933293e+02] [-5.05577287e-01 8.62762295e-01 -5.72973270e-03 -3.74317501e+01] [-1.18558877e-02 -3.06849054e-04 9.99929669e-01 1.01325488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.752320588 meters 0.026324348658391866 Centerline is valid? [True, True] Translation: X:197.96, Y:-37.44, Z:1.01 [[ 8.62852313e-01 5.05333511e-01 1.11323646e-02 1.97959450e+02] [-5.05296360e-01 8.62924060e-01 -6.13638236e-03 -3.74442600e+01] [-1.27073049e-02 -3.30351603e-04 9.99919204e-01 1.01313319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.782320588 meters 0.026578768591478674 Centerline is valid? [True, True] Translation: X:197.99, Y:-37.46, Z:1.01 [[ 8.62754217e-01 5.05502638e-01 1.10564068e-02 1.97986436e+02] [-5.05466088e-01 8.62824994e-01 -6.08799357e-03 -3.74554162e+01] [-1.26172409e-02 -3.36196551e-04 9.99920343e-01 1.01172089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.812320588 meters 0.0265734254031643 Centerline is valid? [True, True] Translation: X:198.01, Y:-37.47, Z:1.01 [[ 8.63008229e-01 5.05089975e-01 1.00455757e-02 1.98012114e+02] [-5.05059844e-01 8.63066639e-01 -5.52538616e-03 -3.74674500e+01] [-1.14608184e-02 -3.05163167e-04 9.99934276e-01 1.01159919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.842320588 meters 0.026326025743881314 Centerline is valid? [True, True] Translation: X:198.04, Y:-37.48, Z:1.01 [[ 8.63303106e-01 5.04603804e-01 9.09660747e-03 1.98038303e+02] [-5.04579127e-01 8.63350986e-01 -4.99789026e-03 -3.74796562e+01] [-1.03755195e-02 -2.75264074e-04 9.99946135e-01 1.01107505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.872320588 meters 0.026266717306029808 Centerline is valid? [True, True] Translation: X:198.06, Y:-37.49, Z:1.01 [[ 8.63813277e-01 5.03754120e-01 7.64256440e-03 1.98064779e+02] [-5.03736711e-01 8.63847056e-01 -4.19415148e-03 -3.74916990e+01] [-8.71482784e-03 -2.26876516e-04 9.99961999e-01 1.01166162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.902320588 meters 0.026006627062113142 Centerline is valid? [True, True] Translation: X:198.09, Y:-37.50, Z:1.01 [[ 8.65338718e-01 5.01093712e-01 9.69512196e-03 1.98091725e+02] [-5.01065584e-01 8.65392989e-01 -5.31556989e-03 -3.75015896e+01] [-1.10536892e-02 -2.58123519e-04 9.99938873e-01 1.01211932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.932320588 meters 0.02576098557972174 Centerline is valid? [True, True] Translation: X:198.12, Y:-37.51, Z:1.01 [[ 8.66748632e-01 4.98634952e-01 1.04877936e-02 1.98117676e+02] [-4.98601926e-01 8.66812045e-01 -5.74431588e-03 -3.75144941e+01] [-1.19552624e-02 -2.50356137e-04 9.99928502e-01 1.01280038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96232058799998 meters 0.024953212152390346 Centerline is valid? [True, True] Translation: X:198.14, Y:-37.53, Z:1.01 [[ 8.70243115e-01 4.92537365e-01 9.15775456e-03 1.98143641e+02] [-4.92511903e-01 8.70291285e-01 -5.01038082e-03 -3.75265020e+01] [-1.04377138e-02 -1.50053711e-04 9.99945514e-01 1.01304187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99232058799998 meters 0.02472456410084211 Centerline is valid? [True, True] Translation: X:198.17, Y:-37.54, Z:1.01 [[ 8.72117142e-01 4.89230425e-01 8.07972014e-03 1.98170110e+02] [-4.89210505e-01 8.72154562e-01 -4.41599968e-03 -3.75390030e+01] [-9.20720618e-03 -1.01414946e-04 9.99957608e-01 1.01301555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02232058799999 meters 0.02468355057076 Centerline is valid? [True, True] Translation: X:198.20, Y:-37.55, Z:1.01 [[ 8.74013349e-01 4.85833351e-01 8.16215907e-03 1.98195598e+02] [-4.85812920e-01 8.74051457e-01 -4.45610864e-03 -3.75513332e+01] [-9.29907322e-03 -7.05838970e-05 9.99956760e-01 1.01228024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.052320588 meters 0.0243729485471106 Centerline is valid? [True, True] Translation: X:198.22, Y:-37.56, Z:1.01 [[ 8.75757801e-01 4.82691658e-01 7.55231321e-03 1.98221273e+02] [-4.82674088e-01 8.75790364e-01 -4.11864766e-03 -3.75649724e+01] [-8.60228000e-03 -3.83680800e-05 9.99962999e-01 1.01229404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.082320588 meters 0.024518661872190144 Centerline is valid? [True, True] Translation: X:198.25, Y:-37.58, Z:1.01 [[ 8.78804396e-01 4.77097850e-01 8.97085946e-03 1.98245522e+02] [-4.77072815e-01 8.78850182e-01 -4.88751665e-03 -3.75797320e+01] [-1.02158651e-02 1.54179411e-05 9.99947817e-01 1.01306462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.112320588 meters 0.024605621610210213 Centerline is valid? [True, True] Translation: X:198.27, Y:-37.59, Z:1.01 [[ 8.80383015e-01 4.74203327e-01 7.54658224e-03 1.98269135e+02] [-4.74185554e-01 8.80415358e-01 -4.10582807e-03 -3.75943614e+01] [-8.59112424e-03 3.62210190e-05 9.99963095e-01 1.01419810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.142320588 meters 0.02475098462820965 Centerline is valid? [True, True] Translation: X:198.29, Y:-37.61, Z:1.01 [[ 8.82168392e-01 4.70881868e-01 7.01386006e-03 1.98291580e+02] [-4.70866448e-01 8.82196272e-01 -3.81122767e-03 -3.76105211e+01] [-7.98223921e-03 5.95532151e-05 9.99968140e-01 1.01389406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.172320588 meters 0.024859606341328576 Centerline is valid? [True, True] Translation: X:198.32, Y:-37.63, Z:1.01 [[ 8.82812332e-01 4.69662468e-01 7.71709940e-03 1.98315754e+02] [-4.69643787e-01 8.82846057e-01 -4.18960187e-03 -3.76261930e+01] [-8.78070953e-03 7.43444086e-05 9.99961446e-01 1.01305298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.202320588 meters 0.024719181607227157 Centerline is valid? [True, True] Translation: X:198.34, Y:-37.64, Z:1.01 [[ 8.83402602e-01 4.68544151e-01 8.13761646e-03 1.98340239e+02] [-4.68523372e-01 8.83440078e-01 -4.41347891e-03 -3.76421743e+01] [-9.25700625e-03 8.62152484e-05 9.99957149e-01 1.01362476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.232320588 meters 0.02495041480245119 Centerline is valid? [True, True] Translation: X:198.36, Y:-37.66, Z:1.01 [[ 8.84057310e-01 4.67301768e-01 8.46941244e-03 1.98363947e+02] [-4.67279247e-01 8.84097872e-01 -4.58876402e-03 -3.76578738e+01] [-9.63212706e-03 9.91497012e-05 9.99953605e-01 1.01381896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.262320588 meters 0.025151237977637003 Centerline is valid? [True, True] Translation: X:198.39, Y:-37.68, Z:1.01 [[ 8.84107426e-01 4.67196272e-01 9.03895282e-03 1.98385908e+02] [-4.67170678e-01 8.84153625e-01 -4.89133423e-03 -3.76766065e+01] [-1.02770360e-02 1.01731200e-04 9.99947185e-01 1.01349307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.292320588 meters 0.024936562089047074 Centerline is valid? [True, True] Translation: X:198.41, Y:-37.69, Z:1.01 [[ 8.83705840e-01 4.67945219e-01 9.55305951e-03 1.98408600e+02] [-4.67916738e-01 8.83757469e-01 -5.16356122e-03 -3.76934947e+01] [-1.08588515e-02 9.30327608e-05 9.99941037e-01 1.01296879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.322320588 meters 0.02482774942551944 Centerline is valid? [True, True] Translation: X:198.43, Y:-37.71, Z:1.01 [[ 8.83452363e-01 4.68432290e-01 9.11663479e-03 1.98431850e+02] [-4.68406441e-01 8.83499397e-01 -4.92160995e-03 -3.77101316e+01] [-1.03599824e-02 7.77174856e-05 9.99946331e-01 1.01331540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.352320588 meters 0.024763296938534192 Centerline is valid? [True, True] Translation: X:198.45, Y:-37.73, Z:1.01 [[ 8.82335747e-01 4.70494668e-01 1.08810308e-02 1.98454670e+02] [-4.70458067e-01 8.82402835e-01 -5.86880869e-03 -3.77274644e+01] [-1.23626956e-02 5.91909698e-05 9.99923577e-01 1.01398375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.382320588 meters 0.024637267239044497 Centerline is valid? [True, True] Translation: X:198.48, Y:-37.74, Z:1.01 [[ 8.82141834e-01 4.70871372e-01 1.02925303e-02 1.98478451e+02] [-4.70838733e-01 8.82201876e-01 -5.54418782e-03 -3.77422364e+01] [-1.16906889e-02 4.46380636e-05 9.99931661e-01 1.01333904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.412320588 meters 0.024559814015443198 Centerline is valid? [True, True] Translation: X:198.50, Y:-37.76, Z:1.01 [[ 8.81267366e-01 4.72513941e-01 9.91996535e-03 1.98502717e+02] [-4.72483746e-01 8.81323196e-01 -5.34177373e-03 -3.77579714e+01] [-1.12667581e-02 2.05084775e-05 9.99936528e-01 1.01290532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.442320588 meters 0.024971568837543288 Centerline is valid? [True, True] Translation: X:198.53, Y:-37.78, Z:1.01 [[ 8.79013117e-01 4.76661509e-01 1.13906109e-02 1.98525883e+02] [-4.76622142e-01 8.79086915e-01 -6.12617219e-03 -3.77759639e+01] [-1.29334474e-02 -4.40316431e-05 9.99916359e-01 1.01221386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.472320588 meters 0.02504661979200717 Centerline is valid? [True, True] Translation: X:198.55, Y:-37.79, Z:1.01 [[ 8.78298248e-01 4.77960711e-01 1.20725706e-02 1.98550580e+02] [-4.77916705e-01 8.78381212e-01 -6.48612032e-03 -3.77914258e+01] [-1.37044299e-02 -7.29350588e-05 9.99906087e-01 1.01209323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.502320588 meters 0.02502406094880049 Centerline is valid? [True, True] Translation: X:198.57, Y:-37.81, Z:1.01 [[ 8.77034839e-01 4.80288508e-01 1.15255867e-02 1.98574566e+02] [-4.80248707e-01 8.77110561e-01 -6.18409248e-03 -3.78066209e+01] [-1.30793623e-02 -1.11483547e-04 9.99914455e-01 1.01248300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.532320588 meters 0.025293973266611668 Centerline is valid? [True, True] Translation: X:198.60, Y:-37.82, Z:1.01 [[ 8.74455461e-01 4.85027544e-01 8.71373274e-03 1.98599346e+02] [-4.85005049e-01 8.74498864e-01 -4.67333145e-03 -3.78219047e+01] [-9.88684385e-03 -1.39584167e-04 9.99951114e-01 1.01257987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.562320588 meters 0.02562491428624573 Centerline is valid? [True, True] Translation: X:198.62, Y:-37.84, Z:1.01 [[ 8.73611972e-01 4.86549273e-01 8.48098550e-03 1.98624820e+02] [-4.86528095e-01 8.73653124e-01 -4.54229683e-03 -3.78351535e+01] [-9.61949069e-03 -1.58032828e-04 9.99953719e-01 1.01232259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.592320588 meters 0.02558597759137038 Centerline is valid? [True, True] Translation: X:198.65, Y:-37.85, Z:1.01 [[ 8.72861802e-01 4.87905275e-01 7.79217237e-03 1.98651296e+02] [-4.87887489e-01 8.72896567e-01 -4.16914549e-03 -3.78474747e+01] [-8.83590859e-03 -1.62615571e-04 9.99960949e-01 1.01253690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.622320588 meters 0.02568293874338546 Centerline is valid? [True, True] Translation: X:198.68, Y:-37.86, Z:1.01 [[ 8.71302377e-01 4.90678504e-01 8.17151101e-03 1.98677683e+02] [-4.90659111e-01 8.71340671e-01 -4.36718998e-03 -3.78595158e+01] [-9.26305613e-03 -2.04283313e-04 9.99957076e-01 1.01370295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.652320588 meters 0.025723207792368655 Centerline is valid? [True, True] Translation: X:198.70, Y:-37.87, Z:1.01 [[ 8.71146571e-01 4.90952878e-01 8.30205107e-03 1.98703157e+02] [-4.90932919e-01 8.71186103e-01 -4.43214463e-03 -3.78734095e+01] [-9.40860568e-03 -2.14702566e-04 9.99955715e-01 1.01385444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.682320588 meters 0.02603164327973205 Centerline is valid? [True, True] Translation: X:198.73, Y:-37.89, Z:1.01 [[ 8.70920564e-01 4.91342474e-01 8.94116859e-03 1.98728844e+02] [-4.91319394e-01 8.70966426e-01 -4.76834681e-03 -3.78866019e+01] [-1.01303490e-02 -2.40118242e-04 9.99948658e-01 1.01319550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71232058799998 meters 0.026202671168086614 Centerline is valid? [True, True] Translation: X:198.76, Y:-37.90, Z:1.01 [[ 8.70946716e-01 4.91298761e-01 8.79457451e-03 1.98756022e+02] [-4.91276493e-01 8.70991084e-01 -4.68383847e-03 -3.78951510e+01] [-9.96116002e-03 -2.41193990e-04 9.99950357e-01 1.01411906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74232058799998 meters 0.025931465659981823 Centerline is valid? [True, True] Translation: X:198.78, Y:-37.91, Z:1.01 [[ 8.71029079e-01 4.91143227e-01 9.30991078e-03 1.98782663e+02] [-4.91118308e-01 8.71078794e-01 -4.95409973e-03 -3.79058026e+01] [-1.05428384e-02 -2.57102708e-04 9.99944390e-01 1.01429142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77232058799999 meters 0.02594157030294102 Centerline is valid? [True, True] Translation: X:198.81, Y:-37.92, Z:1.01 [[ 8.71548698e-01 4.90205141e-01 1.00889655e-02 1.98808079e+02] [-4.90175895e-01 8.71607048e-01 -5.36150636e-03 -3.79182148e+01] [-1.14218514e-02 -2.72553803e-04 9.99934731e-01 1.01385031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.802320588 meters 0.025919668746782802 Centerline is valid? [True, True] Translation: X:198.83, Y:-37.93, Z:1.01 [[ 8.71679803e-01 4.89956543e-01 1.08123367e-02 1.98833273e+02] [-4.89923004e-01 8.71746809e-01 -5.74027254e-03 -3.79321593e+01] [-1.22381041e-02 -2.93532845e-04 9.99925069e-01 1.01379034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.832320588 meters 0.026057236110042025 Centerline is valid? [True, True] Translation: X:198.86, Y:-37.95, Z:1.01 [[ 8.72652337e-01 4.88239372e-01 1.00106850e-02 1.98858927e+02] [-4.88210577e-01 8.72709717e-01 -5.30862683e-03 -3.79450298e+01] [-1.13283027e-02 -2.54736704e-04 9.99935800e-01 1.01345453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.862320588 meters 0.025941130335452114 Centerline is valid? [True, True] Translation: X:198.89, Y:-37.96, Z:1.01 [[ 8.73014997e-01 4.87607625e-01 9.14434337e-03 1.98885345e+02] [-4.87583621e-01 8.73062857e-01 -4.84369977e-03 -3.79560193e+01] [-1.03454115e-02 -2.30009505e-04 9.99946458e-01 1.01430966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.892320588 meters 0.025804730551586514 Centerline is valid? [True, True] Translation: X:198.91, Y:-37.97, Z:1.01 [[ 8.73577644e-01 4.86604605e-01 8.83512454e-03 1.98912587e+02] [-4.86582198e-01 8.73622294e-01 -4.67467151e-03 -3.79669595e+01] [-9.99327845e-03 -2.15325795e-04 9.99950043e-01 1.01433059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.922320588 meters 0.02579742905472626 Centerline is valid? [True, True] Translation: X:198.94, Y:-37.98, Z:1.01 [[ 8.74069911e-01 4.85704381e-01 9.64598834e-03 1.98938763e+02] [-4.85677689e-01 8.74123104e-01 -5.09716163e-03 -3.79778452e+01] [-1.09074950e-02 -2.29565708e-04 9.99940485e-01 1.01445318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.952320588 meters 0.02577398290355264 Centerline is valid? [True, True] Translation: X:198.97, Y:-37.99, Z:1.02 [[ 8.74230107e-01 4.85410933e-01 9.89683577e-03 1.98965338e+02] [-4.85382888e-01 8.74286092e-01 -5.22322190e-03 -3.79867265e+01] [-1.11880749e-02 -2.37456893e-04 9.99937383e-01 1.01558463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.982320588 meters 0.02562261158282508 Centerline is valid? [True, True] Translation: X:198.99, Y:-38.00, Z:1.02 [[ 8.74162639e-01 4.85554375e-01 8.75387338e-03 1.98991614e+02] [-4.85532458e-01 8.74206442e-01 -4.61834556e-03 -3.79976249e+01] [-9.89515040e-03 -2.13104511e-04 9.99951019e-01 1.01574922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.012320588 meters 0.02562261158282508 Centerline is valid? [True, True] Translation: X:199.02, Y:-38.01, Z:1.02 [[ 8.74421398e-01 4.85088171e-01 8.75699345e-03 1.99015707e+02] [-4.85066290e-01 8.74465220e-01 -4.61242890e-03 -3.80106617e+01] [-9.89512090e-03 -2.14515794e-04 9.99951019e-01 1.01588748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.042320588 meters 0.02593585637019336 Centerline is valid? [True, True] Translation: X:199.04, Y:-38.02, Z:1.02 [[ 8.74894300e-01 4.84243031e-01 8.28556386e-03 1.99040929e+02] [-4.84223459e-01 8.74933510e-01 -4.35831410e-03 -3.80227732e+01] [-9.35980070e-03 -1.99000227e-04 9.99956176e-01 1.01509099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.072320588 meters 0.025691968425586867 Centerline is valid? [True, True] Translation: X:199.07, Y:-38.03, Z:1.02 [[ 8.75026986e-01 4.84004022e-01 8.23894646e-03 1.99066745e+02] [-4.83984708e-01 8.75065750e-01 -4.32854097e-03 -3.80342697e+01] [-9.30465110e-03 -1.99933936e-04 9.99956691e-01 1.01574277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.102320588 meters 0.025737199968907137 Centerline is valid? [True, True] Translation: X:199.09, Y:-38.05, Z:1.02 [[ 8.75149461e-01 4.83766644e-01 9.12445905e-03 1.99092613e+02] [-4.83742988e-01 8.75196998e-01 -4.78922754e-03 -3.80472341e+01] [-1.03025677e-02 -2.22603183e-04 9.99946902e-01 1.01622138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.132320588 meters 0.025833023762534022 Centerline is valid? [True, True] Translation: X:199.12, Y:-38.06, Z:1.02 [[ 8.74966550e-01 4.84105571e-01 8.67943184e-03 1.99118201e+02] [-4.84084244e-01 8.75009570e-01 -4.54947245e-03 -3.80583944e+01] [-9.79701088e-03 -2.20939984e-04 9.99951984e-01 1.01605340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.162320588 meters 0.02589289465098112 Centerline is valid? [True, True] Translation: X:199.15, Y:-38.06, Z:1.02 [[ 8.74349633e-01 4.85254559e-01 6.38220296e-03 1.99146473e+02] [-4.85243093e-01 8.74372908e-01 -3.34044685e-03 -3.80639908e+01] [-7.20139243e-03 -1.76201430e-04 9.99974054e-01 1.01514166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.192320588 meters 0.026176034301836033 Centerline is valid? [True, True] Translation: X:199.17, Y:-38.08, Z:1.02 [[ 8.73693951e-01 4.86430332e-01 6.66431992e-03 1.99173279e+02] [-4.86417889e-01 8.73719345e-01 -3.48481035e-03 -3.80751787e+01] [-7.51786269e-03 -1.96986706e-04 9.99971721e-01 1.01529249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.222320588 meters 0.026209699863243296 Centerline is valid? [True, True] Translation: X:199.20, Y:-38.09, Z:1.02 [[ 8.73444850e-01 4.86856612e-01 8.04565052e-03 1.99198827e+02] [-4.86838531e-01 8.73481871e-01 -4.20307108e-03 -3.80873655e+01] [-9.07402282e-03 -2.45781891e-04 9.99958800e-01 1.01536997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.252320588 meters 0.026039546655957157 Centerline is valid? [True, True] Translation: X:199.23, Y:-38.10, Z:1.02 [[ 8.73873771e-01 4.86106327e-01 6.72839620e-03 1.99225092e+02] [-4.86093692e-01 8.73899649e-01 -3.51068105e-03 -3.80988776e+01] [-7.58650735e-03 -2.02738861e-04 9.99971201e-01 1.01796584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.282320588 meters 0.025988395227416788 Centerline is valid? [True, True] Translation: X:199.25, Y:-38.11, Z:1.02 [[ 8.74290018e-01 4.85363479e-01 6.26558523e-03 1.99250611e+02] [-4.85352536e-01 8.74312449e-01 -3.26456066e-03 -3.81106941e+01] [-7.06257769e-03 -1.86844882e-04 9.99975042e-01 1.01768481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.312320588 meters 0.026015519739984436 Centerline is valid? [True, True] Translation: X:199.28, Y:-38.12, Z:1.02 [[ 8.74973679e-01 4.84138490e-01 5.56630364e-03 1.99276447e+02] [-4.84129848e-01 8.74991370e-01 -2.89708087e-03 -3.81224902e+01] [-6.27305600e-03 -1.59944228e-04 9.99980311e-01 1.01702499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.342320588 meters 0.025782520871011932 Centerline is valid? [True, True] Translation: X:199.30, Y:-38.13, Z:1.02 [[ 8.75922555e-01 4.82402572e-01 6.88735415e-03 1.99303808e+02] [-4.82389313e-01 8.75949613e-01 -3.58135256e-03 -3.81324955e+01] [-7.76062888e-03 -1.85398556e-04 9.99969869e-01 1.01710401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.372320588 meters 0.025667352798742733 Centerline is valid? [True, True] Translation: X:199.33, Y:-38.14, Z:1.02 [[ 8.76468541e-01 4.81422128e-01 5.96920437e-03 1.99330569e+02] [-4.81412172e-01 8.76488853e-01 -3.10014926e-03 -3.81430468e+01] [-6.72442155e-03 -1.56464346e-04 9.99977379e-01 1.01764784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.402320588 meters 0.025762650313757688 Centerline is valid? [True, True] Translation: X:199.36, Y:-38.15, Z:1.02 [[ 8.76748176e-01 4.80915942e-01 5.70026311e-03 1.99357123e+02] [-4.80906876e-01 8.76766693e-01 -2.95669972e-03 -3.81534759e+01] [-6.41972487e-03 -1.49014637e-04 9.99979382e-01 1.01841562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.432320588 meters 0.025944839990891696 Centerline is valid? [True, True] Translation: X:199.38, Y:-38.16, Z:1.02 [[ 8.75661335e-01 4.82903835e-01 4.59473596e-03 1.99384623e+02] [-4.82897987e-01 8.75673380e-01 -2.38036453e-03 -3.81619352e+01] [-5.17297512e-03 -1.34395564e-04 9.99986611e-01 1.01827055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46232058799998 meters 0.026060966619493732 Centerline is valid? [True, True] Translation: X:199.41, Y:-38.17, Z:1.02 [[ 8.75673369e-01 4.82882686e-01 4.52340888e-03 1.99410321e+02] [-4.82877035e-01 8.75685042e-01 -2.34006121e-03 -3.81718765e+01] [-5.09105654e-03 -1.35120986e-04 9.99987031e-01 1.01939409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49232058799998 meters 0.026226150784843274 Centerline is valid? [True, True] Translation: X:199.44, Y:-38.18, Z:1.02 [[ 8.75155470e-01 4.83803183e-01 6.11412910e-03 1.99437033e+02] [-4.83792895e-01 8.75176807e-01 -3.16091672e-03 -3.81823642e+01] [-6.88020555e-03 -1.91678662e-04 9.99976313e-01 1.02037642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52232058799999 meters 0.02640425332232195 Centerline is valid? [True, True] Translation: X:199.47, Y:-38.19, Z:1.02 [[ 8.74674610e-01 4.84683734e-01 5.09945345e-03 1.99465294e+02] [-4.84676609e-01 8.74689459e-01 -2.63346259e-03 -3.81901016e+01] [-5.73683466e-03 -1.68162938e-04 9.99983530e-01 1.01893488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.552320588 meters 0.026661472680977887 Centerline is valid? [True, True] Translation: X:199.49, Y:-38.20, Z:1.02 [[ 8.74670545e-01 4.84694435e-01 4.76890174e-03 1.99491145e+02] [-4.84688224e-01 8.74683531e-01 -2.45891743e-03 -3.82011912e+01] [-5.36310340e-03 -1.60687864e-04 9.99985606e-01 1.01812059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.582320588 meters 0.02652659569251409 Centerline is valid? [True, True] Translation: X:199.52, Y:-38.21, Z:1.02 [[ 8.75273945e-01 4.83591668e-01 5.88380016e-03 1.99517781e+02] [-4.83582210e-01 8.75293700e-01 -3.03071247e-03 -3.82105645e+01] [-6.61568051e-03 -1.92597419e-04 9.99978098e-01 1.01830117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.612320588 meters 0.02643919815805867 Centerline is valid? [True, True] Translation: X:199.55, Y:-38.22, Z:1.02 [[ 8.76131778e-01 4.81990199e-01 8.86312970e-03 1.99545341e+02] [-4.81968696e-01 8.76176565e-01 -4.56110439e-03 -3.82184647e+01] [-9.96407414e-03 -2.75622559e-04 9.99950319e-01 1.01885806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.642320588 meters 0.02598633723795527 Centerline is valid? [True, True] Translation: X:199.58, Y:-38.22, Z:1.02 [[ 8.78400812e-01 4.77808618e-01 1.05326963e-02 1.99575932e+02] [-4.77778002e-01 8.78463914e-01 -5.41588722e-03 -3.82227402e+01] [-1.18403512e-02 -2.74970853e-04 9.99929863e-01 1.02098820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.672320588 meters 0.025809468843275986 Centerline is valid? [True, True] Translation: X:199.60, Y:-38.23, Z:1.02 [[ 8.79603289e-01 4.75625421e-01 8.86071653e-03 1.99602573e+02] [-4.75603698e-01 8.79647892e-01 -4.55065486e-03 -3.82345007e+01] [-9.95871776e-03 -2.11418565e-04 9.99950388e-01 1.02087441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.702320588 meters 0.025442190536008585 Centerline is valid? [True, True] Translation: X:199.63, Y:-38.25, Z:1.02 [[ 8.81193148e-01 4.72706523e-01 6.86865588e-03 1.99628525e+02] [-4.72693415e-01 8.81219906e-01 -3.52319831e-03 -3.82459479e+01] [-7.71823511e-03 -1.42150197e-04 9.99970204e-01 1.02070891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.732320588 meters 0.02519672704250232 Centerline is valid? [True, True] Translation: X:199.66, Y:-38.25, Z:1.02 [[ 8.83257216e-01 4.68840799e-01 6.70779163e-03 1.99658332e+02] [-4.68828215e-01 8.83282680e-01 -3.43686766e-03 -3.82515482e+01] [-7.53621995e-03 -1.09163809e-04 9.99971596e-01 1.02100203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.762320588 meters 0.02516092082080541 Centerline is valid? [True, True] Translation: X:199.69, Y:-38.26, Z:1.02 [[ 8.83952643e-01 4.67504410e-01 8.20684625e-03 1.99685193e+02] [-4.67485560e-01 8.83990730e-01 -4.19994693e-03 -3.82599320e+01] [-9.21826972e-03 -1.24027927e-04 9.99957503e-01 1.02113815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.792320588 meters 0.02507556114369551 Centerline is valid? [True, True] Translation: X:199.71, Y:-38.27, Z:1.02 [[ 8.85452952e-01 4.64646978e-01 8.73242404e-03 1.99713339e+02] [-4.64625539e-01 8.85496005e-01 -4.46462289e-03 -3.82683158e+01] [-9.80700013e-03 -1.04093707e-04 9.99951905e-01 1.02104601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.822320588 meters 0.024893019677644557 Centerline is valid? [True, True] Translation: X:199.74, Y:-38.28, Z:1.02 [[ 8.86463401e-01 4.62724185e-01 8.30465828e-03 1.99739560e+02] [-4.62704750e-01 8.86502297e-01 -4.24172940e-03 -3.82811674e+01] [-9.32484942e-03 -8.24669669e-05 9.99956519e-01 1.02019095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.852320588 meters 0.024879669933805457 Centerline is valid? [True, True] Translation: X:199.77, Y:-38.29, Z:1.02 [[ 8.87844596e-01 4.60069802e-01 8.23109630e-03 1.99765310e+02] [-4.60050640e-01 8.87882748e-01 -4.19936849e-03 -3.82934507e+01] [-9.24025103e-03 -5.83344999e-05 9.99957306e-01 1.01993304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.882320588 meters 0.02452705931724846 Centerline is valid? [True, True] Translation: X:199.79, Y:-38.30, Z:1.02 [[ 8.91472698e-01 4.53024907e-01 6.69791040e-03 1.99791867e+02] [-4.53012051e-01 8.91497859e-01 -3.41299648e-03 -3.83044001e+01] [-7.51734520e-03 8.35905160e-06 9.99971744e-01 1.01947494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.912320588 meters 0.024862720287185898 Centerline is valid? [True, True] Translation: X:199.82, Y:-38.32, Z:1.02 [[ 8.93570741e-01 4.48853518e-01 7.86448389e-03 1.99818617e+02] [-4.48835666e-01 8.93605347e-01 -4.00353925e-03 -3.83159529e+01] [-8.82474754e-03 4.75846753e-05 9.99961060e-01 1.01835420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.942320588 meters 0.025184654874857163 Centerline is valid? [True, True] Translation: X:199.84, Y:-38.33, Z:1.02 [[ 8.95622302e-01 4.44753428e-01 7.42154222e-03 1.99844895e+02] [-4.44737423e-01 8.95653048e-01 -3.77398145e-03 -3.83269520e+01] [-8.32561810e-03 7.94243938e-05 9.99965338e-01 1.01943277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.972320588 meters 0.025372164655770874 Centerline is valid? [True, True] Translation: X:199.87, Y:-38.34, Z:1.02 [[ 8.97082391e-01 4.41791526e-01 7.96433899e-03 1.99871443e+02] [-4.41773013e-01 8.97117738e-01 -4.04591507e-03 -3.83383328e+01] [-8.93240077e-03 1.11089134e-04 9.99960099e-01 1.01989662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.002320588 meters 0.025627938775642452 Centerline is valid? [True, True] Translation: X:199.90, Y:-38.35, Z:1.02 [[ 8.98587178e-01 4.38736543e-01 7.16444829e-03 1.99898045e+02] [-4.38721498e-01 8.98615730e-01 -3.63546822e-03 -3.83483708e+01] [-8.03309869e-03 1.23587647e-04 9.99967727e-01 1.02111390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.032320588 meters 0.025568334809233942 Centerline is valid? [True, True] Translation: X:199.92, Y:-38.36, Z:1.02 [[ 8.98870927e-01 4.38175369e-01 5.77950738e-03 1.99922135e+02] [-4.38165594e-01 8.98889502e-01 -2.92847589e-03 -3.83616501e+01] [-6.47832451e-03 9.99405544e-05 9.99979010e-01 1.02123961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.062320588 meters 0.02550496785302456 Centerline is valid? [True, True] Translation: X:199.95, Y:-38.38, Z:1.02 [[ 8.98947278e-01 4.38028009e-01 5.02537863e-03 1.99946361e+02] [-4.38020636e-01 8.98961321e-01 -2.54292530e-03 -3.83756403e+01] [-5.63149352e-03 8.47362304e-05 9.99984139e-01 1.02151951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.092320588 meters 0.025486579063529025 Centerline is valid? [True, True] Translation: X:199.97, Y:-38.39, Z:1.02 [[ 8.98971900e-01 4.37960112e-01 6.36105454e-03 1.99970396e+02] [-4.37948319e-01 8.98994399e-01 -3.21565097e-03 -3.83897745e+01] [-7.12687926e-03 1.04966721e-04 9.99974598e-01 1.02145667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.122320588 meters 0.025680213161288226 Centerline is valid? [True, True] Translation: X:200.00, Y:-38.41, Z:1.02 [[ 8.99222934e-01 4.37369691e-01 1.02892236e-02 1.99995096e+02] [-4.37338837e-01 8.99281782e-01 -5.19792803e-03 -3.84050793e+01] [-1.15263275e-02 1.74219032e-04 9.99933555e-01 1.02179462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.152320588 meters 0.025859040950073374 Centerline is valid? [True, True] Translation: X:200.02, Y:-38.42, Z:1.02 [[ 8.99683228e-01 4.36411078e-01 1.07452461e-02 2.00020498e+02] [-4.36377427e-01 8.99747373e-01 -5.42276508e-03 -3.84188500e+01] [-1.20345617e-02 1.89787962e-04 9.99927564e-01 1.02310420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.182320588 meters 0.026117970038956762 Centerline is valid? [True, True] Translation: X:200.05, Y:-38.43, Z:1.02 [[ 9.00332685e-01 4.35051097e-01 1.14716605e-02 2.00045644e+02] [-4.35012707e-01 9.00405739e-01 -5.78348774e-03 -3.84319289e+01] [-1.28452616e-02 2.16744973e-04 9.99917473e-01 1.02208110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21232058799998 meters 0.026228654574575787 Centerline is valid? [True, True] Translation: X:200.07, Y:-38.44, Z:1.02 [[ 9.01758543e-01 4.32152647e-01 8.69602711e-03 2.00070057e+02] [-4.32130512e-01 9.01800451e-01 -4.37801458e-03 -3.84442417e+01] [-9.73405176e-03 1.90093396e-04 9.99952605e-01 1.02317363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24232058799998 meters 0.026438787010262792 Centerline is valid? [True, True] Translation: X:200.09, Y:-38.46, Z:1.02 [[ 9.02251542e-01 4.31135269e-01 8.03333854e-03 2.00093804e+02] [-4.31116384e-01 9.02287286e-01 -4.03940357e-03 -3.84584490e+01] [-8.98990857e-03 1.81254237e-04 9.99959574e-01 1.02235154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27232058799999 meters 0.026330493489419855 Centerline is valid? [True, True] Translation: X:200.12, Y:-38.47, Z:1.02 [[ 9.02538812e-01 4.30537903e-01 7.79787605e-03 2.00117276e+02] [-4.30520127e-01 9.02572481e-01 -3.91626857e-03 -3.84733192e+01] [-8.72425039e-03 1.77441797e-04 9.99961927e-01 1.02171415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.302320588 meters 0.026493272578735138 Centerline is valid? [True, True] Translation: X:200.14, Y:-38.49, Z:1.02 [[ 9.02952567e-01 4.29650704e-01 8.77121689e-03 2.00141743e+02] [-4.29628210e-01 9.02995144e-01 -4.40114983e-03 -3.84878489e+01] [-9.81132339e-03 2.05667324e-04 9.99951847e-01 1.02101589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.332320588 meters 0.026631467275729535 Centerline is valid? [True, True] Translation: X:200.17, Y:-38.50, Z:1.02 [[ 9.03027513e-01 4.29460759e-01 1.02356009e-02 2.00165807e+02] [-4.29430172e-01 9.03085489e-01 -5.13102582e-03 -3.85041861e+01] [-1.14471969e-02 2.37981644e-04 9.99934450e-01 1.02057512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.362320588 meters 0.026458772121587152 Centerline is valid? [True, True] Translation: X:200.19, Y:-38.52, Z:1.02 [[ 9.02857696e-01 4.29829254e-01 9.73613771e-03 2.00189935e+02] [-4.29801657e-01 9.02910165e-01 -4.87548898e-03 -3.85192181e+01] [-1.08864855e-02 2.17264625e-04 9.99940717e-01 1.02146617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.392320588 meters 0.02559666547712663 Centerline is valid? [True, True] Translation: X:200.21, Y:-38.54, Z:1.02 [[ 9.01365477e-01 4.32989994e-01 7.74227695e-03 2.00212607e+02] [-4.32972699e-01 9.01398716e-01 -3.87248696e-03 -3.85373112e+01] [-8.65562661e-03 1.38331509e-04 9.99962530e-01 1.02216710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.422320588 meters 0.025416183830239823 Centerline is valid? [True, True] Translation: X:200.24, Y:-38.55, Z:1.02 [[ 9.00698681e-01 4.34385485e-01 7.15096384e-03 2.00237404e+02] [-4.34370806e-01 9.00727061e-01 -3.57273589e-03 -3.85523411e+01] [-7.99301126e-03 1.11788578e-04 9.99968049e-01 1.02262573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.452320588 meters 0.02526248036762036 Centerline is valid? [True, True] Translation: X:200.26, Y:-38.57, Z:1.02 [[ 9.00175666e-01 4.35430128e-01 9.18552707e-03 2.00261303e+02] [-4.35406017e-01 9.00222521e-01 -4.58398778e-03 -3.85668499e+01] [-1.02650247e-02 1.26960495e-04 9.99947305e-01 1.02108683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.482320588 meters 0.024997330528922425 Centerline is valid? [True, True] Translation: X:200.28, Y:-38.59, Z:1.02 [[ 8.98758171e-01 4.38294571e-01 1.14725678e-02 2.00283351e+02] [-4.38257272e-01 8.98831384e-01 -5.71898452e-03 -3.85853530e+01] [-1.28185039e-02 1.12047790e-04 9.99917833e-01 1.01961534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.512320588 meters 0.02493620899578501 Centerline is valid? [True, True] Translation: X:200.31, Y:-38.60, Z:1.02 [[ 8.98433416e-01 4.38974445e-01 1.09011107e-02 2.00307197e+02] [-4.38940888e-01 8.98499543e-01 -5.42847349e-03 -3.86013906e+01] [-1.21776041e-02 9.21787657e-05 9.99925846e-01 1.01891498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.542320588 meters 0.024900851176236156 Centerline is valid? [True, True] Translation: X:200.33, Y:-38.62, Z:1.02 [[ 8.97922039e-01 4.40035299e-01 1.02443368e-02 2.00331707e+02] [-4.40005799e-01 8.97980473e-01 -5.09573096e-03 -3.86165375e+01] [-1.14415159e-02 6.80015463e-05 9.99934541e-01 1.02005365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.572320588 meters 0.024693907811709152 Centerline is valid? [True, True] Translation: X:200.36, Y:-38.63, Z:1.02 [[ 8.96668862e-01 4.42569848e-01 1.08111546e-02 2.00355561e+02] [-4.42537260e-01 8.96734035e-01 -5.37073945e-03 -3.86302604e+01] [-1.20716576e-02 3.14361142e-05 9.99927134e-01 1.02207354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.602320588 meters 0.024902462933959073 Centerline is valid? [True, True] Translation: X:200.38, Y:-38.64, Z:1.02 [[ 8.96254058e-01 4.43377234e-01 1.20537189e-02 2.00380999e+02] [-4.43336876e-01 8.96335109e-01 -5.98216942e-03 -3.86426516e+01] [-1.34565292e-02 1.76855545e-05 9.99909457e-01 1.02266302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.632320588 meters 0.02476752376103265 Centerline is valid? [True, True] Translation: X:200.41, Y:-38.65, Z:1.02 [[ 8.95524553e-01 4.44833172e-01 1.26183984e-02 2.00406374e+02] [-4.44789193e-01 8.95613449e-01 -6.25492905e-03 -3.86549470e+01] [-1.40836072e-02 -1.10847017e-05 9.99900821e-01 1.02389194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.662320588 meters 0.024664765644445384 Centerline is valid? [True, True] Translation: X:200.43, Y:-38.67, Z:1.02 [[ 8.95190255e-01 4.45516824e-01 1.22133690e-02 2.00431388e+02] [-4.45475797e-01 8.95273567e-01 -6.04610826e-03 -3.86682165e+01] [-1.36279494e-02 -2.83431044e-05 9.99907135e-01 1.02336463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.692320588 meters 0.024751812455718194 Centerline is valid? [True, True] Translation: X:200.46, Y:-38.68, Z:1.02 [[ 8.94329220e-01 4.47242232e-01 1.22323991e-02 2.00455113e+02] [-4.47201342e-01 8.94412870e-01 -6.04798690e-03 -3.86840409e+01] [-1.36457304e-02 -6.14538958e-05 9.99906891e-01 1.02109421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.722320588 meters 0.02486334731738873 Centerline is valid? [True, True] Translation: X:200.48, Y:-38.70, Z:1.02 [[ 8.94173715e-01 4.47536193e-01 1.28344453e-02 2.00480328e+02] [-4.47491301e-01 8.94265816e-01 -6.33917012e-03 -3.86988231e+01] [-1.43144138e-02 -7.49833429e-05 9.99897541e-01 1.02116552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.752320588 meters 0.024883894573636895 Centerline is valid? [True, True] Translation: X:200.51, Y:-38.71, Z:1.02 [[ 8.94197300e-01 4.47454590e-01 1.39849413e-02 2.00505266e+02] [-4.47401395e-01 8.94306649e-01 -6.89998249e-03 -3.87122955e+01] [-1.55942548e-02 -8.69365250e-05 9.99878398e-01 1.02250999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.782320588 meters 0.024841573815548527 Centerline is valid? [True, True] Translation: X:200.53, Y:-38.72, Z:1.02 [[ 8.94335078e-01 4.47199764e-01 1.33093676e-02 2.00531521e+02] [-4.47151686e-01 8.94434102e-01 -6.55788487e-03 -3.87226924e+01] [-1.48370368e-02 -8.63596908e-05 9.99889921e-01 1.02381376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.812320588 meters 0.0249414895693504 Centerline is valid? [True, True] Translation: X:200.56, Y:-38.73, Z:1.02 [[ 8.94419329e-01 4.46996086e-01 1.44416791e-02 2.00557971e+02] [-4.46939570e-01 8.94535907e-01 -7.10851175e-03 -3.87342793e+01] [-1.60960774e-02 -9.65675247e-05 9.99870445e-01 1.02405925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.842320588 meters 0.0249791018376572 Centerline is valid? [True, True] Translation: X:200.58, Y:-38.75, Z:1.02 [[ 8.94201392e-01 4.47489303e-01 1.25376825e-02 2.00584360e+02] [-4.47446856e-01 8.94289279e-01 -6.16418437e-03 -3.87459977e+01] [-1.39707216e-02 -9.79243675e-05 9.99902400e-01 1.02478368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.872320588 meters 0.024929021329816607 Centerline is valid? [True, True] Translation: X:200.61, Y:-38.76, Z:1.02 [[ 8.94406736e-01 4.47072511e-01 1.27577826e-02 2.00609510e+02] [-4.47028635e-01 8.94497714e-01 -6.26419604e-03 -3.87589643e+01] [-1.42123572e-02 -1.00355013e-04 9.99898994e-01 1.02482499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.902320588 meters 0.025075939156676715 Centerline is valid? [True, True] Translation: X:200.63, Y:-38.77, Z:1.02 [[ 8.94885354e-01 4.46092402e-01 1.34822780e-02 2.00634494e+02] [-4.46043414e-01 8.94986904e-01 -6.61165494e-03 -3.87720194e+01] [-1.50158713e-02 -9.70081159e-05 9.99887251e-01 1.02463741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.932320588 meters 0.02485387316462588 Centerline is valid? [True, True] Translation: X:200.66, Y:-38.79, Z:1.02 [[ 8.96667381e-01 4.42435858e-01 1.54310793e-02 2.00659661e+02] [-4.42371272e-01 8.96800150e-01 -7.55971036e-03 -3.87850598e+01] [-1.71832811e-02 -4.77204601e-05 9.99852355e-01 1.02456798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96232058799998 meters 0.02485387316462588 Centerline is valid? [True, True] Translation: X:200.68, Y:-38.80, Z:1.02 [[ 8.96887687e-01 4.41988958e-01 1.54349766e-02 2.00684085e+02] [-4.41924441e-01 8.97020490e-01 -7.55175137e-03 -3.87973924e+01] [-1.71832810e-02 -4.80205915e-05 9.99852355e-01 1.02470642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99232058799998 meters 0.024990338903018095 Centerline is valid? [True, True] Translation: X:200.71, Y:-38.81, Z:1.02 [[ 8.98118776e-01 4.39444732e-01 1.64618334e-02 2.00709735e+02] [-4.39371071e-01 8.98269629e-01 -8.04578308e-03 -3.88101637e+01] [-1.83228419e-02 -6.78450983e-06 9.99832123e-01 1.02362040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02232058799999 meters 0.024813714157544638 Centerline is valid? [True, True] Translation: X:200.74, Y:-38.82, Z:1.03 [[ 8.99232942e-01 4.37249825e-01 1.38818776e-02 2.00735493e+02] [-4.37197303e-01 8.99340086e-01 -6.77699840e-03 -3.88233458e+01] [-1.54477704e-02 2.49807329e-05 9.99880676e-01 1.02626040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.052320588 meters 0.024849280408229445 Centerline is valid? [True, True] Translation: X:200.76, Y:-38.84, Z:1.03 [[ 9.00688141e-01 4.34232743e-01 1.42407266e-02 2.00760749e+02] [-4.34177213e-01 9.00800710e-01 -6.94464366e-03 -3.88373531e+01] [-1.58436483e-02 7.19591830e-05 9.99874479e-01 1.02656184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.082320588 meters 0.02483419713377989 Centerline is valid? [True, True] Translation: X:200.79, Y:-38.85, Z:1.03 [[ 9.01402615e-01 4.32770515e-01 1.35280303e-02 2.00785392e+02] [-4.32720370e-01 9.01504118e-01 -6.58841061e-03 -3.88503069e+01] [-1.50468449e-02 8.49562599e-05 9.99886786e-01 1.02810416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.112320588 meters 0.02478139579488302 Centerline is valid? [True, True] Translation: X:200.81, Y:-38.86, Z:1.03 [[ 9.01669780e-01 4.32197333e-01 1.40382906e-02 2.00810151e+02] [-4.32143396e-01 9.01779051e-01 -6.82846373e-03 -3.88639442e+01] [-1.56106802e-02 9.04647883e-05 9.99878142e-01 1.02846081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.142320588 meters 0.024824326026264807 Centerline is valid? [True, True] Translation: X:200.83, Y:-38.88, Z:1.03 [[ 9.02590690e-01 4.30296480e-01 1.32281971e-02 2.00834876e+02] [-4.30248505e-01 9.02687613e-01 -6.42626961e-03 -3.88778642e+01] [-1.47061309e-02 1.08879108e-04 9.99891853e-01 1.02784409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.172320588 meters 0.024825819601420464 Centerline is valid? [True, True] Translation: X:200.86, Y:-38.90, Z:1.03 [[ 9.02967103e-01 4.29478634e-01 1.40894630e-02 2.00857613e+02] [-4.29424145e-01 9.03077010e-01 -6.84228985e-03 -3.88957534e+01] [-1.56624874e-02 1.28007045e-04 9.99877328e-01 1.02587604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.202320588 meters 0.02488927934296853 Centerline is valid? [True, True] Translation: X:200.88, Y:-38.91, Z:1.03 [[ 9.03159558e-01 4.29048705e-01 1.48331609e-02 2.00882274e+02] [-4.28988402e-01 9.03281347e-01 -7.19443882e-03 -3.89113669e+01] [-1.64852822e-02 1.34472206e-04 9.99864099e-01 1.02631040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.232320588 meters 0.024826735585852733 Centerline is valid? [True, True] Translation: X:200.91, Y:-38.93, Z:1.03 [[ 9.02911613e-01 4.29583563e-01 1.44423443e-02 2.00905915e+02] [-4.29526611e-01 9.03027103e-01 -6.99576404e-03 -3.89259229e+01] [-1.60470936e-02 1.13185369e-04 9.99871231e-01 1.02588793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.262320588 meters 0.024626774060822483 Centerline is valid? [True, True] Translation: X:200.93, Y:-38.94, Z:1.02 [[ 9.01613773e-01 4.32371551e-01 1.21427336e-02 2.00930809e+02] [-4.32331634e-01 9.01695536e-01 -5.87527608e-03 -3.89407312e+01] [-1.34893509e-02 4.75420042e-05 9.99909013e-01 1.02478365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.292320588 meters 0.024403444056083606 Centerline is valid? [True, True] Translation: X:200.96, Y:-38.95, Z:1.02 [[ 9.00912794e-01 4.33837873e-01 1.18675415e-02 2.00955056e+02] [-4.33799965e-01 9.00990954e-01 -5.73506632e-03 -3.89535423e+01] [-1.31806365e-02 1.86555469e-05 9.99913131e-01 1.02483503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.322320588 meters 0.024562381787968487 Centerline is valid? [True, True] Translation: X:200.98, Y:-38.97, Z:1.02 [[ 8.99892819e-01 4.35908000e-01 1.33090254e-02 2.00980390e+02] [-4.35860649e-01 8.99991231e-01 -6.42489361e-03 -3.89671895e+01] [-1.47786687e-02 -1.91648208e-05 9.99890789e-01 1.02462274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.352320588 meters 0.02485419051127946 Centerline is valid? [True, True] Translation: X:201.00, Y:-38.98, Z:1.03 [[ 8.98042386e-01 4.39618090e-01 1.59940202e-02 2.01004933e+02] [-4.39550436e-01 8.98184794e-01 -7.71298197e-03 -3.89822166e+01] [-1.77563522e-02 -1.03593838e-04 9.99842338e-01 1.02576464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.382320588 meters 0.02477289503230136 Centerline is valid? [True, True] Translation: X:201.03, Y:-39.00, Z:1.03 [[ 8.97758921e-01 4.40189393e-01 1.61931711e-02 2.01029458e+02] [-4.40120320e-01 8.97904941e-01 -7.79878150e-03 -3.89950015e+01] [-1.79728692e-02 -1.25517974e-04 9.99838467e-01 1.02592811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.412320588 meters 0.024841107482676948 Centerline is valid? [True, True] Translation: X:201.05, Y:-39.01, Z:1.03 [[ 8.97716552e-01 4.40263690e-01 1.65189312e-02 2.01054236e+02] [-4.40192009e-01 8.97868512e-01 -7.94552238e-03 -3.90073488e+01] [-1.83299532e-02 -1.38674565e-04 9.99831983e-01 1.02610901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.442320588 meters 0.024817624158668106 Centerline is valid? [True, True] Translation: X:201.08, Y:-39.02, Z:1.03 [[ 8.98061646e-01 4.39548798e-01 1.67968775e-02 2.01079082e+02] [-4.39474750e-01 8.98218702e-01 -8.06895829e-03 -3.90199295e+01] [-1.86339704e-02 -1.35381597e-04 9.99826363e-01 1.02590022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.472320588 meters 0.024801054772529838 Centerline is valid? [True, True] Translation: X:201.10, Y:-39.04, Z:1.03 [[ 8.98120328e-01 4.39422945e-01 1.69514197e-02 2.01102964e+02] [-4.39347704e-01 8.98280276e-01 -8.13269404e-03 -3.90353988e+01] [-1.88008184e-02 -1.43429489e-04 9.99823239e-01 1.02595911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.502320588 meters 0.024927181710309436 Centerline is valid? [True, True] Translation: X:201.13, Y:-39.05, Z:1.03 [[ 8.98199886e-01 4.39230825e-01 1.76987723e-02 2.01128270e+02] [-4.39148944e-01 8.98374231e-01 -8.48213025e-03 -3.90490541e+01] [-1.96257340e-02 -1.53748722e-04 9.99807385e-01 1.02586894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.532320588 meters 0.02484970777990814 Centerline is valid? [True, True] Translation: X:201.15, Y:-39.06, Z:1.03 [[ 8.98319387e-01 4.38994799e-01 1.74884118e-02 2.01153911e+02] [-4.38915023e-01 8.98489589e-01 -8.37022429e-03 -3.90608245e+01] [-1.93876408e-02 -1.56791901e-04 9.99812030e-01 1.02680422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.562320588 meters 0.024996066013804556 Centerline is valid? [True, True] Translation: X:201.18, Y:-39.07, Z:1.03 [[ 8.98237274e-01 4.39166502e-01 1.73949220e-02 2.01179493e+02] [-4.39087815e-01 8.98405674e-01 -8.31478035e-03 -3.90709034e+01] [-1.92792697e-02 -1.69252668e-04 9.99814123e-01 1.02684998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.592320588 meters 0.02500803859666469 Centerline is valid? [True, True] Translation: X:201.20, Y:-39.08, Z:1.03 [[ 8.99039808e-01 4.37528288e-01 1.72168572e-02 2.01204246e+02] [-4.37451105e-01 8.99204636e-01 -8.21907598e-03 -3.90827121e+01] [-1.90775561e-02 -1.42256737e-04 9.99817997e-01 1.02662584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.622320588 meters 0.024911341842284267 Centerline is valid? [True, True] Translation: X:201.23, Y:-39.10, Z:1.03 [[ 8.99644883e-01 4.36301589e-01 1.67334605e-02 2.01229515e+02] [-4.36228632e-01 8.99800483e-01 -7.97944674e-03 -3.90963513e+01] [-1.85382211e-02 -1.20946161e-04 9.99828145e-01 1.02583109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.652320588 meters 0.024806856090603038 Centerline is valid? [True, True] Translation: X:201.25, Y:-39.11, Z:1.03 [[ 9.01509756e-01 4.32443301e-01 1.65212367e-02 2.01254191e+02] [-4.32371699e-01 9.01661127e-01 -7.86928516e-03 -3.91111533e+01] [-1.82995766e-02 -4.90778460e-05 9.99832548e-01 1.02518305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.682320588 meters 0.024886854822838846 Centerline is valid? [True, True] Translation: X:201.28, Y:-39.13, Z:1.02 [[ 9.02547958e-01 4.30241018e-01 1.73161644e-02 2.01279470e+02] [-4.30162129e-01 9.02714056e-01 -8.23876034e-03 -3.91252611e+01] [-1.91761976e-02 -1.28818062e-05 9.99816120e-01 1.02291856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71232058799998 meters 0.024787571079047197 Centerline is valid? [True, True] Translation: X:201.30, Y:-39.14, Z:1.02 [[ 9.03498102e-01 4.28309599e-01 1.55585274e-02 2.01304464e+02] [-4.28245776e-01 9.03632053e-01 -7.39380717e-03 -3.91390155e+01] [-1.72260227e-02 1.74170825e-05 9.99851621e-01 1.02342774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74232058799998 meters 0.02490355939011251 Centerline is valid? [True, True] Translation: X:201.33, Y:-39.15, Z:1.02 [[ 9.04316900e-01 4.26585169e-01 1.53635575e-02 2.01329677e+02] [-4.26522851e-01 9.04447396e-01 -7.29145265e-03 -3.91517421e+01] [-1.70059551e-02 4.08755178e-05 9.99855387e-01 1.02355475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77232058799999 meters 0.025017406609347037 Centerline is valid? [True, True] Translation: X:201.36, Y:-39.16, Z:1.03 [[ 9.05028212e-01 4.24994951e-01 1.74134323e-02 2.01355794e+02] [-4.24914618e-01 9.05195716e-01 -8.26329868e-03 -3.91627453e+01] [-1.92744245e-02 7.92964826e-05 9.99814228e-01 1.02571458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.802320588 meters 0.02480616197372856 Centerline is valid? [True, True] Translation: X:201.38, Y:-39.18, Z:1.03 [[ 9.05495586e-01 4.24047168e-01 1.61784807e-02 2.01381716e+02] [-4.23977856e-01 9.05640101e-01 -7.66713452e-03 -3.91750810e+01] [-1.79031076e-02 8.32388982e-05 9.99839723e-01 1.02828721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.832320588 meters 0.024813286439793032 Centerline is valid? [True, True] Translation: X:201.41, Y:-39.19, Z:1.03 [[ 9.05901054e-01 4.23199973e-01 1.56544944e-02 2.01406818e+02] [-4.23135124e-01 9.06036299e-01 -7.40886048e-03 -3.91881283e+01] [-1.73189697e-02 8.77280853e-05 9.99850012e-01 1.02808688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.862320588 meters 0.02484946537803561 Centerline is valid? [True, True] Translation: X:201.43, Y:-39.20, Z:1.03 [[ 9.06310678e-01 4.22371800e-01 1.42484142e-02 2.01432458e+02] [-4.22318083e-01 9.06422669e-01 -6.73664003e-03 -3.92022426e+01] [-1.57604524e-02 8.81258437e-05 9.99875792e-01 1.02772838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.892320588 meters 0.02504986856116378 Centerline is valid? [True, True] Translation: X:201.46, Y:-39.22, Z:1.03 [[ 9.06835465e-01 4.21230800e-01 1.46305674e-02 2.01456904e+02] [-4.21174140e-01 9.06953473e-01 -6.90949353e-03 -3.92177823e+01] [-1.61797354e-02 1.03757119e-04 9.99869094e-01 1.02567206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.922320588 meters 0.02498259379668674 Centerline is valid? [True, True] Translation: X:201.48, Y:-39.23, Z:1.03 [[ 9.06888340e-01 4.21062248e-01 1.61282763e-02 2.01482035e+02] [-4.20993515e-01 9.07031736e-01 -7.60849036e-03 -3.92311569e+01] [-1.78325065e-02 1.10151441e-04 9.99840982e-01 1.02565488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.952320588 meters 0.025157446425838417 Centerline is valid? [True, True] Translation: X:201.51, Y:-39.24, Z:1.03 [[ 9.07318542e-01 4.20127230e-01 1.63148466e-02 2.01506800e+02] [-4.20056928e-01 9.07465204e-01 -7.68642060e-03 -3.92434896e+01] [-1.80344302e-02 1.20867579e-04 9.99837359e-01 1.02589152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.982320588 meters 0.025272148453618446 Centerline is valid? [True, True] Translation: X:201.53, Y:-39.26, Z:1.03 [[ 9.08186439e-01 4.18312272e-01 1.45682826e-02 2.01533070e+02] [-4.18256106e-01 9.08303267e-01 -6.85597513e-03 -3.92560640e+01] [-1.61003572e-02 1.33230478e-04 9.99870372e-01 1.02731110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.012320588 meters 0.02515647852191082 Centerline is valid? [True, True] Translation: X:201.56, Y:-39.27, Z:1.03 [[ 9.08579610e-01 4.17451626e-01 1.47388082e-02 2.01557463e+02] [-4.17394174e-01 9.08699136e-01 -6.92703835e-03 -3.92685674e+01] [-1.62848457e-02 1.41873123e-04 9.99867383e-01 1.02767963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.042320588 meters 0.025107441645729006 Centerline is valid? [True, True] Translation: X:201.58, Y:-39.28, Z:1.03 [[ 9.09006516e-01 4.16500251e-01 1.53197602e-02 2.01583079e+02] [-4.16438174e-01 9.09135587e-01 -7.19244783e-03 -3.92821188e+01] [-1.69233955e-02 1.58248978e-04 9.99856777e-01 1.02771476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.072320588 meters 0.02529187946623299 Centerline is valid? [True, True] Translation: X:201.61, Y:-39.30, Z:1.03 [[ 9.09666280e-01 4.15086689e-01 1.45017321e-02 2.01607230e+02] [-4.15031032e-01 9.09781849e-01 -6.79921929e-03 -3.92972085e+01] [-1.60156780e-02 1.66351684e-04 9.99871727e-01 1.02665776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.102320588 meters 0.025318513870578735 Centerline is valid? [True, True] Translation: X:201.63, Y:-39.31, Z:1.03 [[ 9.09997568e-01 4.14356142e-01 1.46087288e-02 2.01632234e+02] [-4.14299707e-01 9.10114805e-01 -6.84065793e-03 -3.93101173e+01] [-1.61300890e-02 1.72590005e-04 9.99869887e-01 1.02693834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.132320588 meters 0.025503432217791493 Centerline is valid? [True, True] Translation: X:201.66, Y:-39.32, Z:1.03 [[ 9.10371729e-01 4.13491429e-01 1.57528909e-02 2.01658200e+02] [-4.13425812e-01 9.10507990e-01 -7.36867330e-03 -3.93226209e+01] [-1.73900162e-02 1.95580152e-04 9.99848763e-01 1.02634047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.162320588 meters 0.025383823752970033 Centerline is valid? [True, True] Translation: X:201.68, Y:-39.34, Z:1.03 [[ 9.10190894e-01 4.13891318e-01 1.57007542e-02 2.01682401e+02] [-4.13826364e-01 9.10326285e-01 -7.33456588e-03 -3.93359947e+01] [-1.73285223e-02 1.78469070e-04 9.99849834e-01 1.02714057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.192320588 meters 0.02543086960818226 Centerline is valid? [True, True] Translation: X:201.71, Y:-39.35, Z:1.03 [[ 9.10506097e-01 4.13191065e-01 1.58679419e-02 2.01707442e+02] [-4.13124780e-01 9.10644337e-01 -7.40316862e-03 -3.93490929e+01] [-1.75089745e-02 1.85190177e-04 9.99846689e-01 1.02647935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.222320588 meters 0.02522091519349663 Centerline is valid? [True, True] Translation: X:201.73, Y:-39.36, Z:1.03 [[ 9.10860050e-01 4.12477460e-01 1.40112151e-02 2.01733155e+02] [-4.12425798e-01 9.10967791e-01 -6.53029648e-03 -3.93627188e+01] [-1.54573657e-02 1.69599620e-04 9.99880513e-01 1.02640999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.252320588 meters 0.025378870772516163 Centerline is valid? [True, True] Translation: X:201.76, Y:-39.38, Z:1.03 [[ 9.11521412e-01 4.11072121e-01 1.21830385e-02 2.01758729e+02] [-4.11033030e-01 9.11602811e-01 -5.67127079e-03 -3.93763023e+01] [-1.34373934e-02 1.61853536e-04 9.99909701e-01 1.02610633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.282320588 meters 0.025421458467439456 Centerline is valid? [True, True] Translation: X:201.78, Y:-39.39, Z:1.03 [[ 9.12140303e-01 4.09665453e-01 1.32016684e-02 2.01784392e+02] [-4.09619501e-01 9.12235814e-01 -6.13875345e-03 -3.93899413e+01] [-1.45578699e-02 1.91743628e-04 9.99894010e-01 1.02562321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.312320588 meters 0.025535226221300535 Centerline is valid? [True, True] Translation: X:201.81, Y:-39.41, Z:1.03 [[ 9.12496037e-01 4.08869833e-01 1.32831236e-02 2.01807941e+02] [-4.08823349e-01 9.12592691e-01 -6.16839158e-03 -3.94060603e+01] [-1.46441508e-02 1.98181782e-04 9.99892749e-01 1.02767070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.342320588 meters 0.025654594829840782 Centerline is valid? [True, True] Translation: X:201.83, Y:-39.42, Z:1.03 [[ 9.13175440e-01 4.07373882e-01 1.25354099e-02 2.01832384e+02] [-4.07332450e-01 9.13261452e-01 -5.81347921e-03 -3.94202477e+01] [-1.38163663e-02 2.02647188e-04 9.99904529e-01 1.02774435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.372320588 meters 0.025613181371401193 Centerline is valid? [True, True] Translation: X:201.86, Y:-39.44, Z:1.03 [[ 9.13533037e-01 4.06581709e-01 1.21944458e-02 2.01855944e+02] [-4.06542526e-01 9.13614401e-01 -5.64810541e-03 -3.94350465e+01] [-1.34374376e-02 2.02170090e-04 9.99909693e-01 1.02849695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.402320588 meters 0.025696009014614603 Centerline is valid? [True, True] Translation: X:201.88, Y:-39.45, Z:1.03 [[ 9.13826090e-01 4.05933343e-01 1.18321125e-02 2.01878920e+02] [-4.05896494e-01 9.13902665e-01 -5.47311080e-03 -3.94516507e+01] [-1.30351173e-02 1.98858453e-04 9.99915019e-01 1.02692232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43232058799998 meters 0.02567618103201437 Centerline is valid? [True, True] Translation: X:201.90, Y:-39.46, Z:1.03 [[ 9.14163589e-01 4.05193695e-01 1.10906755e-02 2.01903806e+02] [-4.05161346e-01 9.14230843e-01 -5.12347110e-03 -3.94646651e+01] [-1.22154358e-02 1.90177693e-04 9.99925371e-01 1.02792408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46232058799998 meters 0.025536631559694413 Centerline is valid? [True, True] Translation: X:201.93, Y:-39.48, Z:1.03 [[ 9.14362504e-01 4.04739328e-01 1.12821624e-02 2.01929038e+02] [-4.04705901e-01 9.14432086e-01 -5.20524865e-03 -3.94775479e+01] [-1.24235401e-02 1.93526505e-04 9.99922806e-01 1.02803143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49232058799998 meters 0.025713448700890044 Centerline is valid? [True, True] Translation: X:201.95, Y:-39.50, Z:1.03 [[ 9.14285499e-01 4.04930666e-01 1.06387290e-02 2.01952606e+02] [-4.04901019e-01 9.14347376e-01 -4.90302445e-03 -3.94954766e+01] [-1.17128789e-02 1.75131938e-04 9.99931387e-01 1.02739452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52232058799999 meters 0.0257687689811721 Centerline is valid? [True, True] Translation: X:201.98, Y:-39.51, Z:1.03 [[ 9.14525098e-01 4.04384478e-01 1.08184994e-02 2.01975838e+02] [-4.04353862e-01 9.14589067e-01 -4.97915172e-03 -3.95107469e+01] [-1.19079729e-02 1.79057207e-04 9.99929082e-01 1.02831939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.552320588 meters 0.025598131809863617 Centerline is valid? [True, True] Translation: X:202.00, Y:-39.52, Z:1.03 [[ 9.14675456e-01 4.04048349e-01 1.06649769e-02 2.02000168e+02] [-4.04018648e-01 9.14737613e-01 -4.90215646e-03 -3.95249813e+01] [-1.17363638e-02 1.75032634e-04 9.99931111e-01 1.02978239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.582320588 meters 0.025928667463516093 Centerline is valid? [True, True] Translation: X:202.03, Y:-39.54, Z:1.03 [[ 9.14981237e-01 4.03296658e-01 1.26941258e-02 2.02025339e+02] [-4.03254587e-01 9.15069265e-01 -5.82908967e-03 -3.95384609e+01] [-1.39668568e-02 2.14543211e-04 9.99902436e-01 1.02904037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.612320588 meters 0.025916647971468813 Centerline is valid? [True, True] Translation: X:202.05, Y:-39.56, Z:1.03 [[ 9.15144760e-01 4.02954711e-01 1.17289621e-02 2.02048995e+02] [-4.02918847e-01 9.15219898e-01 -5.37964827e-03 -3.95558504e+01] [-1.29023341e-02 1.97337057e-04 9.99916742e-01 1.02749738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.642320588 meters 0.025881128534180734 Centerline is valid? [True, True] Translation: X:202.07, Y:-39.57, Z:1.03 [[ 9.15412250e-01 4.02337694e-01 1.20329658e-02 2.02072084e+02] [-4.02299992e-01 9.15491310e-01 -5.51161121e-03 -3.95718973e+01] [-1.32336045e-02 2.04534390e-04 9.99912411e-01 1.02688911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.672320588 meters 0.026079627438828235 Centerline is valid? [True, True] Translation: X:202.10, Y:-39.59, Z:1.03 [[ 9.15738811e-01 4.01565021e-01 1.29600652e-02 2.02096172e+02] [-4.01521297e-01 9.15830488e-01 -5.93006856e-03 -3.95880573e+01] [-1.42505309e-02 2.26651753e-04 9.99898430e-01 1.02617612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.702320588 meters 0.02586879733361501 Centerline is valid? [True, True] Translation: X:202.12, Y:-39.60, Z:1.03 [[ 9.15472970e-01 4.02157147e-01 1.33742421e-02 2.02119112e+02] [-4.02110767e-01 9.15570632e-01 -6.11137166e-03 -3.96046033e+01] [-1.47027950e-02 2.16868825e-04 9.99891885e-01 1.03005493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.732320588 meters 0.025712904763567763 Centerline is valid? [True, True] Translation: X:202.14, Y:-39.62, Z:1.03 [[ 9.15091232e-01 4.03068869e-01 1.19801046e-02 2.02144331e+02] [-4.03031815e-01 9.15169632e-01 -5.46812687e-03 -3.96178874e+01] [-1.31678597e-02 1.75471642e-04 9.99913285e-01 1.03189023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.762320588 meters 0.02558101790682874 Centerline is valid? [True, True] Translation: X:202.17, Y:-39.63, Z:1.03 [[ 9.14866349e-01 4.03572276e-01 1.22058080e-02 2.02168571e+02] [-4.03533959e-01 9.14947753e-01 -5.56357073e-03 -3.96309194e+01] [-1.34129795e-02 1.64465606e-04 9.99910028e-01 1.03198792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.792320588 meters 0.02564576234472889 Centerline is valid? [True, True] Translation: X:202.19, Y:-39.65, Z:1.03 [[ 9.14358922e-01 4.04678729e-01 1.35235938e-02 2.02191530e+02] [-4.04631929e-01 9.14458912e-01 -6.15630878e-03 -3.96479806e+01] [-1.48580981e-02 1.56998027e-04 9.99889600e-01 1.02984631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.822320588 meters 0.02564576234472889 Centerline is valid? [True, True] Translation: X:202.22, Y:-39.66, Z:1.03 [[ 9.14560034e-01 4.04223917e-01 1.35266468e-02 2.02216344e+02] [-4.04177166e-01 9.14660046e-01 -6.14959933e-03 -3.96596331e+01] [-1.48580985e-02 1.57016010e-04 9.99889600e-01 1.02998483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.852320588 meters 0.025729353312858385 Centerline is valid? [True, True] Translation: X:202.24, Y:-39.68, Z:1.03 [[ 9.14414342e-01 4.04561744e-01 1.32742840e-02 2.02240198e+02] [-4.04516875e-01 9.14510675e-01 -6.02684749e-03 -3.96752196e+01] [-1.45777064e-02 1.41363885e-04 9.99893730e-01 1.02971868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.882320588 meters 0.025727098740818705 Centerline is valid? [True, True] Translation: X:202.26, Y:-39.69, Z:1.03 [[ 9.14340219e-01 4.04707439e-01 1.39230986e-02 2.02263269e+02] [-4.04658210e-01 9.14446209e-01 -6.31380593e-03 -3.96908064e+01] [-1.52871690e-02 1.38870538e-04 9.99883135e-01 1.02937313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.912320588 meters 0.025659491650412338 Centerline is valid? [True, True] Translation: X:202.29, Y:-39.71, Z:1.03 [[ 9.14632542e-01 4.04047828e-01 1.38804200e-02 2.02287232e+02] [-4.03998957e-01 9.14737849e-01 -6.28570145e-03 -3.97059997e+01] [-1.52366695e-02 1.41431910e-04 9.99883905e-01 1.02894211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.942320588 meters 0.025535566232306538 Centerline is valid? [True, True] Translation: X:202.31, Y:-39.72, Z:1.03 [[ 9.14850271e-01 4.03631514e-01 1.14273224e-02 2.02310523e+02] [-4.03598436e-01 9.14921629e-01 -5.16863725e-03 -3.97239052e+01] [-1.25413293e-02 1.16479741e-04 9.99921348e-01 1.02972659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.972320588 meters 0.02535780143306651 Centerline is valid? [True, True] Translation: X:202.33, Y:-39.74, Z:1.03 [[ 9.14527442e-01 4.04386359e-01 1.05465745e-02 2.02334892e+02] [-4.04358295e-01 9.14588248e-01 -4.76507652e-03 -3.97392586e+01] [-1.15727050e-02 9.31983684e-05 9.99933030e-01 1.03070801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.002320588 meters 0.02539476252391849 Centerline is valid? [True, True] Translation: X:202.36, Y:-39.75, Z:1.03 [[ 9.14242659e-01 4.05019086e-01 1.09498938e-02 2.02359136e+02] [-4.04988966e-01 9.14308227e-01 -4.94008134e-03 -3.97540697e+01] [-1.20124052e-02 8.18469329e-05 9.99927845e-01 1.03006321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.032320588 meters 0.025271515868267178 Centerline is valid? [True, True] Translation: X:202.38, Y:-39.77, Z:1.03 [[ 9.13697358e-01 4.06220509e-01 1.19178955e-02 2.02382809e+02] [-4.06185022e-01 9.13775078e-01 -5.36973188e-03 -3.97683119e+01] [-1.30715711e-02 6.54391730e-05 9.99914561e-01 1.03084295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.062320588 meters 0.025273662547260493 Centerline is valid? [True, True] Translation: X:202.41, Y:-39.79, Z:1.03 [[ 9.11698934e-01 4.10688190e-01 1.18433119e-02 2.02405500e+02] [-4.10653618e-01 9.11775855e-01 -5.32875982e-03 -3.97854271e+01] [-1.29869046e-02 -5.27422191e-06 9.99915667e-01 1.03132391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.092320588 meters 0.02532420084435077 Centerline is valid? [True, True] Translation: X:202.43, Y:-39.80, Z:1.03 [[ 9.10311423e-01 4.13741487e-01 1.22920681e-02 2.02430433e+02] [-4.13704597e-01 9.10394408e-01 -5.52517378e-03 -3.98004432e+01] [-1.34766236e-02 -5.56562502e-05 9.99909185e-01 1.03100531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.122320588 meters 0.025441190966328776 Centerline is valid? [True, True] Translation: X:202.46, Y:-39.81, Z:1.03 [[ 9.09008894e-01 4.16591636e-01 1.24192930e-02 2.02455500e+02] [-4.16554339e-01 9.09093723e-01 -5.57541512e-03 -3.98145308e+01] [-1.36129727e-02 -1.05208458e-04 9.99907334e-01 1.03074204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.152320588 meters 0.02568170503274657 Centerline is valid? [True, True] Translation: X:202.48, Y:-39.83, Z:1.03 [[ 9.06469500e-01 4.22082486e-01 1.26261606e-02 2.02480601e+02] [-4.22044560e-01 9.06557409e-01 -5.66152880e-03 -3.98281477e+01] [-1.38359716e-02 -1.96799197e-04 9.99904259e-01 1.03128205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18232058799998 meters 0.02596821139561922 Centerline is valid? [True, True] Translation: X:202.51, Y:-39.84, Z:1.03 [[ 9.05261722e-01 4.24660807e-01 1.28223785e-02 2.02506871e+02] [-4.24622049e-01 9.05352494e-01 -5.74257960e-03 -3.98398654e+01] [-1.40474208e-02 -2.46127115e-04 9.99901300e-01 1.03134395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21232058799998 meters 0.0261972734417284 Centerline is valid? [True, True] Translation: X:202.53, Y:-39.85, Z:1.03 [[ 9.04028197e-01 4.27282939e-01 1.27400709e-02 2.02533637e+02] [-4.27245032e-01 9.04117916e-01 -5.69883729e-03 -3.98512710e+01] [-1.39535423e-02 -2.91222426e-04 9.99902602e-01 1.03429295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24232058799998 meters 0.02648160942695961 Centerline is valid? [True, True] Translation: X:202.56, Y:-39.86, Z:1.03 [[ 9.02867036e-01 4.29685166e-01 1.42046959e-02 2.02559911e+02] [-4.29638455e-01 9.02978693e-01 -6.34653343e-03 -3.98624892e+01] [-1.55535490e-02 -3.72807763e-04 9.99878967e-01 1.03442666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27232058799999 meters 0.026728954438133997 Centerline is valid? [True, True] Translation: X:202.59, Y:-39.87, Z:1.04 [[ 9.02244055e-01 4.30990823e-01 1.42329030e-02 2.02587764e+02] [-4.30944209e-01 9.02356220e-01 -6.35141629e-03 -3.98712505e+01] [-1.55805507e-02 -4.03059540e-04 9.99878535e-01 1.03611222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.302320588 meters 0.026819831956799448 Centerline is valid? [True, True] Translation: X:202.61, Y:-39.88, Z:1.03 [[ 9.02260560e-01 4.30974922e-01 1.36564416e-02 2.02614174e+02] [-4.30932141e-01 9.02363819e-01 -6.08514867e-03 -3.98805831e+01] [-1.49456253e-02 -3.94609959e-04 9.99888230e-01 1.03434222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.332320588 meters 0.026846121385305472 Centerline is valid? [True, True] Translation: X:202.64, Y:-39.89, Z:1.03 [[ 9.02382581e-01 4.30741791e-01 1.29300942e-02 2.02640795e+02] [-4.30703532e-01 9.02475134e-01 -5.75327365e-03 -3.98898723e+01] [-1.41472639e-02 -3.77383303e-04 9.99899851e-01 1.03240915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.362320588 meters 0.026861953712050232 Centerline is valid? [True, True] Translation: X:202.67, Y:-39.90, Z:1.03 [[ 9.02499207e-01 4.30483630e-01 1.33800533e-02 2.02667848e+02] [-4.30442733e-01 9.02598300e-01 -5.94669916e-03 -3.98998170e+01] [-1.46367700e-02 -3.92455428e-04 9.99892800e-01 1.03184931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.392320588 meters 0.026809792092621746 Centerline is valid? [True, True] Translation: X:202.70, Y:-39.91, Z:1.03 [[ 9.02795916e-01 4.29770701e-01 1.60211929e-02 2.02696304e+02] [-4.29712096e-01 9.02937943e-01 -7.11232098e-03 -3.99074660e+01] [-1.75228102e-02 -4.63526069e-04 9.99846356e-01 1.03437610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.422320588 meters 0.026688118011368025 Centerline is valid? [True, True] Translation: X:202.72, Y:-39.92, Z:1.04 [[ 9.03373069e-01 4.28538420e-01 1.64900338e-02 2.02723011e+02] [-4.28476320e-01 9.03523442e-01 -7.30986851e-03 -3.99163504e+01] [-1.80316916e-02 -4.62050650e-04 9.99837309e-01 1.03569602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.452320588 meters 0.026418963290229427 Centerline is valid? [True, True] Translation: X:202.75, Y:-39.92, Z:1.04 [[ 9.05309540e-01 4.24480475e-01 1.51974904e-02 2.02751654e+02] [-4.24427279e-01 9.05437021e-01 -6.72948932e-03 -3.99238356e+01] [-1.66169073e-02 -3.57958622e-04 9.99861866e-01 1.03563536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.482320588 meters 0.02587419928361953 Centerline is valid? [True, True] Translation: X:202.78, Y:-39.93, Z:1.03 [[ 9.06744903e-01 4.21439231e-01 1.42356990e-02 2.02779358e+02] [-4.21392294e-01 9.06856599e-01 -6.29634299e-03 -3.99335046e+01] [-1.55632635e-02 -2.89636934e-04 9.99878843e-01 1.03456900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.512320588 meters 0.025869114526692605 Centerline is valid? [True, True] Translation: X:202.81, Y:-39.94, Z:1.03 [[ 9.08081046e-01 4.18564321e-01 1.38825029e-02 2.02806734e+02] [-4.18519466e-01 9.08187123e-01 -6.13236349e-03 -3.99433911e+01] [-1.51746990e-02 -2.41414662e-04 9.99884828e-01 1.03307324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.542320588 meters 0.02563508743595695 Centerline is valid? [True, True] Translation: X:202.83, Y:-39.95, Z:1.03 [[ 9.09314879e-01 4.15878292e-01 1.38454409e-02 2.02833385e+02] [-4.15833478e-01 9.09420258e-01 -6.10845457e-03 -3.99535213e+01] [-1.51316981e-02 -2.02889224e-04 9.99885489e-01 1.03351533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.572320588 meters 0.02547932652000582 Centerline is valid? [True, True] Translation: X:202.86, Y:-39.96, Z:1.03 [[ 9.10874124e-01 4.12421278e-01 1.47315907e-02 2.02860056e+02] [-4.12370241e-01 9.10993229e-01 -6.49011110e-03 -3.99627432e+01] [-1.60970393e-02 -1.63195363e-04 9.99870421e-01 1.03443750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.602320588 meters 0.025257659078360774 Centerline is valid? [True, True] Translation: X:202.89, Y:-39.97, Z:1.04 [[ 9.13441681e-01 4.06694033e-01 1.49752418e-02 2.02888426e+02] [-4.06640649e-01 9.13564425e-01 -6.58970231e-03 -3.99707092e+01] [-1.63608408e-02 -7.02332897e-05 9.99866150e-01 1.03504454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.632320588 meters 0.02501464905685799 Centerline is valid? [True, True] Translation: X:202.92, Y:-39.98, Z:1.03 [[ 9.14698620e-01 4.03893636e-01 1.40130194e-02 2.02915118e+02] [-4.03846679e-01 9.14805952e-01 -6.15870593e-03 -3.99825215e+01] [-1.53066557e-02 -2.57515231e-05 9.99882846e-01 1.03451944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.662320588 meters 0.025133261631977433 Centerline is valid? [True, True] Translation: X:202.94, Y:-40.00, Z:1.03 [[ 9.16284837e-01 4.00267942e-01 1.44108179e-02 2.02940480e+02] [-4.00217975e-01 9.16398152e-01 -6.32445315e-03 -3.99953468e+01] [-1.57375228e-02 2.75321676e-05 9.99876157e-01 1.03249275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.692320588 meters 0.02559470975425087 Centerline is valid? [True, True] Translation: X:202.97, Y:-40.01, Z:1.03 [[ 9.19324770e-01 3.93222966e-01 1.47534909e-02 2.02965071e+02] [-3.93169804e-01 9.19443135e-01 -6.46742320e-03 -4.00118571e+01] [-1.61081353e-02 1.45035217e-04 9.99870245e-01 1.03076889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.722320588 meters 0.025858262655992777 Centerline is valid? [True, True] Translation: X:202.99, Y:-40.02, Z:1.03 [[ 9.20822306e-01 3.89672220e-01 1.55512671e-02 2.02991074e+02] [-3.89612779e-01 9.20953591e-01 -6.80922742e-03 -4.00246542e+01] [-1.69753620e-02 2.11116105e-04 9.99855886e-01 1.03190107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.752320588 meters 0.025967835846378975 Centerline is valid? [True, True] Translation: X:203.02, Y:-40.04, Z:1.03 [[ 9.21845822e-01 3.87257936e-01 1.52174478e-02 2.03016504e+02] [-3.87200823e-01 9.21971384e-01 -6.65509898e-03 -4.00372598e+01] [-1.66072913e-02 2.42766872e-04 9.99862060e-01 1.03326444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.782320588 meters 0.026127319662905976 Centerline is valid? [True, True] Translation: X:203.04, Y:-40.05, Z:1.03 [[ 9.22987047e-01 3.84532698e-01 1.51497472e-02 2.03041113e+02] [-3.84475853e-01 9.23111328e-01 -6.61774192e-03 -4.00524333e+01] [-1.65296414e-02 2.83378085e-04 9.99863336e-01 1.03379185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.812320588 meters 0.026051298201060877 Centerline is valid? [True, True] Translation: X:203.07, Y:-40.07, Z:1.03 [[ 9.23402782e-01 3.83511827e-01 1.56837822e-02 2.03066303e+02] [-3.83450892e-01 9.23535915e-01 -6.84307014e-03 -4.00669043e+01] [-1.71089345e-02 3.04949736e-04 9.99853585e-01 1.03325026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.842320588 meters 0.02625141398349186 Centerline is valid? [True, True] Translation: X:203.09, Y:-40.08, Z:1.03 [[ 9.23847760e-01 3.82440381e-01 1.56419567e-02 2.03090316e+02] [-3.82379782e-01 9.23980116e-01 -6.81519881e-03 -4.00806870e+01] [-1.70592642e-02 3.15038139e-04 9.99854431e-01 1.03271015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.872320588 meters 0.02608929924361729 Centerline is valid? [True, True] Translation: X:203.11, Y:-40.10, Z:1.03 [[ 9.23862441e-01 3.82427829e-01 1.50713474e-02 2.03113021e+02] [-3.82371691e-01 9.23985318e-01 -6.55909983e-03 -4.00999391e+01] [-1.64340861e-02 2.96849375e-04 9.99864907e-01 1.03258011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.902320588 meters 0.025936024677111407 Centerline is valid? [True, True] Translation: X:203.14, Y:-40.12, Z:1.03 [[ 9.23603067e-01 3.83059096e-01 1.49366590e-02 2.03137250e+02] [-3.83004166e-01 9.23723797e-01 -6.49278338e-03 -4.01164840e+01] [-1.62844671e-02 2.75952033e-04 9.99867361e-01 1.03300023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93232058799998 meters 0.025740007226494183 Centerline is valid? [True, True] Translation: X:203.16, Y:-40.13, Z:1.03 [[ 9.23428995e-01 3.83493698e-01 1.45422019e-02 2.03161586e+02] [-3.83441805e-01 9.23543458e-01 -6.31371393e-03 -4.01329327e+01] [-1.58516249e-02 2.54178354e-04 9.99874323e-01 1.03293279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96232058799998 meters 0.02553918933372749 Centerline is valid? [True, True] Translation: X:203.18, Y:-40.15, Z:1.03 [[ 9.22778457e-01 3.85115814e-01 1.28735588e-02 2.03184635e+02] [-3.85075403e-01 9.22868231e-01 -5.58221739e-03 -4.01521874e+01] [-1.40303987e-02 1.93859084e-04 9.99901550e-01 1.03473239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99232058799998 meters 0.025302110590473666 Centerline is valid? [True, True] Translation: X:203.21, Y:-40.17, Z:1.04 [[ 9.22584651e-01 3.85585498e-01 1.27037913e-02 2.03208403e+02] [-3.85546302e-01 9.22672094e-01 -5.50056962e-03 -4.01670784e+01] [-1.38423736e-02 1.76841330e-04 9.99904174e-01 1.03588501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02232058799999 meters 0.025113880289016142 Centerline is valid? [True, True] Translation: X:203.23, Y:-40.18, Z:1.04 [[ 9.22192215e-01 3.86553727e-01 1.17360229e-02 2.03232491e+02] [-3.86520432e-01 9.22266878e-01 -5.07548113e-03 -4.01829393e+01] [-1.27856914e-02 1.44356535e-04 9.99918249e-01 1.03722877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.052320588 meters 0.02486876197267148 Centerline is valid? [True, True] Translation: X:203.26, Y:-40.20, Z:1.04 [[ 9.21211339e-01 3.88873593e-01 1.21242250e-02 2.03255710e+02] [-3.88838343e-01 9.21291114e-01 -5.23702232e-03 -4.02024368e+01] [-1.32064805e-02 1.10040767e-04 9.99912785e-01 1.03765077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.082320588 meters 0.024687642082263036 Centerline is valid? [True, True] Translation: X:203.28, Y:-40.22, Z:1.04 [[ 9.20559042e-01 3.90412903e-01 1.21989803e-02 2.03279747e+02] [-3.90377456e-01 9.20639864e-01 -5.26148127e-03 -4.02161094e+01] [-1.32850178e-02 8.12972464e-05 9.99911747e-01 1.03672969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.112320588 meters 0.02463019865419232 Centerline is valid? [True, True] Translation: X:203.30, Y:-40.23, Z:1.04 [[ 9.19733375e-01 3.92350647e-01 1.23080823e-02 2.03303956e+02] [-3.92314837e-01 9.19815725e-01 -5.30104091e-03 -4.02293582e+01] [-1.34010344e-02 4.69009525e-05 9.99910201e-01 1.03613175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.142320588 meters 0.02472941448258978 Centerline is valid? [True, True] Translation: X:203.33, Y:-40.25, Z:1.03 [[ 9.17956893e-01 3.96464434e-01 1.30802905e-02 2.03328962e+02] [-3.96424383e-01 9.18050081e-01 -5.63527161e-03 -4.02460872e+01] [-1.42425466e-02 -1.24096829e-05 9.99898570e-01 1.03487000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.172320588 meters 0.024564028806812056 Centerline is valid? [True, True] Translation: X:203.36, Y:-40.26, Z:1.04 [[ 9.17074754e-01 3.98536436e-01 1.19417228e-02 2.03355373e+02] [-3.98503225e-01 9.17152500e-01 -5.14507672e-03 -4.02606461e+01] [-1.30028814e-02 -4.03950724e-05 9.99915458e-01 1.03585492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.202320588 meters 0.024575262012284323 Centerline is valid? [True, True] Translation: X:203.38, Y:-40.27, Z:1.04 [[ 9.15977849e-01 4.01041239e-01 1.22680359e-02 2.03382241e+02] [-4.01006413e-01 9.16059997e-01 -5.28566831e-03 -4.02746430e+01] [-1.33580279e-02 -7.80059656e-05 9.99910775e-01 1.03778783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.232320588 meters 0.024703921193995337 Centerline is valid? [True, True] Translation: X:203.41, Y:-40.29, Z:1.04 [[ 9.15221910e-01 4.02792668e-01 1.12659830e-02 2.03410043e+02] [-4.02763432e-01 9.15291242e-01 -4.85393506e-03 -4.02878018e+01] [-1.22667850e-02 -9.50982610e-05 9.99924756e-01 1.03861333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.262320588 meters 0.024901470160652132 Centerline is valid? [True, True] Translation: X:203.44, Y:-40.30, Z:1.04 [[ 9.13586205e-01 4.06463704e-01 1.21451044e-02 2.03437141e+02] [-4.06430067e-01 9.13666916e-01 -5.23140905e-03 -4.02993097e+01] [-1.32229579e-02 -1.56792435e-04 9.99912561e-01 1.04003069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.292320588 meters 0.025085693075127386 Centerline is valid? [True, True] Translation: X:203.46, Y:-40.31, Z:1.04 [[ 9.12743631e-01 4.08289779e-01 1.40897564e-02 2.03464743e+02] [-4.08244741e-01 9.12852349e-01 -6.06801654e-03 -4.03101781e+01] [-1.53393764e-02 -2.13525509e-04 9.99882322e-01 1.03927037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.322320588 meters 0.025154181662021494 Centerline is valid? [True, True] Translation: X:203.49, Y:-40.32, Z:1.04 [[ 9.12479947e-01 4.08830415e-01 1.54284769e-02 2.03492855e+02] [-4.08776482e-01 9.12610340e-01 -6.64495411e-03 -4.03210725e+01] [-1.67968469e-02 -2.43411125e-04 9.99858893e-01 1.03838888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.352320588 meters 0.025373991878376297 Centerline is valid? [True, True] Translation: X:203.52, Y:-40.33, Z:1.04 [[ 9.11953025e-01 4.09965944e-01 1.64196499e-02 2.03522440e+02] [-4.09905012e-01 9.12100788e-01 -7.07346709e-03 -4.03323862e+01] [-1.78762562e-02 -2.79827067e-04 9.99840168e-01 1.03752578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.382320588 meters 0.025273250574980432 Centerline is valid? [True, True] Translation: X:203.55, Y:-40.34, Z:1.04 [[ 9.11900450e-01 4.10196344e-01 1.32864292e-02 2.03551873e+02] [-4.10156478e-01 9.11997207e-01 -5.72340991e-03 -4.03411437e+01] [-1.44649082e-02 -2.30334950e-04 9.99895351e-01 1.03750647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.412320588 meters 0.02517987257195522 Centerline is valid? [True, True] Translation: X:203.58, Y:-40.35, Z:1.04 [[ 9.11883432e-01 4.10263538e-01 1.23464574e-02 2.03578713e+02] [-4.10229243e-01 9.11966984e-01 -5.30929275e-03 -4.03508528e+01] [-1.34377707e-02 -2.23421770e-04 9.99909684e-01 1.03792088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.442320588 meters 0.025401818526118138 Centerline is valid? [True, True] Translation: X:203.61, Y:-40.36, Z:1.04 [[ 9.12302892e-01 4.09317447e-01 1.27538423e-02 2.03605426e+02] [-4.09280873e-01 9.12392009e-01 -5.47628173e-03 -4.03602060e+01] [-1.38780415e-02 -2.23876060e-04 9.99903670e-01 1.03735710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.472320588 meters 0.025389261839488357 Centerline is valid? [True, True] Translation: X:203.63, Y:-40.37, Z:1.04 [[ 9.13083187e-01 4.07489625e-01 1.52085029e-02 2.03634721e+02] [-4.07437485e-01 9.13209805e-01 -6.52290292e-03 -4.03657603e+01] [-1.65465692e-02 -2.40561188e-04 9.99863067e-01 1.03734444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.502320588 meters 0.02521698485261281 Centerline is valid? [True, True] Translation: X:203.66, Y:-40.37, Z:1.04 [[ 9.14030364e-01 4.05335685e-01 1.58579655e-02 2.03662112e+02] [-4.05278846e-01 9.14167892e-01 -6.79137643e-03 -4.03733329e+01] [-1.72496301e-02 -2.19373697e-04 9.99851190e-01 1.03710297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.532320588 meters 0.025078157716635904 Centerline is valid? [True, True] Translation: X:203.69, Y:-40.38, Z:1.04 [[ 9.15278967e-01 4.02506678e-01 1.58992459e-02 2.03689512e+02] [-4.02449258e-01 9.15417033e-01 -6.80079630e-03 -4.03823455e+01] [-1.72918064e-02 -1.74013893e-04 9.99850470e-01 1.03658514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.562320588 meters 0.02497788067777747 Centerline is valid? [True, True] Translation: X:203.72, Y:-40.39, Z:1.04 [[ 9.18310759e-01 3.95627124e-01 1.35841698e-02 2.03716089e+02] [-3.95584567e-01 9.18411224e-01 -5.80286318e-03 -4.03923990e+01] [-1.47716241e-02 -4.48562556e-05 9.99890893e-01 1.03657728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.592320588 meters 0.025035701223231146 Centerline is valid? [True, True] Translation: X:203.74, Y:-40.40, Z:1.04 [[ 9.20255291e-01 3.91037290e-01 1.48336403e-02 2.03743189e+02] [-3.90986072e-01 9.20374835e-01 -6.32883271e-03 -4.04028789e+01] [-1.61273188e-02 2.43950381e-05 9.99869946e-01 1.03569566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.622320588 meters 0.025011328496493193 Centerline is valid? [True, True] Translation: X:203.77, Y:-40.41, Z:1.04 [[ 9.21901417e-01 3.87080075e-01 1.63337916e-02 2.03769979e+02] [-3.87017373e-01 9.22046097e-01 -6.96763924e-03 -4.04122126e+01] [-1.77575431e-02 1.02015357e-04 9.99842317e-01 1.03656605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.652320588 meters 0.02533637620379659 Centerline is valid? [True, True] Translation: X:203.80, Y:-40.42, Z:1.04 [[ 9.23803502e-01 3.82502804e-01 1.66941492e-02 2.03796991e+02] [-3.82436744e-01 9.23954312e-01 -7.11097908e-03 -4.04219272e+01] [-1.81446006e-02 1.84691309e-04 9.99835356e-01 1.03689913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68232058799998 meters 0.025754872266907522 Centerline is valid? [True, True] Translation: X:203.82, Y:-40.44, Z:1.04 [[ 9.26779807e-01 3.75374442e-01 1.31612480e-02 2.03822518e+02] [-3.75332768e-01 9.26873220e-01 -5.59884525e-03 -4.04364954e+01] [-1.43004717e-02 2.49049075e-04 9.99897712e-01 1.03747366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71232058799998 meters 0.026045123490192588 Centerline is valid? [True, True] Translation: X:203.85, Y:-40.45, Z:1.04 [[ 9.28013360e-01 3.72336154e-01 1.25296543e-02 2.03847736e+02] [-3.72298197e-01 9.28097900e-01 -5.32354524e-03 -4.04497265e+01] [-1.36108942e-02 2.75553407e-04 9.99907330e-01 1.03587182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74232058799998 meters 0.026045123490192588 Centerline is valid? [True, True] Translation: X:203.87, Y:-40.46, Z:1.04 [[ 9.28197355e-01 3.71877143e-01 1.25323951e-02 2.03872869e+02] [-3.71839231e-01 9.28281916e-01 -5.31709137e-03 -4.04607476e+01] [-1.36109005e-02 2.75273970e-04 9.99907330e-01 1.03601033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77232058799999 meters 0.026390674902854783 Centerline is valid? [True, True] Translation: X:203.90, Y:-40.47, Z:1.04 [[ 9.29315771e-01 3.69133743e-01 1.06055232e-02 2.03899025e+02] [-3.69106478e-01 9.29376248e-01 -4.49411450e-03 -4.04735040e+01] [-1.15154507e-02 2.61884161e-04 9.99933661e-01 1.03678777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.802320588 meters 0.026645094627150544 Centerline is valid? [True, True] Translation: X:203.93, Y:-40.49, Z:1.04 [[ 9.30230750e-01 3.66791552e-01 1.16063902e-02 2.03925007e+02] [-3.66758786e-01 9.30303101e-01 -4.91260431e-03 -4.04858191e+01] [-1.25993625e-02 3.13110018e-04 9.99920576e-01 1.03684710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.832320588 meters 0.02736383989363198 Centerline is valid? [True, True] Translation: X:203.95, Y:-40.50, Z:1.04 [[ 9.31179911e-01 3.64172418e-01 1.68054452e-02 2.03950058e+02] [-3.64103258e-01 9.31331409e-01 -7.11504258e-03 -4.05030280e+01] [-1.82425412e-02 5.06467392e-04 9.99833463e-01 1.03765287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.862320588 meters 0.02757401018659418 Centerline is valid? [True, True] Translation: X:203.98, Y:-40.52, Z:1.04 [[ 9.31588816e-01 3.63014837e-01 1.90396064e-02 2.03975529e+02] [-3.62925850e-01 9.31783167e-01 -8.05962555e-03 -4.05193290e+01] [-2.06665484e-02 5.98291702e-04 9.99786245e-01 1.03722972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.892320588 meters 0.027616738444500216 Centerline is valid? [True, True] Translation: X:204.00, Y:-40.54, Z:1.04 [[ 9.32056891e-01 3.61854550e-01 1.81998853e-02 2.04002988e+02] [-3.61772980e-01 9.32234373e-01 -7.70611387e-03 -4.05356422e+01] [-1.97550510e-02 5.98309789e-04 9.99804671e-01 1.03717295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.922320588 meters 0.02746898841804021 Centerline is valid? [True, True] Translation: X:204.03, Y:-40.55, Z:1.03 [[ 9.31960962e-01 3.62271233e-01 1.44332738e-02 2.04029083e+02] [-3.62219967e-01 9.32072601e-01 -6.11237411e-03 -4.05534208e+01] [-1.56671964e-02 4.68474082e-04 9.99877152e-01 1.03472406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.952320588 meters 0.027366469792365573 Centerline is valid? [True, True] Translation: X:204.06, Y:-40.57, Z:1.03 [[ 9.31457236e-01 3.63572445e-01 1.42300261e-02 2.04057087e+02] [-3.63522746e-01 9.31565823e-01 -6.02751031e-03 -4.05688303e+01] [-1.54476426e-02 4.41429930e-04 9.99880581e-01 1.03378183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.982320588 meters 0.02706949489976856 Centerline is valid? [True, True] Translation: X:204.08, Y:-40.58, Z:1.03 [[ 9.30984164e-01 3.64806776e-01 1.35831436e-02 2.04084948e+02] [-3.64761608e-01 9.31083161e-01 -5.75464499e-03 -4.05845504e+01] [-1.47463698e-02 4.02874050e-04 9.99891185e-01 1.03488708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.012320588 meters 0.026556903195528826 Centerline is valid? [True, True] Translation: X:204.11, Y:-40.61, Z:1.04 [[ 9.29922558e-01 3.67506509e-01 1.35278078e-02 2.04111014e+02] [-3.67461950e-01 9.30020879e-01 -5.73410541e-03 -4.06059157e+01] [-1.46884647e-02 3.61319344e-04 9.99892053e-01 1.03723156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.042320588 meters 0.02648271895265821 Centerline is valid? [True, True] Translation: X:204.14, Y:-40.62, Z:1.04 [[ 9.29374508e-01 3.68883398e-01 1.37136127e-02 2.04138476e+02] [-3.68837729e-01 9.29475615e-01 -5.81471092e-03 -4.06231510e+01] [-1.48914190e-02 3.45946329e-04 9.99889057e-01 1.03629976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.072320588 meters 0.026116286059402104 Centerline is valid? [True, True] Translation: X:204.17, Y:-40.64, Z:1.03 [[ 9.28477545e-01 3.71114926e-01 1.42534219e-02 2.04166156e+02] [-3.71065821e-01 9.28586887e-01 -6.04565738e-03 -4.06410890e+01] [-1.54791744e-02 3.24299424e-04 9.99880138e-01 1.03471027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.102320588 meters 0.025566219953865547 Centerline is valid? [True, True] Translation: X:204.19, Y:-40.66, Z:1.03 [[ 9.26694160e-01 3.75555182e-01 1.40085527e-02 2.04193209e+02] [-3.75508213e-01 9.26800002e-01 -5.94458531e-03 -4.06607202e+01] [-1.52156465e-02 2.48485885e-04 9.99884204e-01 1.03479542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.132320588 meters 0.025257707629823836 Centerline is valid? [True, True] Translation: X:204.22, Y:-40.68, Z:1.04 [[ 9.25661575e-01 3.78104130e-01 1.37082241e-02 2.04221590e+02] [-3.78059395e-01 9.25763050e-01 -5.81971781e-03 -4.06752128e+01] [-1.48910267e-02 2.04566233e-04 9.99889102e-01 1.03573722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.162320588 meters 0.025042943241899096 Centerline is valid? [True, True] Translation: X:204.25, Y:-40.69, Z:1.04 [[ 9.24514497e-01 3.80893522e-01 1.38949299e-02 2.04249853e+02] [-3.80847845e-01 9.24618894e-01 -5.90092461e-03 -4.06898417e+01] [-1.50951387e-02 1.63636240e-04 9.99886049e-01 1.03636312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.192320588 meters 0.024626147175221925 Centerline is valid? [True, True] Translation: X:204.28, Y:-40.71, Z:1.04 [[ 9.21850812e-01 3.87326710e-01 1.30038428e-02 2.04275741e+02] [-3.87287304e-01 9.21942523e-01 -5.52521002e-03 -4.07104806e+01] [-1.41288571e-02 5.71961151e-05 9.99900181e-01 1.03833840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.222320588 meters 0.024640817325831805 Centerline is valid? [True, True] Translation: X:204.30, Y:-40.73, Z:1.04 [[ 9.20787339e-01 3.89886519e-01 1.17973690e-02 2.04303608e+02] [-3.89854274e-01 9.20862911e-01 -5.01435582e-03 -4.07265603e+01] [-1.28187893e-02 1.79006475e-05 9.99917836e-01 1.03928815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.252320588 meters 0.02472847454831531 Centerline is valid? [True, True] Translation: X:204.33, Y:-40.74, Z:1.04 [[ 9.19801998e-01 3.92183550e-01 1.25039217e-02 2.04332357e+02] [-3.92147512e-01 9.19886984e-01 -5.31656153e-03 -4.07416504e+01] [-1.35872628e-02 -1.31978879e-05 9.99907689e-01 1.03867503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.282320588 meters 0.02488556545235131 Centerline is valid? [True, True] Translation: X:204.36, Y:-40.76, Z:1.04 [[ 9.19146137e-01 3.93761504e-01 1.10569619e-02 2.04360556e+02] [-3.93733409e-01 9.19212640e-01 -4.70372961e-03 -4.07579092e+01] [-1.20158468e-02 -3.00804112e-05 9.99927807e-01 1.03954249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.312320588 meters 0.02497105540460268 Centerline is valid? [True, True] Translation: X:204.39, Y:-40.77, Z:1.04 [[ 9.18925916e-01 3.94236005e-01 1.23747191e-02 2.04388182e+02] [-3.94200836e-01 9.19009233e-01 -5.26599137e-03 -4.07742736e+01] [-1.34485245e-02 -3.90686753e-05 9.99909564e-01 1.03844055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.342320588 meters 0.025098320811234472 Centerline is valid? [True, True] Translation: X:204.42, Y:-40.79, Z:1.04 [[ 9.18583758e-01 3.95066554e-01 1.12381852e-02 2.04416489e+02] [-3.95037588e-01 9.18652500e-01 -4.78417379e-03 -4.07910568e+01] [-1.22140540e-02 -4.48412455e-05 9.99925405e-01 1.03897455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.372320588 meters 0.025164513417668406 Centerline is valid? [True, True] Translation: X:204.45, Y:-40.81, Z:1.04 [[ 9.18078290e-01 3.96229223e-01 1.16041318e-02 2.04445459e+02] [-3.96198313e-01 9.18151622e-01 -4.94941126e-03 -4.08064228e+01] [-1.26154538e-02 -5.35904022e-05 9.99920421e-01 1.03771300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.402320588 meters 0.025410678548575177 Centerline is valid? [True, True] Translation: X:204.48, Y:-40.82, Z:1.04 [[ 9.16956056e-01 3.98812265e-01 1.18477559e-02 2.04475336e+02] [-3.98780164e-01 9.17032590e-01 -5.06067760e-03 -4.08210748e+01] [-1.28830385e-02 -8.42310614e-05 9.99917007e-01 1.03808211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43232058799998 meters 0.025453409813401308 Centerline is valid? [True, True] Translation: X:204.51, Y:-40.83, Z:1.04 [[ 9.16241464e-01 4.00456749e-01 1.16607016e-02 2.04505224e+02] [-4.00425767e-01 9.16315656e-01 -4.98240273e-03 -4.08343410e+01] [-1.26801202e-02 -1.04161393e-04 9.99919599e-01 1.03881818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46232058799998 meters 0.02548803811060961 Centerline is valid? [True, True] Translation: X:204.54, Y:-40.85, Z:1.04 [[ 9.15116151e-01 4.03059717e-01 1.02613365e-02 2.04535143e+02] [-4.03035795e-01 9.15173673e-01 -4.39278722e-03 -4.08491045e+01] [-1.11614606e-02 -1.15775396e-04 9.99937702e-01 1.04043592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49232058799998 meters 0.02581025248942207 Centerline is valid? [True, True] Translation: X:204.56, Y:-40.87, Z:1.04 [[ 9.13587992e-01 4.06523802e-01 9.76623149e-03 2.04562724e+02] [-4.06502276e-01 9.13640179e-01 -4.18599418e-03 -4.08653775e+01] [-1.06245278e-02 -1.45721311e-04 9.99943547e-01 1.04030611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52232058799999 meters 0.026053630046155764 Centerline is valid? [True, True] Translation: X:204.59, Y:-40.88, Z:1.04 [[ 9.12797579e-01 4.08306742e-01 9.28355562e-03 2.04592611e+02] [-4.08287319e-01 9.12844774e-01 -3.98545688e-03 -4.08798001e+01] [-1.01017341e-02 -1.52442648e-04 9.99948965e-01 1.03989383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.552320588 meters 0.025899599887101204 Centerline is valid? [True, True] Translation: X:204.62, Y:-40.89, Z:1.04 [[ 9.12447478e-01 4.09113076e-01 8.12965797e-03 2.04623017e+02] [-4.09098165e-01 9.12483684e-01 -3.49555013e-03 -4.08938522e+01] [-8.84825552e-03 -1.36322254e-04 9.99960844e-01 1.04007917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.582320588 meters 0.02600870550957021 Centerline is valid? [True, True] Translation: X:204.65, Y:-40.91, Z:1.04 [[ 9.12224460e-01 4.09591834e-01 9.00357576e-03 2.04653290e+02] [-4.09573515e-01 9.12268879e-01 -3.87672618e-03 -4.09077527e+01] [-9.80155735e-03 -1.51181730e-04 9.99951952e-01 1.03992683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.612320588 meters 0.025875978208772164 Centerline is valid? [True, True] Translation: X:204.68, Y:-40.92, Z:1.04 [[ 9.12698650e-01 4.08553858e-01 8.05731508e-03 2.04682561e+02] [-4.08539108e-01 9.12734206e-01 -3.47367650e-03 -4.09214203e+01] [-8.77337101e-03 -1.21308471e-04 9.99961506e-01 1.04048986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.642320588 meters 0.025917280992873194 Centerline is valid? [True, True] Translation: X:204.71, Y:-40.93, Z:1.04 [[ 9.12750004e-01 4.08429928e-01 8.51023095e-03 2.04712612e+02] [-4.08413416e-01 9.12789669e-01 -3.67456664e-03 -4.09340835e+01] [-9.26885387e-03 -1.21731769e-04 9.99957036e-01 1.04078805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.672320588 meters 0.025798162098989788 Centerline is valid? [True, True] Translation: X:204.74, Y:-40.95, Z:1.04 [[ 9.12982528e-01 4.07913613e-01 8.32992339e-03 2.04742957e+02] [-4.07897723e-01 9.13020521e-01 -3.60205681e-03 -4.09464602e+01] [-9.07471900e-03 -1.09141855e-04 9.99958818e-01 1.04070717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.702320588 meters 0.025628614161890835 Centerline is valid? [True, True] Translation: X:204.77, Y:-40.96, Z:1.04 [[ 9.12957321e-01 4.07977185e-01 7.97155861e-03 2.04773007e+02] [-4.07962591e-01 9.12992117e-01 -3.45225898e-03 -4.09591151e+01] [-8.68641307e-03 -1.00332595e-04 9.99962267e-01 1.04154467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.732320588 meters 0.025655519522048236 Centerline is valid? [True, True] Translation: X:204.80, Y:-40.97, Z:1.04 [[ 9.12849949e-01 4.08207124e-01 8.48021712e-03 2.04803793e+02] [-4.08190570e-01 9.12889332e-01 -3.67775111e-03 -4.09717469e+01] [-9.24278395e-03 -1.04309745e-04 9.99957279e-01 1.04238469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.762320588 meters 0.025618242887178403 Centerline is valid? [True, True] Translation: X:204.83, Y:-40.98, Z:1.04 [[ 9.12959775e-01 4.07916846e-01 1.04065579e-02 2.04834229e+02] [-4.07891829e-01 9.13019076e-01 -4.51912637e-03 -4.09839102e+01] [-1.13448136e-02 -1.18969339e-04 9.99935638e-01 1.04204749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.792320588 meters 0.02559916336674101 Centerline is valid? [True, True] Translation: X:204.86, Y:-41.00, Z:1.04 [[ 9.13721578e-01 4.06240787e-01 9.01670609e-03 2.04863983e+02] [-4.06221876e-01 9.13766062e-01 -3.92059335e-03 -4.09962009e+01] [-9.83186495e-03 -8.04525199e-05 9.99951663e-01 1.04170680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.822320588 meters 0.025343850160299046 Centerline is valid? [True, True] Translation: X:204.89, Y:-41.01, Z:1.04 [[ 9.14514923e-01 4.04474055e-01 7.94949001e-03 2.04893665e+02] [-4.04459287e-01 9.14549472e-01 -3.45680246e-03 -4.10097822e+01] [-8.66838880e-03 -5.39476202e-05 9.99962427e-01 1.04230324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.852320588 meters 0.025432557760967898 Centerline is valid? [True, True] Translation: X:204.92, Y:-41.02, Z:1.04 [[ 9.14929239e-01 4.03542169e-01 7.62923094e-03 2.04923919e+02] [-4.03528477e-01 9.14961046e-01 -3.32443648e-03 -4.10236259e+01] [-8.32199943e-03 -3.69878000e-05 9.99965371e-01 1.04211230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.882320588 meters 0.02533191677711907 Centerline is valid? [True, True] Translation: X:204.95, Y:-41.04, Z:1.04 [[ 9.15451650e-01 4.02351601e-01 7.84003112e-03 2.04954265e+02] [-4.02337055e-01 9.15485221e-01 -3.42123090e-03 -4.10368908e+01] [-8.55397035e-03 -2.23635647e-05 9.99963414e-01 1.04249153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.912320588 meters 0.025113568901906563 Centerline is valid? [True, True] Translation: X:204.98, Y:-41.05, Z:1.04 [[ 9.16420623e-01 4.00134358e-01 8.10789029e-03 2.04984646e+02] [-4.00118670e-01 9.16456489e-01 -3.54318686e-03 -4.10489777e+01] [-8.84827947e-03 2.93122747e-06 9.99960853e-01 1.04440566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.942320588 meters 0.025391170839030384 Centerline is valid? [True, True] Translation: X:205.01, Y:-41.06, Z:1.04 [[ 9.16472756e-01 4.00003139e-01 8.67037997e-03 2.05014697e+02] [-3.99985143e-01 9.16513769e-01 -3.79425858e-03 -4.10623441e+01] [-9.46423796e-03 9.31144447e-06 9.99955213e-01 1.04403165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.972320588 meters 0.025214834620253822 Centerline is valid? [True, True] Translation: X:205.04, Y:-41.08, Z:1.05 [[ 9.16370089e-01 4.00244145e-01 8.39549431e-03 2.05044286e+02] [-4.00227233e-01 9.16408547e-01 -3.67932105e-03 -4.10760487e+01] [-9.16632944e-03 1.15143043e-05 9.99957988e-01 1.04519248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.002320588 meters 0.025255047505897892 Centerline is valid? [True, True] Translation: X:205.07, Y:-41.09, Z:1.04 [[ 9.15987888e-01 4.01123120e-01 8.15053735e-03 2.05074364e+02] [-4.01107169e-01 9.16024150e-01 -3.57720819e-03 -4.10887219e+01] [-8.90098995e-03 7.44041576e-06 9.99960385e-01 1.04472877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.032320588 meters 0.02531355734125595 Centerline is valid? [True, True] Translation: X:205.10, Y:-41.10, Z:1.04 [[ 9.15314573e-01 4.02647045e-01 8.63650826e-03 2.05104126e+02] [-4.02629152e-01 9.15355318e-01 -3.79579211e-03 -4.11025810e+01] [-9.43383824e-03 -2.96616663e-06 9.99955500e-01 1.04389893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.062320588 meters 0.025290239979854405 Centerline is valid? [True, True] Translation: X:205.13, Y:-41.12, Z:1.04 [[ 9.14640938e-01 4.04180690e-01 8.36208846e-03 2.05134093e+02] [-4.04163932e-01 9.14679162e-01 -3.68058585e-03 -4.11174732e+01] [-9.13624980e-03 -1.32400526e-05 9.99958264e-01 1.04381196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.092320588 meters 0.02536126565897133 Centerline is valid? [True, True] Translation: X:205.16, Y:-41.13, Z:1.04 [[ 9.13646352e-01 4.06416407e-01 8.72059164e-03 2.05164192e+02] [-4.06398230e-01 9.13687968e-01 -3.84386289e-03 -4.11315182e+01] [-9.53010860e-03 -3.21017039e-05 9.99954587e-01 1.04474858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.122320588 meters 0.025349730944628446 Centerline is valid? [True, True] Translation: X:205.20, Y:-41.14, Z:1.05 [[ 9.13068866e-01 4.07716082e-01 8.53471801e-03 2.05195401e+02] [-4.07698678e-01 9.13108753e-01 -3.76741483e-03 -4.11429138e+01] [-9.32916133e-03 -3.96840631e-05 9.99956482e-01 1.04544300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.152320588 meters 0.02537758250668838 Centerline is valid? [True, True] Translation: X:205.23, Y:-41.15, Z:1.05 [[ 9.12392717e-01 4.09229642e-01 8.40417456e-03 2.05226896e+02] [-4.09212780e-01 9.12431421e-01 -3.71517578e-03 -4.11544595e+01] [-9.18859299e-03 -4.93963089e-05 9.99957783e-01 1.04539152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18232058799998 meters 0.02559668735477268 Centerline is valid? [True, True] Translation: X:205.26, Y:-41.17, Z:1.04 [[ 9.11885900e-01 4.10378260e-01 7.33414866e-03 2.05256398e+02] [-4.10365416e-01 9.11915391e-01 -3.24723260e-03 -4.11685093e+01] [-8.02071671e-03 -4.85753443e-05 9.99967832e-01 1.04371023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21232058799998 meters 0.025576601661617383 Centerline is valid? [True, True] Translation: X:205.29, Y:-41.18, Z:1.04 [[ 9.11745349e-01 4.10672567e-01 8.27411617e-03 2.05286715e+02] [-4.10656187e-01 9.11782891e-01 -3.66831895e-03 -4.11823818e+01] [-9.05067552e-03 -5.32442520e-05 9.99959040e-01 1.04359621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24232058799998 meters 0.02544550130563233 Centerline is valid? [True, True] Translation: X:205.32, Y:-41.19, Z:1.04 [[ 9.11466410e-01 4.11278913e-01 8.86783529e-03 2.05316989e+02] [-4.11260073e-01 9.11509546e-01 -3.93701227e-03 -4.11945784e+01] [-9.70232665e-03 -5.85321456e-05 9.99952930e-01 1.04452903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27232058799999 meters 0.025374895624839633 Centerline is valid? [True, True] Translation: X:205.35, Y:-41.20, Z:1.05 [[ 9.11027915e-01 4.12266880e-01 8.00983425e-03 2.05350190e+02] [-4.12251500e-01 9.11063124e-01 -3.56146052e-03 -4.12023403e+01] [-8.76573684e-03 -5.74762306e-05 9.99961579e-01 1.04520160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.302320588 meters 0.02565088332070212 Centerline is valid? [True, True] Translation: X:205.38, Y:-41.21, Z:1.04 [[ 9.10675971e-01 4.13017573e-01 9.26070673e-03 2.05381136e+02] [-4.12996998e-01 9.10723053e-01 -4.12311760e-03 -4.12141821e+01] [-1.01368591e-02 -6.98199521e-05 9.99948618e-01 1.04468190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.332320588 meters 0.025614695067569603 Centerline is valid? [True, True] Translation: X:205.41, Y:-41.23, Z:1.04 [[ 9.10722912e-01 4.12899954e-01 9.86943824e-03 2.05411717e+02] [-4.12876513e-01 9.10776385e-01 -4.40021088e-03 -4.12276960e+01] [-1.08056982e-02 -6.74863835e-05 9.99941614e-01 1.04474464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.362320588 meters 0.025593472004405496 Centerline is valid? [True, True] Translation: X:205.44, Y:-41.24, Z:1.05 [[ 9.11080522e-01 4.12130174e-01 9.00008564e-03 2.05441179e+02] [-4.12110595e-01 9.11124973e-01 -4.01753143e-03 -4.12413763e+01] [-9.85594872e-03 -4.87360159e-05 9.99951428e-01 1.04563710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.392320588 meters 0.025569856180119952 Centerline is valid? [True, True] Translation: X:205.47, Y:-41.26, Z:1.05 [[ 9.11220856e-01 4.11796788e-01 9.99788494e-03 2.05470785e+02] [-4.11772535e-01 9.11275701e-01 -4.46944027e-03 -4.12550420e+01] [-1.09513308e-02 -4.42072420e-05 9.99940031e-01 1.04517277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.422320588 meters 0.02548094139068983 Centerline is valid? [True, True] Translation: X:205.50, Y:-41.27, Z:1.05 [[ 9.12055862e-01 4.09927060e-01 1.06728609e-02 2.05500605e+02] [-4.09899215e-01 9.12118306e-01 -4.77791786e-03 -4.12687037e+01] [-1.16935096e-02 -1.70693056e-05 9.99931628e-01 1.04595607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.452320588 meters 0.02545957419596085 Centerline is valid? [True, True] Translation: X:205.53, Y:-41.28, Z:1.05 [[ 9.12435146e-01 4.09096976e-01 1.00880422e-02 2.05531286e+02] [-4.09071975e-01 9.12490912e-01 -4.52273073e-03 -4.12814836e+01] [-1.10554823e-02 -3.68995192e-08 9.99938886e-01 1.04631223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.482320588 meters 0.025438991540103213 Centerline is valid? [True, True] Translation: X:205.56, Y:-41.29, Z:1.05 [[ 9.12879276e-01 4.08083775e-01 1.09114672e-02 2.05561734e+02] [-4.08054372e-01 9.12944485e-01 -4.89871999e-03 -4.12932091e+01] [-1.19606519e-02 1.94680753e-05 9.99928469e-01 1.04625830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.512320588 meters 0.025407271208208255 Centerline is valid? [True, True] Translation: X:205.59, Y:-41.31, Z:1.05 [[ 9.13106299e-01 4.07554775e-01 1.16615681e-02 2.05591480e+02] [-4.07521056e-01 9.13180762e-01 -5.24263544e-03 -4.13072586e+01] [-1.27857807e-02 3.47489132e-05 9.99918258e-01 1.04693137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.542320588 meters 0.025241457450751268 Centerline is valid? [True, True] Translation: X:205.62, Y:-41.32, Z:1.05 [[ 9.13240190e-01 4.07259804e-01 1.14807869e-02 2.05620320e+02] [-4.07227006e-01 9.13312351e-01 -5.16864472e-03 -4.13234633e+01] [-1.25905257e-02 4.49275985e-05 9.99920735e-01 1.04723706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.572320588 meters 0.025290116000178883 Centerline is valid? [True, True] Translation: X:205.65, Y:-41.34, Z:1.05 [[ 9.13549505e-01 4.06557141e-01 1.17725642e-02 2.05649310e+02] [-4.06522502e-01 9.13625354e-01 -5.30736218e-03 -4.13397101e+01] [-1.29134591e-02 6.27258561e-05 9.99916616e-01 1.04731836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.602320588 meters 0.0252145581235138 Centerline is valid? [True, True] Translation: X:205.68, Y:-41.36, Z:1.05 [[ 9.13548567e-01 4.06563137e-01 1.16374893e-02 2.05677360e+02] [-4.06529194e-01 9.13622685e-01 -5.25388975e-03 -4.13570985e+01] [-1.27683121e-02 6.87043159e-05 9.99918479e-01 1.04572483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.632320588 meters 0.0252145581235138 Centerline is valid? [True, True] Translation: X:205.71, Y:-41.37, Z:1.05 [[ 9.13334331e-01 4.07044264e-01 1.16347217e-02 2.05707127e+02] [-4.07010283e-01 9.13408431e-01 -5.26001740e-03 -4.13701940e+01] [-1.27683128e-02 6.87031001e-05 9.99918479e-01 1.04588870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.662320588 meters 0.025101150038009803 Centerline is valid? [True, True] Translation: X:205.74, Y:-41.39, Z:1.04 [[ 9.12949553e-01 4.07895644e-01 1.20107640e-02 2.05736571e+02] [-4.07859404e-01 9.13028554e-01 -5.43756020e-03 -4.13852925e+01] [-1.31841276e-02 6.55150913e-05 9.99913083e-01 1.04497783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.692320588 meters 0.025149601726634763 Centerline is valid? [True, True] Translation: X:205.77, Y:-41.40, Z:1.04 [[ 9.12453570e-01 4.08958513e-01 1.34691405e-02 2.05765121e+02] [-4.08912955e-01 9.12552974e-01 -6.10450790e-03 -4.14002164e+01] [-1.47877947e-02 6.23739915e-05 9.99890653e-01 1.04426398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.722320588 meters 0.02514408164440875 Centerline is valid? [True, True] Translation: X:205.79, Y:-41.42, Z:1.04 [[ 9.12183330e-01 4.09489739e-01 1.54831128e-02 2.05793910e+02] [-4.09429475e-01 9.12314720e-01 -7.02537830e-03 -4.14154793e+01] [-1.70022920e-02 6.91902397e-05 9.99855448e-01 1.04454661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.752320588 meters 0.02521877833192018 Centerline is valid? [True, True] Translation: X:205.82, Y:-41.43, Z:1.04 [[ 9.10445965e-01 4.13228265e-01 1.81809126e-02 2.05822277e+02] [-4.13145720e-01 9.10627476e-01 -8.25911632e-03 -4.14319100e+01] [-1.99689389e-02 8.11288135e-06 9.99800601e-01 1.04411573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.782320588 meters 0.0252832922186918 Centerline is valid? [True, True] Translation: X:205.85, Y:-41.45, Z:1.04 [[ 9.09526635e-01 4.15319576e-01 1.64605538e-02 2.05850770e+02] [-4.15252088e-01 9.09675573e-01 -7.48695640e-03 -4.14464964e+01] [-1.80832433e-02 -2.56930778e-05 9.99836484e-01 1.04441905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.812320588 meters 0.02523588667938607 Centerline is valid? [True, True] Translation: X:205.88, Y:-41.46, Z:1.04 [[ 9.08607991e-01 4.17334810e-01 1.62226764e-02 2.05879916e+02] [-4.17269387e-01 9.08752801e-01 -7.38949197e-03 -4.14624132e+01] [-1.78262948e-02 -5.50747710e-05 9.99841097e-01 1.04411578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.842320588 meters 0.025291058301466666 Centerline is valid? [True, True] Translation: X:205.91, Y:-41.48, Z:1.04 [[ 9.06594102e-01 4.21785828e-01 1.35591422e-02 2.05906853e+02] [-4.21740508e-01 9.06695485e-01 -6.18390629e-03 -4.14805533e+01] [-1.49022970e-02 -1.12146545e-04 9.99888948e-01 1.04266217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.872320588 meters 0.0252849041529127 Centerline is valid? [True, True] Translation: X:205.94, Y:-41.49, Z:1.04 [[ 9.05595772e-01 4.23940692e-01 1.30608773e-02 2.05936507e+02] [-4.23898739e-01 9.05689942e-01 -5.96555592e-03 -4.14942811e+01] [-1.43581471e-02 -1.34107175e-04 9.99896907e-01 1.04323719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.902320588 meters 0.025450118836845677 Centerline is valid? [True, True] Translation: X:205.97, Y:-41.51, Z:1.04 [[ 9.04184043e-01 4.26905197e-01 1.42537276e-02 2.05965746e+02] [-4.26855484e-01 9.04296365e-01 -6.51762538e-03 -4.15067881e+01] [-1.56720022e-02 -1.91148925e-04 9.99877168e-01 1.04367949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93232058799998 meters 0.02586373978691538 Centerline is valid? [True, True] Translation: X:206.00, Y:-41.52, Z:1.04 [[ 9.01883885e-01 4.31647079e-01 1.69191243e-02 2.05995130e+02] [-4.31577703e-01 9.02042515e-01 -7.74514296e-03 -4.15200444e+01] [-1.86049378e-02 -3.16697190e-04 9.99826863e-01 1.04384633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96232058799998 meters 0.026204393272925293 Centerline is valid? [True, True] Translation: X:206.02, Y:-41.53, Z:1.04 [[ 9.00522584e-01 4.34521984e-01 1.58025815e-02 2.06024726e+02] [-4.34461723e-01 9.00661162e-01 -7.24450822e-03 -4.15338890e+01] [-1.73806695e-02 -3.41773539e-04 9.99848886e-01 1.04394723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99232058799998 meters 0.02645297975660531 Centerline is valid? [True, True] Translation: X:206.05, Y:-41.55, Z:1.04 [[ 8.99186954e-01 4.37271754e-01 1.60073232e-02 2.06053754e+02] [-4.37210225e-01 8.99329338e-01 -7.34583357e-03 -4.15465159e+01] [-1.76079809e-02 -3.93287666e-04 9.99844890e-01 1.04294187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02232058799999 meters 0.02722512772833446 Centerline is valid? [True, True] Translation: X:206.08, Y:-41.56, Z:1.04 [[ 8.96630505e-01 4.42491360e-01 1.59728823e-02 2.06084664e+02] [-4.42430767e-01 8.96772635e-01 -7.33872662e-03 -4.15570397e+01] [-1.75713669e-02 -4.86768426e-04 9.99845493e-01 1.04233458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.052320588 meters 0.027647291141336086 Centerline is valid? [True, True] Translation: X:206.12, Y:-41.57, Z:1.04 [[ 8.95316250e-01 4.45123264e-01 1.65557314e-02 2.06115020e+02] [-4.45058457e-01 8.95469138e-01 -7.61524783e-03 -4.15687118e+01] [-1.82148705e-02 -5.50213160e-04 9.99833944e-01 1.04181055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.082320588 meters 0.02760888591560062 Centerline is valid? [True, True] Translation: X:206.14, Y:-41.58, Z:1.04 [[ 8.94551048e-01 4.46672188e-01 1.61981554e-02 2.06144855e+02] [-4.46610251e-01 8.94697514e-01 -7.45937987e-03 -4.15797559e+01] [-1.78243469e-02 -5.61466168e-04 9.99840976e-01 1.04276965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.112320588 meters 0.027851503551139 Centerline is valid? [True, True] Translation: X:206.18, Y:-41.59, Z:1.04 [[ 8.94375753e-01 4.46994428e-01 1.69703808e-02 2.06175884e+02] [-4.46926319e-01 8.94536549e-01 -7.82480413e-03 -4.15901489e+01] [-1.86782698e-02 -5.86194769e-04 9.99825374e-01 1.04246742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.142320588 meters 0.02750410028661339 Centerline is valid? [True, True] Translation: X:206.21, Y:-41.60, Z:1.04 [[ 8.94424244e-01 4.46853407e-01 1.80915457e-02 2.06206491e+02] [-4.46775751e-01 8.94606985e-01 -8.35285218e-03 -4.16017065e+01] [-1.99173236e-02 -6.11870414e-04 9.99801443e-01 1.04297612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.172320588 meters 0.027375889539422694 Centerline is valid? [True, True] Translation: X:206.24, Y:-41.61, Z:1.04 [[ 8.94813677e-01 4.46049544e-01 1.86624409e-02 2.06236400e+02] [-4.45966537e-01 8.95008066e-01 -8.62605770e-03 -4.16129749e+01] [-2.05506843e-02 -6.04109728e-04 9.99788630e-01 1.04255797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.202320588 meters 0.02699984219585351 Centerline is valid? [True, True] Translation: X:206.27, Y:-41.62, Z:1.04 [[ 8.95774616e-01 4.44130005e-01 1.83405724e-02 2.06267579e+02] [-4.44049232e-01 8.95962190e-01 -8.48726617e-03 -4.16226104e+01] [-2.02019089e-02 -5.41439488e-04 9.99795774e-01 1.04249370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.232320588 meters 0.026809876439574977 Centerline is valid? [True, True] Translation: X:206.30, Y:-41.63, Z:1.04 [[ 8.96070010e-01 4.43562401e-01 1.76332933e-02 2.06298328e+02] [-4.43487441e-01 8.96243353e-01 -8.16963972e-03 -4.16333259e+01] [-1.94274669e-02 -4.99574978e-04 9.99811144e-01 1.04276244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.262320588 meters 0.02683335774936921 Centerline is valid? [True, True] Translation: X:206.33, Y:-41.64, Z:1.04 [[ 8.96185811e-01 4.43318443e-01 1.78815837e-02 2.06329205e+02] [-4.43241082e-01 8.96364054e-01 -8.29614296e-03 -4.16443095e+01] [-1.97062420e-02 -4.90966902e-04 9.99805693e-01 1.04163514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.292320588 meters 0.02662218198401678 Centerline is valid? [True, True] Translation: X:206.36, Y:-41.66, Z:1.04 [[ 8.96512162e-01 4.42703733e-01 1.67136990e-02 2.06359717e+02] [-4.42635877e-01 8.96667839e-01 -7.76323417e-03 -4.16553861e+01] [-1.84234491e-02 -4.38248958e-04 9.99830178e-01 1.04147013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.322320588 meters 0.02615115877675177 Centerline is valid? [True, True] Translation: X:206.39, Y:-41.67, Z:1.04 [[ 8.98030081e-01 4.39612923e-01 1.68062977e-02 2.06390032e+02] [-4.39543599e-01 8.98187253e-01 -7.81554684e-03 -4.16671601e+01] [-1.85310178e-02 -3.68504433e-04 9.99828218e-01 1.04039757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.352320588 meters 0.025899974568662526 Centerline is valid? [True, True] Translation: X:206.42, Y:-41.68, Z:1.04 [[ 8.99092075e-01 4.37430607e-01 1.69677266e-02 2.06419604e+02] [-4.37359379e-01 8.99252113e-01 -7.90007725e-03 -4.16802481e+01] [-1.87139996e-02 -3.18097500e-04 9.99824827e-01 1.04085491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.382320588 meters 0.025553786279912404 Centerline is valid? [True, True] Translation: X:206.45, Y:-41.69, Z:1.04 [[ 9.00810516e-01 4.33941564e-01 1.53340375e-02 2.06449061e+02] [-4.33882857e-01 9.00940992e-01 -7.14112498e-03 -4.16924486e+01] [-1.69138939e-02 -2.20375536e-04 9.99856926e-01 1.04188848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.412320588 meters 0.025524483910248634 Centerline is valid? [True, True] Translation: X:206.48, Y:-41.71, Z:1.04 [[ 9.01548055e-01 4.32440948e-01 1.43503320e-02 2.06478350e+02] [-4.32389185e-01 9.01662241e-01 -6.69291330e-03 -4.17050858e+01] [-1.58334423e-02 -1.70945390e-04 9.99874629e-01 1.04306100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.442320588 meters 0.02550121053401105 Centerline is valid? [True, True] Translation: X:206.51, Y:-41.72, Z:1.04 [[ 9.02106674e-01 4.31244920e-01 1.52107776e-02 2.06508337e+02] [-4.31186426e-01 9.02234890e-01 -7.10419344e-03 -4.17185044e+01] [-1.67873416e-02 -1.49940499e-04 9.99859071e-01 1.04256671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.472320588 meters 0.025401545090561983 Centerline is valid? [True, True] Translation: X:206.54, Y:-41.73, Z:1.04 [[ 9.02121312e-01 4.31223507e-01 1.49473963e-02 2.06538166e+02] [-4.31166858e-01 9.02245126e-01 -6.99089692e-03 -4.17329483e+01] [-1.65008545e-02 -1.38184787e-04 9.99863842e-01 1.04208634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.502320588 meters 0.025254267305768928 Centerline is valid? [True, True] Translation: X:206.57, Y:-41.75, Z:1.04 [[ 9.01860800e-01 4.31803952e-01 1.38724669e-02 2.06567227e+02] [-4.31755109e-01 9.01967477e-01 -6.49583784e-03 -4.17475977e+01] [-1.53174424e-02 -1.31166932e-04 9.99882672e-01 1.04159526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.532320588 meters 0.025166274590806618 Centerline is valid? [True, True] Translation: X:206.60, Y:-41.76, Z:1.04 [[ 9.01427211e-01 4.32725156e-01 1.33387701e-02 2.06598078e+02] [-4.32679966e-01 9.01525885e-01 -6.25501722e-03 -4.17599441e+01] [-1.47319498e-02 -1.32975853e-04 9.99891470e-01 1.04171601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.562320588 meters 0.024988700536480793 Centerline is valid? [True, True] Translation: X:206.63, Y:-41.77, Z:1.04 [[ 9.00939313e-01 4.33789155e-01 1.16328506e-02 2.06628039e+02] [-4.33754788e-01 9.01014403e-01 -5.46167889e-03 -4.17726549e+01] [-1.28505830e-02 -1.25163424e-04 9.99917420e-01 1.04276027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.592320588 meters 0.025048769126770315 Centerline is valid? [True, True] Translation: X:206.66, Y:-41.79, Z:1.04 [[ 9.00509529e-01 4.34674719e-01 1.18522580e-02 2.06658107e+02] [-4.34639015e-01 9.00587514e-01 -5.57276923e-03 -4.17869686e+01] [-1.30963374e-02 -1.33121937e-04 9.99914230e-01 1.04332987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.622320588 meters 0.02512957483013818 Centerline is valid? [True, True] Translation: X:206.69, Y:-41.80, Z:1.04 [[ 9.00270153e-01 4.35168029e-01 1.19347193e-02 2.06687211e+02] [-4.35131769e-01 9.00349248e-01 -5.61923156e-03 -4.18037777e+01] [-1.31907255e-02 -1.34349056e-04 9.99912990e-01 1.04498650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.652320588 meters 0.02503402784739932 Centerline is valid? [True, True] Translation: X:206.72, Y:-41.82, Z:1.05 [[ 9.00367930e-01 4.34954904e-01 1.23215931e-02 2.06717009e+02] [-4.34916125e-01 9.00452228e-01 -5.80942828e-03 -4.18169254e+01] [-1.36218453e-02 -1.28236627e-04 9.99907210e-01 1.04546272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68232058799998 meters 0.02514392286370119 Centerline is valid? [True, True] Translation: X:206.75, Y:-41.83, Z:1.05 [[ 9.00182544e-01 4.35345779e-01 1.20598791e-02 2.06747482e+02] [-4.35308560e-01 9.00263315e-01 -5.69391360e-03 -4.18289177e+01] [-1.33358880e-02 -1.24206972e-04 9.99911065e-01 1.04544099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71232058799998 meters 0.025132760997706314 Centerline is valid? [True, True] Translation: X:206.78, Y:-41.84, Z:1.04 [[ 9.00431795e-01 4.34816402e-01 1.25410637e-02 2.06778118e+02] [-4.34775990e-01 9.00519119e-01 -5.92922510e-03 -4.18404004e+01] [-1.38715919e-02 -1.13690562e-04 9.99903778e-01 1.04364171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74232058799998 meters 0.02502588134066145 Centerline is valid? [True, True] Translation: X:206.81, Y:-41.86, Z:1.04 [[ 9.00465499e-01 4.34737227e-01 1.28619115e-02 2.06807561e+02] [-4.34694593e-01 9.00557345e-01 -6.08920220e-03 -4.18550644e+01] [-1.42300917e-02 -1.07886880e-04 9.99898741e-01 1.04348989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77232058799999 meters 0.025134736672180292 Centerline is valid? [True, True] Translation: X:206.84, Y:-41.87, Z:1.04 [[ 9.00587317e-01 4.34469627e-01 1.33651649e-02 2.06837396e+02] [-4.34423435e-01 9.00686479e-01 -6.33605468e-03 -4.18701063e+01] [-1.47906466e-02 -9.99703511e-05 9.99890607e-01 1.04418647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.802320588 meters 0.025153269496893255 Centerline is valid? [True, True] Translation: X:206.87, Y:-41.88, Z:1.04 [[ 9.00790749e-01 4.34004974e-01 1.46869973e-02 2.06866501e+02] [-4.33948993e-01 9.00910469e-01 -6.97125180e-03 -4.18846510e+01] [-1.62572276e-02 -9.37685374e-05 9.99867838e-01 1.04468767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.832320588 meters 0.02513380472033398 Centerline is valid? [True, True] Translation: X:206.90, Y:-41.90, Z:1.04 [[ 9.00763525e-01 4.34066741e-01 1.45305350e-02 2.06895913e+02] [-4.34011799e-01 9.00880712e-01 -6.90664942e-03 -4.18991119e+01] [-1.60882255e-02 -8.51657282e-05 9.99870572e-01 1.04482200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.862320588 meters 0.024951293571211824 Centerline is valid? [True, True] Translation: X:206.92, Y:-41.91, Z:1.04 [[ 9.00997330e-01 4.33682277e-01 1.11127350e-02 2.06924553e+02] [-4.33650032e-01 9.01065857e-01 -5.28874097e-03 -4.19140819e+01] [-1.23069393e-02 -5.38964001e-05 9.99924265e-01 1.04491240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.892320588 meters 0.025026286274630594 Centerline is valid? [True, True] Translation: X:206.95, Y:-41.93, Z:1.04 [[ 9.00754816e-01 4.34221150e-01 9.63092143e-03 2.06953560e+02] [-4.34196898e-01 9.00806301e-01 -4.58941005e-03 -4.19279457e+01] [-1.06684136e-02 -4.77830031e-05 9.99943090e-01 1.04496089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.922320588 meters 0.025049821118542304 Centerline is valid? [True, True] Translation: X:206.98, Y:-41.94, Z:1.05 [[ 9.00163210e-01 4.35432067e-01 1.02523119e-02 2.06983947e+02] [-4.35404585e-01 9.00221590e-01 -4.89243522e-03 -4.19418898e+01] [-1.13596757e-02 -5.99134396e-05 9.99935475e-01 1.04534106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.952320588 meters 0.025141552969910566 Centerline is valid? [True, True] Translation: X:207.01, Y:-41.95, Z:1.05 [[ 8.99151479e-01 4.37435833e-01 1.32857218e-02 2.07013540e+02] [-4.37389806e-01 8.99249621e-01 -6.34634255e-03 -4.19539476e+01] [-1.47232979e-02 -1.04715979e-04 9.99891601e-01 1.04679626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.982320588 meters 0.025129847609642812 Centerline is valid? [True, True] Translation: X:207.04, Y:-41.97, Z:1.05 [[ 8.98773665e-01 4.38187315e-01 1.40633133e-02 2.07043750e+02] [-4.38135688e-01 8.98883676e-01 -6.72718769e-03 -4.19679988e+01] [-1.55890511e-02 -1.15420340e-04 9.99878477e-01 1.04691089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.012320588 meters 0.025188137100686077 Centerline is valid? [True, True] Translation: X:207.07, Y:-41.98, Z:1.05 [[ 8.98183324e-01 4.39417377e-01 1.33822377e-02 2.07072902e+02] [-4.39370633e-01 8.98283003e-01 -6.41039865e-03 -4.19824817e+01] [-1.48378772e-02 -1.22049069e-04 9.99889905e-01 1.04633072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.042320588 meters 0.025369505332551875 Centerline is valid? [True, True] Translation: X:207.10, Y:-42.00, Z:1.05 [[ 8.97867316e-01 4.40073657e-01 1.30176651e-02 2.07102921e+02] [-4.40029370e-01 8.97961671e-01 -6.24430137e-03 -4.19970692e+01] [-1.44373168e-02 -1.21600865e-04 9.99895769e-01 1.04560298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.072320588 meters 0.025308964182688964 Centerline is valid? [True, True] Translation: X:207.13, Y:-42.01, Z:1.05 [[ 8.98305796e-01 4.39216414e-01 1.16463989e-02 2.07132638e+02] [-4.39180809e-01 8.98381285e-01 -5.59310213e-03 -4.20100099e+01] [-1.29194891e-02 -9.05588567e-05 9.99916536e-01 1.04670539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.102320588 meters 0.025274923948238458 Centerline is valid? [True, True] Translation: X:207.16, Y:-42.02, Z:1.05 [[ 8.98420791e-01 4.38991542e-01 1.12475923e-02 2.07162662e+02] [-4.38958218e-01 8.98491191e-01 -5.40949235e-03 -4.20241585e+01] [-1.24805839e-02 -7.72226626e-05 9.99922111e-01 1.04759265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.132320588 meters 0.025391428200726887 Centerline is valid? [True, True] Translation: X:207.19, Y:-42.04, Z:1.05 [[ 8.98042475e-01 4.39735389e-01 1.23490973e-02 2.07191931e+02] [-4.39695182e-01 8.98127374e-01 -5.94704494e-03 -4.20386997e+01] [-1.37061884e-02 -8.91396185e-05 9.99906062e-01 1.04763888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.162320588 meters 0.025556089042954457 Centerline is valid? [True, True] Translation: X:207.22, Y:-42.05, Z:1.05 [[ 8.97296431e-01 4.41251416e-01 1.25021436e-02 2.07221608e+02] [-4.41210240e-01 8.97383517e-01 -6.02888605e-03 -4.20535340e+01] [-1.38794721e-02 -1.06375840e-04 9.99903670e-01 1.04807529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.192320588 meters 0.025629815050042835 Centerline is valid? [True, True] Translation: X:207.25, Y:-42.07, Z:1.05 [[ 8.95547556e-01 4.44798866e-01 1.21878841e-02 2.07250410e+02] [-4.44759972e-01 8.95630474e-01 -5.88399505e-03 -4.20674609e+01] [-1.35330347e-02 -1.51285593e-04 9.99908413e-01 1.04837914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.222320588 meters 0.0256939560896856 Centerline is valid? [True, True] Translation: X:207.28, Y:-42.08, Z:1.05 [[ 8.94318571e-01 4.47229283e-01 1.34261911e-02 2.07279639e+02] [-4.47182248e-01 8.94419324e-01 -6.48917231e-03 -4.20803804e+01] [-1.49107926e-02 -2.00566994e-04 9.99888808e-01 1.04777376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.252320588 meters 0.02585253982530215 Centerline is valid? [True, True] Translation: X:207.31, Y:-42.09, Z:1.05 [[ 8.92867746e-01 4.50148022e-01 1.24075388e-02 2.07309610e+02] [-4.50108016e-01 8.92953923e-01 -6.00540696e-03 -4.20940860e+01] [-1.37826825e-02 -2.22698517e-04 9.99904990e-01 1.04847516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.282320588 meters 0.02611197074883717 Centerline is valid? [True, True] Translation: X:207.34, Y:-42.11, Z:1.05 [[ 8.92278515e-01 4.51257735e-01 1.43355697e-02 2.07338198e+02] [-4.51204369e-01 8.92393626e-01 -6.94510467e-03 -4.21078016e+01] [-1.59270033e-02 -2.71304023e-04 9.99873120e-01 1.04909038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.312320588 meters 0.02596525126122843 Centerline is valid? [True, True] Translation: X:207.37, Y:-42.12, Z:1.05 [[ 8.91626192e-01 4.52540805e-01 1.44759612e-02 2.07368300e+02] [-4.52486398e-01 8.91743650e-01 -7.02303138e-03 -4.21216075e+01] [-1.60870547e-02 -2.88256801e-04 9.99870553e-01 1.05066715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.342320588 meters 0.02616221132106525 Centerline is valid? [True, True] Translation: X:207.40, Y:-42.13, Z:1.05 [[ 8.91002016e-01 4.53748900e-01 1.50778856e-02 2.07398175e+02] [-4.53689913e-01 8.91129528e-01 -7.32307037e-03 -4.21336839e+01] [-1.67591842e-02 -3.15814148e-04 9.99859505e-01 1.05130581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.372320588 meters 0.026162683751642428 Centerline is valid? [True, True] Translation: X:207.43, Y:-42.14, Z:1.05 [[ 8.90181880e-01 4.55386466e-01 1.41204705e-02 2.07430659e+02] [-4.55334786e-01 8.90293809e-01 -6.86773589e-03 -4.21422723e+01] [-1.56988414e-02 -3.16007362e-04 9.99876716e-01 1.05144195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.402320588 meters 0.026221084657166417 Centerline is valid? [True, True] Translation: X:207.46, Y:-42.15, Z:1.05 [[ 8.89814431e-01 4.56079427e-01 1.48941060e-02 2.07460719e+02] [-4.56021896e-01 8.89939010e-01 -7.25187164e-03 -4.21537546e+01] [-1.65622754e-02 -3.39218418e-04 9.99862779e-01 1.05108143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43232058799998 meters 0.026188337562125727 Centerline is valid? [True, True] Translation: X:207.49, Y:-42.17, Z:1.05 [[ 8.89528058e-01 4.56672832e-01 1.37752799e-02 2.07490828e+02] [-4.56623569e-01 8.89634658e-01 -6.71503903e-03 -4.21656706e+01] [-1.53215423e-02 -3.16901848e-04 9.99882568e-01 1.05345467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46232058799998 meters 0.02615778143850488 Centerline is valid? [True, True] Translation: X:207.52, Y:-42.18, Z:1.05 [[ 8.89249262e-01 4.57223621e-01 1.35022651e-02 2.07521375e+02] [-4.57176217e-01 8.89351709e-01 -6.59117267e-03 -4.21783648e+01] [-1.50219024e-02 -3.11719033e-04 9.99887116e-01 1.05459397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49232058799998 meters 0.02600485932402305 Centerline is valid? [True, True] Translation: X:207.55, Y:-42.19, Z:1.05 [[ 8.89597148e-01 4.56552678e-01 1.32878490e-02 2.07551257e+02] [-4.56506586e-01 8.89696335e-01 -6.49368005e-03 -4.21896799e+01] [-1.47868576e-02 -2.89231325e-04 9.99890627e-01 1.05439435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52232058799999 meters 0.025678804901140172 Centerline is valid? [True, True] Translation: X:207.58, Y:-42.20, Z:1.05 [[ 8.89996319e-01 4.55780887e-01 1.30512702e-02 2.07582203e+02] [-4.55736230e-01 8.90091969e-01 -6.38559277e-03 -4.22005034e+01] [-1.45272619e-02 -2.64782636e-04 9.99894439e-01 1.05392121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.552320588 meters 0.025678804901140172 Centerline is valid? [True, True] Translation: X:207.61, Y:-42.21, Z:1.05 [[ 8.89754958e-01 4.56251983e-01 1.30477376e-02 2.07611563e+02] [-4.56207271e-01 8.89850582e-01 -6.39280960e-03 -4.22145372e+01] [-1.45272690e-02 -2.64438730e-04 9.99894439e-01 1.05408512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.582320588 meters 0.025784339233104935 Centerline is valid? [True, True] Translation: X:207.64, Y:-42.23, Z:1.05 [[ 8.89994690e-01 4.55772711e-01 1.34420468e-02 2.07642498e+02] [-4.55725070e-01 8.90096158e-01 -6.59474420e-03 -4.22254684e+01] [-1.49704187e-02 -2.56590408e-04 9.99887904e-01 1.05242710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.612320588 meters 0.0255888726288938 Centerline is valid? [True, True] Translation: X:207.67, Y:-42.23, Z:1.05 [[ 8.90978267e-01 4.53845659e-01 1.34849726e-02 2.07673354e+02] [-4.53797382e-01 8.91080283e-01 -6.62315975e-03 -4.22349076e+01] [-1.50220855e-02 -2.18353873e-04 9.99887138e-01 1.05196533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.642320588 meters 0.025454728359897972 Centerline is valid? [True, True] Translation: X:207.70, Y:-42.25, Z:1.05 [[ 8.91864392e-01 4.52133848e-01 1.23648808e-02 2.07703460e+02] [-4.52092992e-01 8.91950086e-01 -6.08035057e-03 -4.22471189e+01] [-1.37779888e-02 -1.67227812e-04 9.99905065e-01 1.05255834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.672320588 meters 0.025315785069233158 Centerline is valid? [True, True] Translation: X:207.73, Y:-42.26, Z:1.05 [[ 8.92778874e-01 4.50284768e-01 1.37662549e-02 2.07734379e+02] [-4.50233881e-01 8.92884990e-01 -6.77110475e-03 -4.22594011e+01] [-1.53406077e-02 -1.52935099e-04 9.99882314e-01 1.05316747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.702320588 meters 0.025176438312476297 Centerline is valid? [True, True] Translation: X:207.76, Y:-42.27, Z:1.05 [[ 8.94559866e-01 4.46780681e-01 1.22338951e-02 2.07764988e+02] [-4.46740141e-01 8.94643514e-01 -6.01916899e-03 -4.22702956e+01] [-1.36342233e-02 -8.08649997e-05 9.99907046e-01 1.05394798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.732320588 meters 0.025271311291228938 Centerline is valid? [True, True] Translation: X:207.79, Y:-42.28, Z:1.05 [[ 8.95438150e-01 4.44948587e-01 1.45353022e-02 2.07793405e+02] [-4.44891080e-01 8.95556113e-01 -7.15372017e-03 -4.22848375e+01] [-1.62002164e-02 -6.09123340e-05 9.99868766e-01 1.05224294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.762320588 meters 0.025117132947425434 Centerline is valid? [True, True] Translation: X:207.82, Y:-42.30, Z:1.05 [[ 8.96077481e-01 4.43678222e-01 1.39564673e-02 2.07821535e+02] [-4.43624897e-01 8.96186161e-01 -6.87865390e-03 -4.22996938e+01] [-1.55595017e-02 -2.76294975e-05 9.99878943e-01 1.05288225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.792320588 meters 0.025151701669650913 Centerline is valid? [True, True] Translation: X:207.85, Y:-42.31, Z:1.05 [[ 8.98044346e-01 4.39700150e-01 1.34212848e-02 2.07850490e+02] [-4.39650385e-01 8.98144630e-01 -6.61535798e-03 -4.23129075e+01] [-1.49630288e-02 4.02117981e-05 9.99888047e-01 1.05381210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.822320588 meters 0.02523240530254817 Centerline is valid? [True, True] Translation: X:207.88, Y:-42.33, Z:1.05 [[ 8.99061632e-01 4.37649797e-01 1.22815642e-02 2.07880335e+02] [-4.37607906e-01 8.99145511e-01 -6.05565559e-03 -4.23261865e+01] [-1.36931697e-02 6.98980281e-05 9.99906242e-01 1.05432921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.852320588 meters 0.025343064281501307 Centerline is valid? [True, True] Translation: X:207.91, Y:-42.34, Z:1.05 [[ 8.99935319e-01 4.35865482e-01 1.17347161e-02 2.07909772e+02] [-4.35827043e-01 9.00011818e-01 -5.78929116e-03 -4.23413145e+01] [-1.30847354e-02 9.56809585e-05 9.99914387e-01 1.05321658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.882320588 meters 0.0255082850121777 Centerline is valid? [True, True] Translation: X:207.94, Y:-42.36, Z:1.05 [[ 9.01593644e-01 4.32432417e-01 1.14501674e-02 2.07936178e+02] [-4.32395524e-01 9.01666337e-01 -5.65039881e-03 -4.23613817e+01] [-1.27676461e-02 1.43362538e-04 9.99918480e-01 1.05220923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.912320588 meters 0.02566165088516558 Centerline is valid? [True, True] Translation: X:207.96, Y:-42.38, Z:1.05 [[ 9.01890991e-01 4.31783542e-01 1.24744639e-02 2.07963661e+02] [-4.31739570e-01 9.01977240e-01 -6.16452544e-03 -4.23775568e+01] [-1.39134231e-02 1.74010300e-04 9.99903189e-01 1.05247100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.942320588 meters 0.025482407294425562 Centerline is valid? [True, True] Translation: X:207.99, Y:-42.39, Z:1.05 [[ 9.01494652e-01 4.32594623e-01 1.30109315e-02 2.07992559e+02] [-4.32546747e-01 9.01588521e-01 -6.43818436e-03 -4.23939004e+01] [-1.45156304e-02 1.76152659e-04 9.99894627e-01 1.05342435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.972320588 meters 0.02542999835345493 Centerline is valid? [True, True] Translation: X:208.02, Y:-42.41, Z:1.05 [[ 9.00755690e-01 4.34086732e-01 1.44186159e-02 2.08021374e+02] [-4.34027982e-01 9.00871066e-01 -7.14372118e-03 -4.24091436e+01] [-1.60903085e-02 1.76664714e-04 9.99870527e-01 1.05378089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.002320588 meters 0.02543161488208397 Centerline is valid? [True, True] Translation: X:208.05, Y:-42.43, Z:1.05 [[ 8.99842925e-01 4.36019664e-01 1.30216093e-02 2.08049944e+02] [-4.35971936e-01 8.99937129e-01 -6.45248780e-03 -4.24250505e+01] [-1.45320413e-02 1.29169271e-04 9.99894396e-01 1.05320951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.032320588 meters 0.025279883324839204 Centerline is valid? [True, True] Translation: X:208.08, Y:-42.44, Z:1.05 [[ 8.98770676e-01 4.38204816e-01 1.37044497e-02 2.08078450e+02] [-4.38152040e-01 8.98875146e-01 -6.80161523e-03 -4.24415169e+01] [-1.52990897e-02 1.08459735e-04 9.99882956e-01 1.05291508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.062320588 meters 0.02533406700150608 Centerline is valid? [True, True] Translation: X:208.11, Y:-42.46, Z:1.05 [[ 8.97727177e-01 4.40347261e-01 1.34240821e-02 2.08107164e+02] [-4.40296730e-01 8.97827536e-01 -6.67127406e-03 -4.24582213e+01] [-1.49901878e-02 7.84045675e-05 9.99887638e-01 1.05243774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.092320588 meters 0.025148659229171283 Centerline is valid? [True, True] Translation: X:208.13, Y:-42.48, Z:1.05 [[ 8.95573637e-01 4.44703575e-01 1.36598478e-02 2.08134321e+02] [-4.44651623e-01 8.95677805e-01 -6.79735212e-03 -4.24768267e+01] [-1.52576293e-02 1.36558412e-05 9.99883596e-01 1.05130052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.122320588 meters 0.0252798461204618 Centerline is valid? [True, True] Translation: X:208.16, Y:-42.49, Z:1.05 [[ 8.94397877e-01 4.47076506e-01 1.32301244e-02 2.08162621e+02] [-4.47027900e-01 8.94495722e-01 -6.59237746e-03 -4.24937619e+01] [-1.47815867e-02 -1.80263060e-05 9.99890746e-01 1.05121139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.152320588 meters 0.025239252476896602 Centerline is valid? [True, True] Translation: X:208.19, Y:-42.51, Z:1.05 [[ 8.92391897e-01 4.51041263e-01 1.40883055e-02 2.08189902e+02] [-4.50986521e-01 8.92503094e-01 -7.02750929e-03 -4.25105525e+01] [-1.57435529e-02 -8.23435305e-05 9.99876059e-01 1.05272483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18232058799998 meters 0.025202842235646568 Centerline is valid? [True, True] Translation: X:208.22, Y:-42.52, Z:1.05 [[ 8.90900451e-01 4.53989426e-01 1.37836122e-02 2.08220086e+02] [-4.53937231e-01 8.91007063e-01 -6.88514221e-03 -4.25244713e+01] [-1.54070775e-02 -1.22918434e-04 9.99881296e-01 1.05334313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21232058799998 meters 0.025376242231770707 Centerline is valid? [True, True] Translation: X:208.25, Y:-42.54, Z:1.05 [[ 8.89403883e-01 4.56874488e-01 1.50477711e-02 2.08249553e+02] [-4.56812555e-01 8.89531152e-01 -7.52463017e-03 -4.25374297e+01] [-1.68232727e-02 -1.81575458e-04 9.99858462e-01 1.05349237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24232058799998 meters 0.02552825945422115 Centerline is valid? [True, True] Translation: X:208.28, Y:-42.55, Z:1.05 [[ 8.87674945e-01 4.60219505e-01 1.52052182e-02 2.08278836e+02] [-4.60156610e-01 8.87805130e-01 -7.61214662e-03 -4.25515390e+01] [-1.70025291e-02 -2.39669835e-04 9.99855418e-01 1.05381374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27232058799999 meters 0.025797913777966287 Centerline is valid? [True, True] Translation: X:208.31, Y:-42.57, Z:1.05 [[ 8.85900863e-01 4.63592829e-01 1.61663039e-02 2.08307228e+02] [-4.63522126e-01 8.86048300e-01 -8.10243370e-03 -4.25665389e+01] [-1.80803562e-02 -3.15486539e-04 9.99836487e-01 1.05391046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.302320588 meters 0.026337217578150194 Centerline is valid? [True, True] Translation: X:208.34, Y:-42.58, Z:1.05 [[ 8.82808160e-01 4.69514048e-01 1.43635219e-02 2.08336513e+02] [-4.69458879e-01 8.82924920e-01 -7.20738483e-03 -4.25804333e+01] [-1.60658799e-02 -3.80344766e-04 9.99870863e-01 1.05430858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.332320588 meters 0.026714566480530184 Centerline is valid? [True, True] Translation: X:208.37, Y:-42.59, Z:1.05 [[ 8.81438520e-01 4.72115273e-01 1.31644783e-02 2.08366138e+02] [-4.72069108e-01 8.81536738e-01 -6.61339091e-03 -4.25927733e+01] [-1.47272541e-02 -3.85246039e-04 9.99891474e-01 1.05371845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.362320588 meters 0.027060306883022526 Centerline is valid? [True, True] Translation: X:208.40, Y:-42.61, Z:1.05 [[ 8.79973189e-01 4.74814979e-01 1.40685118e-02 2.08395436e+02] [-4.74762490e-01 8.80085524e-01 -7.07448566e-03 -4.26052867e+01] [-1.57405653e-02 -4.53843974e-04 9.99876007e-01 1.05353958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.392320588 meters 0.027079184893492425 Centerline is valid? [True, True] Translation: X:208.42, Y:-42.62, Z:1.06 [[ 8.78796192e-01 4.76953191e-01 1.52612970e-02 2.08424592e+02] [-4.76891598e-01 8.78928539e-01 -7.68286905e-03 -4.26184360e+01] [-1.70779584e-02 -5.26308274e-04 9.99854023e-01 1.05505985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.422320588 meters 0.027096198930073638 Centerline is valid? [True, True] Translation: X:208.45, Y:-42.63, Z:1.06 [[ 8.78653168e-01 4.77209721e-01 1.54755530e-02 2.08454555e+02] [-4.77146249e-01 8.78789281e-01 -7.80100052e-03 -4.26316948e+01] [-1.73224634e-02 -5.29728262e-04 9.99849815e-01 1.05518317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.452320588 meters 0.027130571259228145 Centerline is valid? [True, True] Translation: X:208.48, Y:-42.64, Z:1.06 [[ 8.78441739e-01 4.77625551e-01 1.46268295e-02 2.08484172e+02] [-4.77568775e-01 8.78563362e-01 -7.38131966e-03 -4.26444720e+01] [-1.63761034e-02 -5.01257749e-04 9.99865777e-01 1.05572605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.482320588 meters 0.027034299835174653 Centerline is valid? [True, True] Translation: X:208.51, Y:-42.66, Z:1.06 [[ 8.78433579e-01 4.77693429e-01 1.27842026e-02 2.08514637e+02] [-4.77650020e-01 8.78526492e-01 -6.45451295e-03 -4.26567071e+01] [-1.43145391e-02 -4.36513709e-04 9.99897446e-01 1.05580288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.512320588 meters 0.026828236907486504 Centerline is valid? [True, True] Translation: X:208.55, Y:-42.67, Z:1.06 [[ 8.78769077e-01 4.77067493e-01 1.30964636e-02 2.08545686e+02] [-4.77021744e-01 8.78866556e-01 -6.62062203e-03 -4.26658573e+01] [-1.46685274e-02 -4.29299999e-04 9.99892319e-01 1.05730066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.542320588 meters 0.02682834847135005 Centerline is valid? [True, True] Translation: X:208.58, Y:-42.68, Z:1.06 [[ 8.78615368e-01 4.77312434e-01 1.44178690e-02 2.08575794e+02] [-4.77256866e-01 8.78733532e-01 -7.29815873e-03 -4.26796111e+01] [-1.61529669e-02 -4.68752572e-04 9.99869422e-01 1.05837458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.572320588 meters 0.026812569907395153 Centerline is valid? [True, True] Translation: X:208.61, Y:-42.69, Z:1.06 [[ 8.78597311e-01 4.77307015e-01 1.56453906e-02 2.08606407e+02] [-4.77241410e-01 8.78736459e-01 -7.92925760e-03 -4.26928289e+01] [-1.75328654e-02 -5.00003844e-04 9.99846162e-01 1.05934980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.602320588 meters 0.02658309797063934 Centerline is valid? [True, True] Translation: X:208.64, Y:-42.71, Z:1.06 [[ 8.78580761e-01 4.77336069e-01 1.56883370e-02 2.08636859e+02] [-4.77269928e-01 8.78720681e-01 -7.96123640e-03 -4.27056423e+01] [-1.75858515e-02 -4.92982353e-04 9.99845235e-01 1.05977356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.632320588 meters 0.026567018315775782 Centerline is valid? [True, True] Translation: X:208.67, Y:-42.72, Z:1.06 [[ 8.78901858e-01 4.76804971e-01 1.37311066e-02 2.08666281e+02] [-4.76754121e-01 8.79009014e-01 -6.97574080e-03 -4.27178834e+01] [-1.53958343e-02 -4.15370081e-04 9.99881391e-01 1.05846499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.662320588 meters 0.0264623196360606 Centerline is valid? [True, True] Translation: X:208.70, Y:-42.73, Z:1.06 [[ 8.78734487e-01 4.77162431e-01 1.19044687e-02 2.08695728e+02] [-4.77124148e-01 8.78815046e-01 -6.05486040e-03 -4.27305825e+01] [-1.33509781e-02 -3.59294831e-04 9.99910807e-01 1.05799490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.692320588 meters 0.026505932778791208 Centerline is valid? [True, True] Translation: X:208.73, Y:-42.74, Z:1.06 [[ 8.78227138e-01 4.78087968e-01 1.22060643e-02 2.08725977e+02] [-4.78047696e-01 8.78311877e-01 -6.21663962e-03 -4.27442779e+01] [-1.36928318e-02 -3.75459290e-04 9.99906178e-01 1.05770224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.722320588 meters 0.026337463819872915 Centerline is valid? [True, True] Translation: X:208.76, Y:-42.76, Z:1.06 [[ 8.78550594e-01 4.77451057e-01 1.37601449e-02 2.08756535e+02] [-4.77399803e-01 8.78658249e-01 -7.00781531e-03 -4.27560238e+01] [-1.54363537e-02 -4.12370186e-04 9.99880767e-01 1.05931437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.752320588 meters 0.026378980406508365 Centerline is valid? [True, True] Translation: X:208.79, Y:-42.77, Z:1.06 [[ 8.78817278e-01 4.76956559e-01 1.38792519e-02 2.08785639e+02] [-4.76904317e-01 8.78926776e-01 -7.07076323e-03 -4.27688870e+01] [-1.55712930e-02 -4.05166244e-04 9.99878678e-01 1.06066614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.782320588 meters 0.026300540025460062 Centerline is valid? [True, True] Translation: X:208.81, Y:-42.78, Z:1.06 [[ 8.78693403e-01 4.77228711e-01 1.22743634e-02 2.08814265e+02] [-4.77187851e-01 8.78779055e-01 -6.25525707e-03 -4.27826283e+01] [-1.37716417e-02 -3.60723954e-04 9.99905101e-01 1.06111451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.812320588 meters 0.026697783996823325 Centerline is valid? [True, True] Translation: X:208.84, Y:-42.80, Z:1.06 [[ 8.77696620e-01 4.79114853e-01 9.87930277e-03 2.08843815e+02] [-4.79088469e-01 8.77752164e-01 -5.03766634e-03 -4.27969221e+01] [-1.10852001e-02 -3.11517322e-04 9.99938509e-01 1.05818877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.842320588 meters 0.026686862242243932 Centerline is valid? [True, True] Translation: X:208.87, Y:-42.81, Z:1.06 [[ 8.77230137e-01 4.79955735e-01 1.04775906e-02 2.08873601e+02] [-4.79926104e-01 8.77292640e-01 -5.34401667e-03 -4.28100262e+01] [-1.17568046e-02 -3.40536776e-04 9.99930828e-01 1.05829380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.872320588 meters 0.02684953786373877 Centerline is valid? [True, True] Translation: X:208.90, Y:-42.82, Z:1.06 [[ 8.76325980e-01 4.81570671e-01 1.19359053e-02 2.08903913e+02] [-4.81532342e-01 8.76407165e-01 -6.08966337e-03 -4.28214097e+01] [-1.33933162e-02 -4.10994199e-04 9.99910221e-01 1.05920814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.902320588 meters 0.02757950306649779 Centerline is valid? [True, True] Translation: X:208.94, Y:-42.83, Z:1.06 [[ 8.74249921e-01 4.85282764e-01 1.37008838e-02 2.08935978e+02] [-4.85232681e-01 8.74357108e-01 -6.99229205e-03 -4.28287904e+01] [-1.53727039e-02 -5.35105802e-04 9.99881690e-01 1.06114042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93232058799998 meters 0.02763600517398895 Centerline is valid? [True, True] Translation: X:208.97, Y:-42.84, Z:1.06 [[ 8.73337466e-01 4.86931368e-01 1.33982157e-02 2.08965607e+02] [-4.86883635e-01 8.73440061e-01 -6.83998419e-03 -4.28408586e+01] [-1.50331412e-02 -5.49757506e-04 9.99886845e-01 1.06102786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96232058799998 meters 0.028085697520656913 Centerline is valid? [True, True] Translation: X:208.99, Y:-42.85, Z:1.06 [[ 8.72656532e-01 4.88149698e-01 1.34331352e-02 2.08994903e+02] [-4.88101827e-01 8.72759731e-01 -6.85999302e-03 -4.28542444e+01] [-1.50726030e-02 -5.70320111e-04 9.99886239e-01 1.06070775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99232058799998 meters 0.027952532729537613 Centerline is valid? [True, True] Translation: X:209.03, Y:-42.87, Z:1.06 [[ 8.72668242e-01 4.88123806e-01 1.36121253e-02 2.09025663e+02] [-4.88074592e-01 8.72774209e-01 -6.95505988e-03 -4.28666191e+01] [-1.52752422e-02 -5.74272607e-04 9.99883162e-01 1.05996598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02232058799999 meters 0.027977918697016553 Centerline is valid? [True, True] Translation: X:209.06, Y:-42.87, Z:1.06 [[ 8.72622675e-01 4.88164159e-01 1.50140069e-02 2.09057381e+02] [-4.88104258e-01 8.72751599e-01 -7.67329708e-03 -4.28747640e+01] [-1.68493271e-02 -6.32507652e-04 9.99857840e-01 1.05995877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.052320588 meters 0.028031855432158498 Centerline is valid? [True, True] Translation: X:209.09, Y:-42.89, Z:1.06 [[ 8.72439969e-01 4.88494072e-01 1.49010908e-02 2.09088503e+02] [-4.88435049e-01 8.72566986e-01 -7.61959605e-03 -4.28856360e+01] [-1.67243273e-02 -6.30574860e-04 9.99859940e-01 1.05988757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.082320588 meters 0.028098200003134715 Centerline is valid? [True, True] Translation: X:209.12, Y:-42.90, Z:1.06 [[ 8.72346085e-01 4.88676419e-01 1.44106301e-02 2.09119540e+02] [-4.88621211e-01 8.72464890e-01 -7.37080035e-03 -4.28960302e+01] [-1.61747051e-02 -6.11450705e-04 9.99868994e-01 1.05949515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.112320588 meters 0.028068939477244245 Centerline is valid? [True, True] Translation: X:209.15, Y:-42.90, Z:1.06 [[ 8.71587559e-01 4.90037068e-01 1.40996323e-02 2.09152732e+02] [-4.89984382e-01 8.71701374e-01 -7.21250874e-03 -4.29003718e+01] [-1.58250655e-02 -6.22266762e-04 9.99874582e-01 1.05993138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.142320588 meters 0.028196365056428335 Centerline is valid? [True, True] Translation: X:209.18, Y:-42.91, Z:1.06 [[ 8.71598018e-01 4.90011165e-01 1.43510464e-02 2.09182154e+02] [-4.89956610e-01 8.71715926e-01 -7.33923073e-03 -4.29090445e+01] [-1.61063407e-02 -6.34531066e-04 9.99870083e-01 1.06089326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.172320588 meters 0.02809424824574138 Centerline is valid? [True, True] Translation: X:209.21, Y:-42.92, Z:1.06 [[ 8.72537892e-01 4.88276543e-01 1.62371339e-02 2.09210277e+02] [-4.88206612e-01 8.72688684e-01 -8.29248574e-03 -4.29171885e+01] [-1.82189893e-02 -6.91568099e-04 9.99833781e-01 1.06065427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.202320588 meters 0.02775483424109454 Centerline is valid? [True, True] Translation: X:209.24, Y:-42.92, Z:1.06 [[ 8.74330688e-01 4.85021645e-01 1.73162477e-02 2.09239650e+02] [-4.84941642e-01 8.74501887e-01 -8.83475969e-03 -4.29240373e+01] [-1.94281409e-02 -6.72868055e-04 9.99811029e-01 1.05975521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.232320588 meters 0.027519357807342566 Centerline is valid? [True, True] Translation: X:209.27, Y:-42.94, Z:1.06 [[ 8.75576762e-01 4.82765880e-01 1.73907597e-02 2.09266722e+02] [-4.82684922e-01 8.75749224e-01 -8.86354816e-03 -4.29354273e+01] [-1.95089630e-02 -6.33540694e-04 9.99809481e-01 1.05866361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.262320588 meters 0.02729275973438781 Centerline is valid? [True, True] Translation: X:209.29, Y:-42.95, Z:1.06 [[ 8.76853982e-01 4.80430369e-01 1.77130910e-02 2.09293723e+02] [-4.80346111e-01 8.77032667e-01 -9.01747341e-03 -4.29459977e+01] [-1.98672275e-02 -6.01406918e-04 9.99802446e-01 1.05887263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.292320588 meters 0.026954087004579894 Centerline is valid? [True, True] Translation: X:209.33, Y:-42.95, Z:1.06 [[ 8.79260021e-01 4.76003235e-01 1.79648584e-02 2.09325192e+02] [-4.75915827e-01 8.79443377e-01 -9.13627235e-03 -4.29485607e+01] [-2.01479710e-02 -5.16601450e-04 9.99796876e-01 1.05832385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.322320588 meters 0.02684723950676577 Centerline is valid? [True, True] Translation: X:209.35, Y:-42.96, Z:1.06 [[ 8.79953818e-01 4.74726052e-01 1.77891261e-02 2.09352784e+02] [-4.74640293e-01 8.80133475e-01 -9.03651186e-03 -4.29573242e+01] [-1.99466730e-02 -4.91722925e-04 9.99800924e-01 1.05757297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.352320588 meters 0.026638713567855805 Centerline is valid? [True, True] Translation: X:209.38, Y:-42.97, Z:1.06 [[ 8.80572758e-01 4.73594820e-01 1.73079144e-02 2.09379854e+02] [-4.73513610e-01 8.80742717e-01 -8.78227429e-03 -4.29671186e+01] [-1.94030591e-02 -4.62101515e-04 9.99811636e-01 1.05747718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.382320588 meters 0.026770460048687373 Centerline is valid? [True, True] Translation: X:209.41, Y:-42.98, Z:1.06 [[ 8.81239661e-01 4.72359223e-01 1.71296143e-02 2.09407393e+02] [-4.72279632e-01 8.81406020e-01 -8.68202007e-03 -4.29758840e+01] [-1.91991774e-02 -4.39027518e-04 9.99815582e-01 1.05831215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.412320588 meters 0.02645227498282892 Centerline is valid? [True, True] Translation: X:209.44, Y:-42.99, Z:1.06 [[ 8.81834315e-01 4.71275293e-01 1.63657954e-02 2.09435051e+02] [-4.71202611e-01 8.81986074e-01 -8.28644219e-03 -4.29860155e+01] [-1.83395991e-02 -4.04336451e-04 9.99831734e-01 1.05841178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.442320588 meters 0.02645227498282892 Centerline is valid? [True, True] Translation: X:209.46, Y:-43.00, Z:1.06 [[ 8.82077666e-01 4.70819503e-01 1.63703066e-02 2.09459384e+02] [-4.70746907e-01 8.82229467e-01 -8.27752821e-03 -4.29986696e+01] [-1.83395886e-02 -4.04848433e-04 9.99831734e-01 1.05855026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.472320588 meters 0.02648199195085216 Centerline is valid? [True, True] Translation: X:209.49, Y:-43.01, Z:1.06 [[ 8.82734977e-01 4.69578760e-01 1.65755230e-02 2.09485750e+02] [-4.69504313e-01 8.82890499e-01 -8.37055094e-03 -4.30087050e+01] [-1.85650047e-02 -3.93301466e-04 9.99827578e-01 1.05802720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.502320588 meters 0.026319448577953652 Centerline is valid? [True, True] Translation: X:209.51, Y:-43.02, Z:1.06 [[ 8.83372325e-01 4.68409846e-01 1.56700651e-02 2.09513426e+02] [-4.68343278e-01 8.83511227e-01 -7.90474738e-03 -4.30186526e+01] [-1.75473399e-02 -3.56134577e-04 9.99845970e-01 1.05875560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.532320588 meters 0.02605112612150077 Centerline is valid? [True, True] Translation: X:209.54, Y:-43.03, Z:1.06 [[ 8.84255847e-01 4.66708859e-01 1.65661918e-02 2.09540584e+02] [-4.66634267e-01 8.84410946e-01 -8.35100118e-03 -4.30271328e+01] [-1.85488076e-02 -3.45931138e-04 9.99827896e-01 1.05973542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.562320588 meters 0.026035202768173026 Centerline is valid? [True, True] Translation: X:209.57, Y:-43.03, Z:1.06 [[ 8.85899176e-01 4.63539380e-01 1.77170251e-02 2.09570130e+02] [-4.63453644e-01 8.86076265e-01 -8.92029158e-03 -4.30319278e+01] [-1.98335418e-02 -3.08540874e-04 9.99803248e-01 1.05809794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.592320588 meters 0.025874819101609724 Centerline is valid? [True, True] Translation: X:209.60, Y:-43.04, Z:1.06 [[ 8.86722441e-01 4.61974973e-01 1.73907220e-02 2.09597283e+02] [-4.61892256e-01 8.86892918e-01 -8.74623027e-03 -4.30427817e+01] [-1.94642477e-02 -2.77161160e-04 9.99810515e-01 1.05890572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.622320588 meters 0.025836321526624687 Centerline is valid? [True, True] Translation: X:209.62, Y:-43.05, Z:1.06 [[ 8.88720060e-01 4.58122159e-01 1.73419082e-02 2.09623739e+02] [-4.58039360e-01 8.88889221e-01 -8.71193006e-03 -4.30534378e+01] [-1.94061635e-02 -2.00809547e-04 9.99811663e-01 1.05775870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.652320588 meters 0.02555109618929831 Centerline is valid? [True, True] Translation: X:209.65, Y:-43.06, Z:1.06 [[ 8.89908905e-01 4.55830401e-01 1.67566859e-02 2.09650370e+02] [-4.55752866e-01 8.90066639e-01 -8.40856459e-03 -4.30649388e+01] [-1.87474465e-02 -1.54051102e-04 9.99824239e-01 1.05885927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68232058799998 meters 0.02550407382082835 Centerline is valid? [True, True] Translation: X:209.68, Y:-43.08, Z:1.06 [[ 8.91095794e-01 4.53512653e-01 1.65698142e-02 2.09677532e+02] [-4.53436609e-01 8.91249831e-01 -8.30549265e-03 -4.30751306e+01] [-1.85344901e-02 -1.12370778e-04 9.99828215e-01 1.05934593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71232058799998 meters 0.025473267582662974 Centerline is valid? [True, True] Translation: X:209.70, Y:-43.09, Z:1.06 [[ 8.92441422e-01 4.50861035e-01 1.65116970e-02 2.09703527e+02] [-4.50785270e-01 8.92594153e-01 -8.26543113e-03 -4.30852569e+01] [-1.84648051e-02 -6.68167068e-05 9.99829509e-01 1.05988619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74232058799998 meters 0.025457152635063585 Centerline is valid? [True, True] Translation: X:209.73, Y:-43.10, Z:1.06 [[ 8.94846133e-01 4.46112948e-01 1.52851789e-02 2.09730274e+02] [-4.46047469e-01 8.94976669e-01 -7.64313788e-03 -4.30959456e+01] [-1.70895813e-02 2.15170041e-05 9.99853962e-01 1.05763565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77232058799999 meters 0.025554928329581904 Centerline is valid? [True, True] Translation: X:209.76, Y:-43.11, Z:1.06 [[ 8.95945283e-01 4.43908770e-01 1.50683050e-02 2.09755446e+02] [-4.43844992e-01 8.96071984e-01 -7.52475666e-03 -4.31085621e+01] [-1.68425914e-02 5.37785310e-05 9.99858152e-01 1.05765717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.802320588 meters 0.025745352071430208 Centerline is valid? [True, True] Translation: X:209.78, Y:-43.12, Z:1.06 [[ 8.97006071e-01 4.41753472e-01 1.52963571e-02 2.09780626e+02] [-4.41687601e-01 8.97136479e-01 -7.62894986e-03 -4.31205932e+01] [-1.70930351e-02 8.70030652e-05 9.99853900e-01 1.05758367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.832320588 meters 0.02575723536264715 Centerline is valid? [True, True] Translation: X:209.81, Y:-43.13, Z:1.06 [[ 8.97912661e-01 4.39950013e-01 1.40299609e-02 2.09806456e+02] [-4.39894495e-01 8.98022258e-01 -6.98986884e-03 -4.31335753e+01] [-1.56744100e-02 1.04589171e-04 9.99877143e-01 1.05892894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.862320588 meters 0.025658292819384258 Centerline is valid? [True, True] Translation: X:209.83, Y:-43.15, Z:1.06 [[ 8.98195197e-01 4.39350027e-01 1.47289250e-02 2.09832080e+02] [-4.39288888e-01 8.98315947e-01 -7.33024101e-03 -4.31472091e+01] [-1.64517698e-02 1.13734207e-04 9.99864654e-01 1.05906385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.892320588 meters 0.025853667672070278 Centerline is valid? [True, True] Translation: X:209.86, Y:-43.16, Z:1.06 [[ 8.98787640e-01 4.38098159e-01 1.58360705e-02 2.09857427e+02] [-4.38027438e-01 8.98927129e-01 -7.87276272e-03 -4.31602654e+01] [-1.76845162e-02 1.39308447e-04 9.99843607e-01 1.05911342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.922320588 meters 0.02595593281797331 Centerline is valid? [True, True] Translation: X:209.88, Y:-43.17, Z:1.06 [[ 8.98998972e-01 4.37643058e-01 1.64134532e-02 2.09883061e+02] [-4.37567171e-01 8.99148782e-01 -8.15098116e-03 -4.31733548e+01] [-1.83253568e-02 1.45735397e-04 9.99832066e-01 1.05844595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.952320588 meters 0.02596574649251022 Centerline is valid? [True, True] Translation: X:209.91, Y:-43.19, Z:1.06 [[ 8.98996062e-01 4.37618718e-01 1.72028520e-02 2.09908776e+02] [-4.37535525e-01 8.99160629e-01 -8.53389533e-03 -4.31870550e+01] [-1.92027195e-02 1.45079423e-04 9.99815600e-01 1.05824946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.982320588 meters 0.02596493750264528 Centerline is valid? [True, True] Translation: X:209.93, Y:-43.20, Z:1.06 [[ 8.99286322e-01 4.37057482e-01 1.62747835e-02 2.09934108e+02] [-4.36983095e-01 8.99433565e-01 -8.06456202e-03 -4.32001431e+01] [-1.81627637e-02 1.40545045e-04 9.99835034e-01 1.05791051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.012320588 meters 0.02583779061135448 Centerline is valid? [True, True] Translation: X:209.96, Y:-43.21, Z:1.06 [[ 8.99470324e-01 4.36774395e-01 1.34634115e-02 2.09960114e+02] [-4.36723563e-01 8.99571072e-01 -6.66446063e-03 -4.32135322e+01] [-1.50221613e-02 1.14695505e-04 9.99887154e-01 1.05849933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.042320588 meters 0.025791657455804806 Centerline is valid? [True, True] Translation: X:209.99, Y:-43.23, Z:1.06 [[ 8.99767868e-01 4.36189614e-01 1.25061903e-02 2.09986182e+02] [-4.36145739e-01 8.99854770e-01 -6.18763318e-03 -4.32258836e+01] [-1.39527364e-02 1.12911876e-04 9.99902649e-01 1.05884553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.072320588 meters 0.025686236644254914 Centerline is valid? [True, True] Translation: X:210.01, Y:-43.24, Z:1.06 [[ 8.99788231e-01 4.36175463e-01 1.14936797e-02 2.10011484e+02] [-4.36138500e-01 8.99861632e-01 -5.67909527e-03 -4.32388104e+01] [-1.28198034e-02 9.71468617e-05 9.99917818e-01 1.05910669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.102320588 meters 0.02570194093847468 Centerline is valid? [True, True] Translation: X:210.04, Y:-43.25, Z:1.06 [[ 8.99018081e-01 4.37657762e-01 1.49054655e-02 2.10037070e+02] [-4.37595810e-01 8.99141632e-01 -7.36434142e-03 -4.32510752e+01] [-1.66251858e-02 9.81068426e-05 9.99861787e-01 1.05856871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.132320588 meters 0.025883001006786997 Centerline is valid? [True, True] Translation: X:210.06, Y:-43.26, Z:1.06 [[ 8.98985014e-01 4.37707963e-01 1.54169876e-02 2.10063173e+02] [-4.37641892e-01 8.99117196e-01 -7.60544736e-03 -4.32621125e+01] [-1.71906436e-02 9.00635566e-05 9.99852226e-01 1.05853780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.162320588 meters 0.025971423259274887 Centerline is valid? [True, True] Translation: X:210.09, Y:-43.27, Z:1.06 [[ 8.98896022e-01 4.37855428e-01 1.63879961e-02 2.10089099e+02] [-4.37780949e-01 8.99045392e-01 -8.07612601e-03 -4.32738806e+01] [-1.82697279e-02 8.52450873e-05 9.99833091e-01 1.05775588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.192320588 meters 0.02582623617649026 Centerline is valid? [True, True] Translation: X:210.11, Y:-43.29, Z:1.06 [[ 8.99208924e-01 4.37273477e-01 1.46702672e-02 2.10113428e+02] [-4.37213851e-01 8.99328583e-01 -7.22145013e-03 -4.32886783e+01] [-1.63511392e-02 7.95483879e-05 9.99866308e-01 1.05553474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.222320588 meters 0.025728181907620468 Centerline is valid? [True, True] Translation: X:210.14, Y:-43.30, Z:1.06 [[ 8.99094755e-01 4.37505959e-01 1.47362599e-02 2.10137770e+02] [-4.37445983e-01 8.99215509e-01 -7.24435896e-03 -4.33024322e+01] [-1.64205237e-02 6.70474360e-05 9.99865172e-01 1.05501612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.252320588 meters 0.025919396626232848 Centerline is valid? [True, True] Translation: X:210.16, Y:-43.31, Z:1.06 [[ 8.99567671e-01 4.36503298e-01 1.55844745e-02 2.10164239e+02] [-4.36436206e-01 8.99702653e-01 -7.65339823e-03 -4.33136023e+01] [-1.73621266e-02 8.31207008e-05 9.99849263e-01 1.05509444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.282320588 meters 0.0256208470266374 Centerline is valid? [True, True] Translation: X:210.19, Y:-43.32, Z:1.06 [[ 8.99644216e-01 4.36386444e-01 1.43929230e-02 2.10191590e+02] [-4.36329321e-01 8.99759338e-01 -7.06095374e-03 -4.33230213e+01] [-1.60314714e-02 7.22918436e-05 9.99871485e-01 1.05729461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.312320588 meters 0.025759686222779552 Centerline is valid? [True, True] Translation: X:210.22, Y:-43.33, Z:1.06 [[ 8.99861215e-01 4.35935032e-01 1.45066333e-02 2.10218570e+02] [-4.35877101e-01 8.99978135e-01 -7.10704451e-03 -4.33315026e+01] [-1.61538624e-02 7.22444466e-05 9.99869515e-01 1.05747810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.342320588 meters 0.025840920319504503 Centerline is valid? [True, True] Translation: X:210.24, Y:-43.35, Z:1.06 [[ 8.99817147e-01 4.36002140e-01 1.52064400e-02 2.10243404e+02] [-4.35938624e-01 8.99945626e-01 -7.44221989e-03 -4.33454780e+01] [-1.69297929e-02 6.75625641e-05 9.99856679e-01 1.05708471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.372320588 meters 0.02598569412299146 Centerline is valid? [True, True] Translation: X:210.27, Y:-43.36, Z:1.06 [[ 8.99722990e-01 4.36204148e-01 1.49827573e-02 2.10267563e+02] [-4.36142677e-01 8.99847731e-01 -7.32305078e-03 -4.33586208e+01] [-1.66765453e-02 5.40972739e-05 9.99860935e-01 1.05641214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.402320588 meters 0.02590923944049582 Centerline is valid? [True, True] Translation: X:210.29, Y:-43.37, Z:1.06 [[ 8.99540619e-01 4.36536915e-01 1.61925045e-02 2.10293437e+02] [-4.36465316e-01 8.99686345e-01 -7.90616129e-03 -4.33715475e+01] [-1.80195064e-02 4.44466354e-05 9.99837635e-01 1.05668161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43232058799998 meters 0.025768571113727837 Centerline is valid? [True, True] Translation: X:210.32, Y:-43.38, Z:1.06 [[ 9.00045959e-01 4.35540594e-01 1.48883638e-02 2.10321190e+02] [-4.35480066e-01 9.00169089e-01 -7.26112971e-03 -4.33805559e+01] [-1.65645616e-02 5.17648094e-05 9.99862797e-01 1.05870513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46232058799998 meters 0.02575634860627586 Centerline is valid? [True, True] Translation: X:210.35, Y:-43.39, Z:1.06 [[ 9.00344161e-01 4.34958924e-01 1.38248444e-02 2.10348041e+02] [-4.34906784e-01 9.00450294e-01 -6.73476232e-03 -4.33917105e+01] [-1.53779302e-02 5.10853159e-05 9.99881751e-01 1.05987827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49232058799998 meters 0.02584279252080279 Centerline is valid? [True, True] Translation: X:210.38, Y:-43.40, Z:1.06 [[ 9.01334588e-01 4.32891927e-01 1.41612359e-02 2.10375255e+02] [-4.32837083e-01 9.01445824e-01 -6.89103243e-03 -4.34025190e+01] [-1.57486593e-02 8.16178387e-05 9.99875979e-01 1.05817214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52232058799999 meters 0.025978010006446218 Centerline is valid? [True, True] Translation: X:210.40, Y:-43.41, Z:1.06 [[ 9.02015746e-01 4.31471317e-01 1.41455373e-02 2.10400294e+02] [-4.31416564e-01 9.02126650e-01 -6.87428036e-03 -4.34142768e+01] [-1.57271210e-02 9.80900164e-05 9.99876316e-01 1.05800047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.552320588 meters 0.0260316834235118 Centerline is valid? [True, True] Translation: X:210.43, Y:-43.43, Z:1.06 [[ 9.02593834e-01 4.30246032e-01 1.45850149e-02 2.10426620e+02] [-4.30187783e-01 9.02711659e-01 -7.08043141e-03 -4.34269193e+01] [-1.62123905e-02 1.16458517e-04 9.99868564e-01 1.05797793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.582320588 meters 0.02623121530391854 Centerline is valid? [True, True] Translation: X:210.45, Y:-43.44, Z:1.06 [[ 9.02955995e-01 4.29463788e-01 1.52094027e-02 2.10452008e+02] [-4.29400470e-01 9.03084071e-01 -7.37552529e-03 -4.34393899e+01] [-1.69028903e-02 1.28850105e-04 9.99857128e-01 1.05897870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.612320588 meters 0.026119648200382758 Centerline is valid? [True, True] Translation: X:210.48, Y:-43.45, Z:1.06 [[ 9.04286286e-01 4.26686571e-01 1.43137151e-02 2.10478530e+02] [-4.26630291e-01 9.04399549e-01 -6.93186881e-03 -4.34497071e+01] [-1.59030528e-02 1.61729461e-04 9.99873525e-01 1.06094447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.642320588 meters 0.026247554212628386 Centerline is valid? [True, True] Translation: X:210.50, Y:-43.46, Z:1.06 [[ 9.04527518e-01 4.26180381e-01 1.41510548e-02 2.10503706e+02] [-4.26125448e-01 9.04638191e-01 -6.84437658e-03 -4.34606097e+01] [-1.57185236e-02 1.60802383e-04 9.99876443e-01 1.06052229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.672320588 meters 0.026692973799511376 Centerline is valid? [True, True] Translation: X:210.53, Y:-43.47, Z:1.06 [[ 9.05592662e-01 4.23915906e-01 1.40440257e-02 2.10530882e+02] [-4.23861640e-01 9.05701534e-01 -6.78542802e-03 -4.34710160e+01] [-1.55961464e-02 1.92110074e-04 9.99878354e-01 1.05783654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.702320588 meters 0.026884706611266688 Centerline is valid? [True, True] Translation: X:210.56, Y:-43.48, Z:1.06 [[ 9.06278892e-01 4.22406574e-01 1.52070821e-02 2.10556593e+02] [-4.22342866e-01 9.06406439e-01 -7.33962421e-03 -4.34848544e+01] [-1.68841026e-02 2.29143868e-04 9.99857427e-01 1.05691222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.732320588 meters 0.02698946421186032 Centerline is valid? [True, True] Translation: X:210.58, Y:-43.50, Z:1.06 [[ 9.07343419e-01 4.20095772e-01 1.57309367e-02 2.10581198e+02] [-4.20027274e-01 9.07479732e-01 -7.59110883e-03 -4.34990661e+01] [-1.74644990e-02 2.80320167e-04 9.99847445e-01 1.05868816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.762320588 meters 0.02747946683996816 Centerline is valid? [True, True] Translation: X:210.61, Y:-43.51, Z:1.06 [[ 9.08778425e-01 4.16971879e-01 1.60070879e-02 2.10606047e+02] [-4.16900649e-01 9.08919324e-01 -7.71430646e-03 -4.35130287e+01] [-1.77658004e-02 3.37229948e-04 9.99842119e-01 1.05928788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.792320588 meters 0.028102335216013963 Centerline is valid? [True, True] Translation: X:210.63, Y:-43.53, Z:1.06 [[ 9.11515672e-01 4.11057477e-01 1.30740483e-02 2.10630454e+02] [-4.11009455e-01 9.11609356e-01 -6.29355914e-03 -4.35277167e+01] [-1.45054393e-02 3.63120330e-04 9.99894725e-01 1.06093911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.822320588 meters 0.028505040489484722 Centerline is valid? [True, True] Translation: X:210.66, Y:-43.54, Z:1.06 [[ 9.12404220e-01 4.09113190e-01 1.20389493e-02 2.10655610e+02] [-4.09072389e-01 9.12483572e-01 -5.78882702e-03 -4.35415046e+01] [-1.33536289e-02 3.56948464e-04 9.99910773e-01 1.06112855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.852320588 meters 0.028693926682154012 Centerline is valid? [True, True] Translation: X:210.68, Y:-43.56, Z:1.06 [[ 9.12529935e-01 4.08796744e-01 1.32037773e-02 2.10680179e+02] [-4.08747728e-01 9.12625372e-01 -6.34236684e-03 -4.35564763e+01] [-1.46428411e-02 3.90585634e-04 9.99892712e-01 1.06064781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.882320588 meters 0.028737890446148343 Centerline is valid? [True, True] Translation: X:210.70, Y:-43.57, Z:1.06 [[ 9.12558087e-01 4.08731297e-01 1.32840264e-02 2.10703590e+02] [-4.08681796e-01 9.12654687e-01 -6.37276081e-03 -4.35731941e+01] [-1.47284758e-02 3.86574627e-04 9.99891455e-01 1.06049742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.912320588 meters 0.028490956831151562 Centerline is valid? [True, True] Translation: X:210.73, Y:-43.59, Z:1.06 [[ 9.12076251e-01 4.09796474e-01 1.35558952e-02 2.10728128e+02] [-4.09745142e-01 9.12176908e-01 -6.49664597e-03 -4.35878148e+01] [-1.50276772e-02 3.70974311e-04 9.99887009e-01 1.06061474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.942320588 meters 0.028139407079862008 Centerline is valid? [True, True] Translation: X:210.75, Y:-43.60, Z:1.06 [[ 9.11382144e-01 4.11323693e-01 1.39788226e-02 2.10752357e+02] [-4.11269397e-01 9.11489274e-01 -6.69223429e-03 -4.36033440e+01] [-1.54942214e-02 3.50120909e-04 9.99879896e-01 1.06148607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.972320588 meters 0.027434073584749516 Centerline is valid? [True, True] Translation: X:210.77, Y:-43.62, Z:1.06 [[ 9.10279076e-01 4.13773827e-01 1.35360110e-02 2.10774793e+02] [-4.13723293e-01 9.10379665e-01 -6.47319826e-03 -4.36222931e+01] [-1.50013491e-02 2.92253906e-04 9.99887431e-01 1.06218250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.002320588 meters 0.02715605083944464 Centerline is valid? [True, True] Translation: X:210.80, Y:-43.64, Z:1.06 [[ 9.09621289e-01 4.15209125e-01 1.38019384e-02 2.10799508e+02] [-4.15156852e-01 9.09725954e-01 -6.59376645e-03 -4.36372659e+01] [-1.52937736e-02 2.67861039e-04 9.99883008e-01 1.06220825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.032320588 meters 0.027169033534056048 Centerline is valid? [True, True] Translation: X:210.83, Y:-43.65, Z:1.06 [[ 9.09170597e-01 4.16186794e-01 1.40491284e-02 2.10825278e+02] [-4.16132868e-01 9.09279105e-01 -6.70416259e-03 -4.36507620e+01] [-1.55647628e-02 2.48923429e-04 9.99878831e-01 1.06125053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.062320588 meters 0.02688750711138226 Centerline is valid? [True, True] Translation: X:210.85, Y:-43.66, Z:1.06 [[ 9.08216969e-01 4.18283054e-01 1.34619464e-02 2.10850606e+02] [-4.18233879e-01 9.08316711e-01 -6.41676504e-03 -4.36646429e+01] [-1.49117350e-02 1.97572829e-04 9.99888794e-01 1.06133067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.092320588 meters 0.026823313412512522 Centerline is valid? [True, True] Translation: X:210.87, Y:-43.68, Z:1.06 [[ 9.08001249e-01 4.18755274e-01 1.33324011e-02 2.10874872e+02] [-4.18707217e-01 9.08099107e-01 -6.34651895e-03 -4.36778863e+01] [-1.47647798e-02 1.80274580e-04 9.99890978e-01 1.06225528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.122320588 meters 0.026780136256305032 Centerline is valid? [True, True] Translation: X:210.90, Y:-43.69, Z:1.06 [[ 9.08134472e-01 4.18477222e-01 1.29844358e-02 2.10899448e+02] [-4.18431726e-01 9.08227276e-01 -6.17297212e-03 -4.36913042e+01] [-1.43760670e-02 1.72788884e-04 9.99896644e-01 1.06304463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.152320588 meters 0.02677238837083556 Centerline is valid? [True, True] Translation: X:210.92, Y:-43.71, Z:1.06 [[ 9.08068443e-01 4.18641504e-01 1.22879566e-02 2.10923752e+02] [-4.18600859e-01 9.08151566e-01 -5.83557061e-03 -4.37071625e+01] [-1.36023391e-02 1.55348349e-04 9.99907472e-01 1.06211299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18232058799998 meters 0.02674940925285521 Centerline is valid? [True, True] Translation: X:210.95, Y:-43.72, Z:1.06 [[ 9.08585657e-01 4.17506013e-01 1.26819881e-02 2.10948739e+02] [-4.17462702e-01 9.08674144e-01 -6.01605688e-03 -4.37219654e+01] [-1.40355346e-02 1.71845981e-04 9.99901482e-01 1.06137159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21232058799998 meters 0.026857185502518414 Centerline is valid? [True, True] Translation: X:210.97, Y:-43.74, Z:1.06 [[ 9.08787271e-01 4.17087765e-01 1.19788204e-02 2.10972463e+02] [-4.17049191e-01 9.08866200e-01 -5.67472704e-03 -4.37363012e+01] [-1.32540042e-02 1.61362325e-04 9.99912149e-01 1.06235413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24232058799998 meters 0.026812054098352012 Centerline is valid? [True, True] Translation: X:211.00, Y:-43.75, Z:1.06 [[ 9.09209490e-01 4.16158872e-01 1.22432338e-02 2.10996142e+02] [-4.16118592e-01 9.09291902e-01 -5.79258575e-03 -4.37504929e+01] [-1.35433093e-02 1.72036711e-04 9.99908270e-01 1.06338321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27232058799999 meters 0.026913248455326323 Centerline is valid? [True, True] Translation: X:211.02, Y:-43.77, Z:1.06 [[ 9.09839959e-01 4.14748089e-01 1.32390097e-02 2.11019549e+02] [-4.14700935e-01 9.09936251e-01 -6.25725540e-03 -4.37672440e+01] [-1.46418396e-02 2.02871307e-04 9.99892782e-01 1.06494468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.302320588 meters 0.02690977618078841 Centerline is valid? [True, True] Translation: X:211.04, Y:-43.78, Z:1.07 [[ 9.10424889e-01 4.13498332e-01 1.20686255e-02 2.11042809e+02] [-4.13459141e-01 9.10504855e-01 -5.69629534e-03 -4.37831850e+01] [-1.33439507e-02 1.96165513e-04 9.99910946e-01 1.06623134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.332320588 meters 0.026942966113646206 Centerline is valid? [True, True] Translation: X:211.06, Y:-43.80, Z:1.06 [[ 9.11005240e-01 4.12226342e-01 1.17854079e-02 2.11064708e+02] [-4.12188957e-01 9.11081446e-01 -5.55535772e-03 -4.38021863e+01] [-1.30275312e-02 2.03145016e-04 9.99915117e-01 1.06484004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.362320588 meters 0.026942966113646206 Centerline is valid? [True, True] Translation: X:211.09, Y:-43.81, Z:1.06 [[ 9.11210109e-01 4.11773209e-01 1.17881697e-02 2.11089375e+02] [-4.11735862e-01 9.11286334e-01 -5.54949640e-03 -4.38141671e+01] [-1.30275319e-02 2.03145026e-04 9.99915117e-01 1.06497856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.392320588 meters 0.02688837069992708 Centerline is valid? [True, True] Translation: X:211.11, Y:-43.83, Z:1.06 [[ 9.11224464e-01 4.11760636e-01 1.10975017e-02 2.11114758e+02] [-4.11727607e-01 9.11292019e-01 -5.21863540e-03 -4.38288481e+01] [-1.22618934e-02 1.86200431e-04 9.99924803e-01 1.06431651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.422320588 meters 0.026778953310111504 Centerline is valid? [True, True] Translation: X:211.14, Y:-43.84, Z:1.06 [[ 9.11179872e-01 4.11896712e-01 9.60936656e-03 2.11140266e+02] [-4.11872012e-01 9.11230528e-01 -4.51342749e-03 -4.38432432e+01] [-1.06154141e-02 1.54715151e-04 9.99943643e-01 1.06490616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.452320588 meters 0.026683059865688367 Centerline is valid? [True, True] Translation: X:211.16, Y:-43.86, Z:1.06 [[ 9.10781872e-01 4.12701236e-01 1.24125225e-02 2.11163386e+02] [-4.12660179e-01 9.10866432e-01 -5.82411426e-03 -4.38624085e+01] [-1.37097693e-02 1.82343917e-04 9.99906000e-01 1.06435139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.482320588 meters 0.026680226982479533 Centerline is valid? [True, True] Translation: X:211.19, Y:-43.88, Z:1.07 [[ 9.10710217e-01 4.12819332e-01 1.36784767e-02 2.11187194e+02] [-4.12769592e-01 9.10812913e-01 -6.41105571e-03 -4.38789176e+01] [-1.51051409e-02 1.92554712e-04 9.99885892e-01 1.06524112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.512320588 meters 0.02663993036344031 Centerline is valid? [True, True] Translation: X:211.21, Y:-43.89, Z:1.07 [[ 9.10716255e-01 4.12793615e-01 1.40475712e-02 2.11210769e+02] [-4.12741289e-01 9.10824569e-01 -6.57518293e-03 -4.38940318e+01] [-1.55090665e-02 1.90113340e-04 9.99879709e-01 1.06642907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.542320588 meters 0.02641111184100569 Centerline is valid? [True, True] Translation: X:211.23, Y:-43.91, Z:1.07 [[ 9.09791470e-01 4.14892214e-01 1.19971702e-02 2.11234824e+02] [-4.14854318e-01 9.09870559e-01 -5.60896342e-03 -4.39112475e+01] [-1.32429872e-02 1.25909200e-04 9.99912300e-01 1.06580438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.572320588 meters 0.026237760360109545 Centerline is valid? [True, True] Translation: X:211.26, Y:-43.93, Z:1.07 [[ 9.09310168e-01 4.15956258e-01 1.16365886e-02 2.11259471e+02] [-4.15920775e-01 9.09384617e-01 -5.43395118e-03 -4.39263291e+01] [-1.28424207e-02 1.01248106e-04 9.99917528e-01 1.06557569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.602320588 meters 0.026011032894835993 Centerline is valid? [True, True] Translation: X:211.28, Y:-43.94, Z:1.07 [[ 9.08935713e-01 4.16775845e-01 1.15656625e-02 2.11283514e+02] [-4.16740956e-01 9.09009289e-01 -5.39327916e-03 -4.39413240e+01] [-1.27610831e-02 8.22587959e-05 9.99918571e-01 1.06606716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.632320588 meters 0.025918942408109165 Centerline is valid? [True, True] Translation: X:211.31, Y:-43.96, Z:1.07 [[ 9.07805990e-01 4.19171320e-01 1.35531624e-02 2.11308466e+02] [-4.19123773e-01 9.07907155e-01 -6.31355830e-03 -4.39559407e+01] [-1.49514757e-02 5.10334922e-05 9.99888219e-01 1.06847693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.662320588 meters 0.025917610416522876 Centerline is valid? [True, True] Translation: X:211.33, Y:-43.97, Z:1.07 [[ 9.06864600e-01 4.21119228e-01 1.59747419e-02 2.11334814e+02] [-4.21053619e-01 9.07005290e-01 -7.43329972e-03 -4.39685713e+01] [-1.76194809e-02 1.47734710e-05 9.99844765e-01 1.06836893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.692320588 meters 0.02573599303119689 Centerline is valid? [True, True] Translation: X:211.36, Y:-43.98, Z:1.07 [[ 9.06098145e-01 4.22811945e-01 1.47041369e-02 2.11359772e+02] [-4.22756716e-01 9.06217446e-01 -6.83379713e-03 -4.39822810e+01] [-1.62145565e-02 -2.41817343e-05 9.99868535e-01 1.06877143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.722320588 meters 0.025741375282406036 Centerline is valid? [True, True] Translation: X:211.38, Y:-44.00, Z:1.07 [[ 9.05315154e-01 4.24515383e-01 1.38261535e-02 2.11383621e+02] [-4.24466891e-01 9.05420723e-01 -6.41652226e-03 -4.39967945e+01] [-1.52423983e-02 -5.97695736e-05 9.99883826e-01 1.06824059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.752320588 meters 0.025775413521584332 Centerline is valid? [True, True] Translation: X:211.41, Y:-44.01, Z:1.07 [[ 9.04436681e-01 4.26339663e-01 1.51255302e-02 2.11407975e+02] [-4.26282013e-01 9.04563144e-01 -7.01172779e-03 -4.40133353e+01] [-1.66713748e-02 -1.06077667e-04 9.99861017e-01 1.06846793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.782320588 meters 0.025791355917327292 Centerline is valid? [True, True] Translation: X:211.43, Y:-44.03, Z:1.07 [[ 9.04618265e-01 4.25975805e-01 1.45054404e-02 2.11433454e+02] [-4.25922882e-01 9.04734548e-01 -6.71537193e-03 -4.40259661e+01] [-1.59841590e-02 -1.03350866e-04 9.99872240e-01 1.06874046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.812320588 meters 0.02587414388372965 Centerline is valid? [True, True] Translation: X:211.46, Y:-44.04, Z:1.07 [[ 9.04579804e-01 4.26062730e-01 1.43501970e-02 2.11458429e+02] [-4.26011091e-01 9.04693615e-01 -6.63421862e-03 -4.40394925e+01] [-1.58091249e-02 -1.12162901e-04 9.99875022e-01 1.06932726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.842320588 meters 0.02583997392231646 Centerline is valid? [True, True] Translation: X:211.48, Y:-44.05, Z:1.07 [[ 9.05356469e-01 4.24361592e-01 1.57131737e-02 2.11483066e+02] [-4.24299561e-01 9.05492810e-01 -7.25623748e-03 -4.40549932e+01] [-1.73074343e-02 -9.76111444e-05 9.99850210e-01 1.06885609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.872320588 meters 0.02578721187262451 Centerline is valid? [True, True] Translation: X:211.51, Y:-44.07, Z:1.07 [[ 9.05295201e-01 4.24519969e-01 1.49463913e-02 2.11509483e+02] [-4.24463852e-01 9.05418570e-01 -6.90302435e-03 -4.40684783e+01] [-1.64632119e-02 -9.49280117e-05 9.99864468e-01 1.06950558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.902320588 meters 0.025912686995592245 Centerline is valid? [True, True] Translation: X:211.54, Y:-44.08, Z:1.07 [[ 9.05584444e-01 4.23875313e-01 1.57013981e-02 2.11535794e+02] [-4.23813474e-01 9.05720547e-01 -7.24085585e-03 -4.40808271e+01] [-1.72902989e-02 -9.72576608e-05 9.99850507e-01 1.07008471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93232058799998 meters 0.025824623098928433 Centerline is valid? [True, True] Translation: X:211.56, Y:-44.09, Z:1.07 [[ 9.05511827e-01 4.24047857e-01 1.52232387e-02 2.11563043e+02] [-4.23989736e-01 9.05639777e-01 -7.02124968e-03 -4.40933244e+01] [-1.67641163e-02 -9.66723189e-05 9.99859468e-01 1.07005994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96232058799998 meters 0.025971440830060318 Centerline is valid? [True, True] Translation: X:211.59, Y:-44.11, Z:1.07 [[ 9.05716737e-01 4.23615569e-01 1.50679017e-02 2.11589180e+02] [-4.23558588e-01 9.05842062e-01 -6.94841836e-03 -4.41065985e+01] [-1.65925973e-02 -8.88403484e-05 9.99862329e-01 1.06972820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99232058799998 meters 0.025885439707297408 Centerline is valid? [True, True] Translation: X:211.62, Y:-44.12, Z:1.07 [[ 9.05476986e-01 4.24091468e-01 1.60578560e-02 2.11616091e+02] [-4.24026822e-01 9.05619355e-01 -7.40530929e-03 -4.41211087e+01] [-1.76828337e-02 -1.03624514e-04 9.99843641e-01 1.06977410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02232058799999 meters 0.02590678836424344 Centerline is valid? [True, True] Translation: X:211.64, Y:-44.13, Z:1.07 [[ 9.05076276e-01 4.24894838e-01 1.73583389e-02 2.11643203e+02] [-4.24819443e-01 9.05242708e-01 -8.00504552e-03 -4.41345889e+01] [-1.91148122e-02 -1.28983086e-04 9.99817287e-01 1.06979062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.052320588 meters 0.02603256107139245 Centerline is valid? [True, True] Translation: X:211.67, Y:-44.15, Z:1.07 [[ 9.05306770e-01 4.24424954e-01 1.68259128e-02 2.11672278e+02] [-4.24354001e-01 9.05463111e-01 -7.76119656e-03 -4.41472049e+01] [-1.85292888e-02 -1.13879625e-04 9.99828312e-01 1.07001034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.082320588 meters 0.025897911097883388 Centerline is valid? [True, True] Translation: X:211.70, Y:-44.16, Z:1.07 [[ 9.05051969e-01 4.24985236e-01 1.63854364e-02 2.11701131e+02] [-4.24918019e-01 9.05200273e-01 -7.55931471e-03 -4.41606134e+01] [-1.80446987e-02 -1.20894509e-04 9.99837174e-01 1.06938847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.112320588 meters 0.02600988893165368 Centerline is valid? [True, True] Translation: X:211.73, Y:-44.18, Z:1.07 [[ 9.04715283e-01 4.25627913e-01 1.81971274e-02 2.11728917e+02] [-4.25545110e-01 9.04898258e-01 -8.39651280e-03 -4.41762354e+01] [-2.00403391e-02 -1.47245138e-04 9.99799161e-01 1.06803479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.142320588 meters 0.025909005050345806 Centerline is valid? [True, True] Translation: X:211.76, Y:-44.19, Z:1.07 [[ 9.04717073e-01 4.25576555e-01 1.92772715e-02 2.11757034e+02] [-4.25483585e-01 9.04922413e-01 -8.89640709e-03 -4.41897802e+01] [-2.12305373e-02 -1.53431188e-04 9.99774595e-01 1.06801256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.172320588 meters 0.025852765441953716 Centerline is valid? [True, True] Translation: X:211.79, Y:-44.20, Z:1.07 [[ 9.04745239e-01 4.25504368e-01 1.95470088e-02 2.11786765e+02] [-4.25408687e-01 9.04956358e-01 -9.02435345e-03 -4.42033026e+01] [-2.15290917e-02 -1.50726511e-04 9.99768211e-01 1.06849264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.202320588 meters 0.025758360356492635 Centerline is valid? [True, True] Translation: X:211.82, Y:-44.22, Z:1.07 [[ 9.04334304e-01 4.26422658e-01 1.85251967e-02 2.11815824e+02] [-4.26336852e-01 9.04524013e-01 -8.55557730e-03 -4.42162431e+01] [-2.04047772e-02 -1.60871981e-04 9.99791788e-01 1.06877414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.232320588 meters 0.02577692397706928 Centerline is valid? [True, True] Translation: X:211.84, Y:-44.23, Z:1.07 [[ 9.04227614e-01 4.26712778e-01 1.69890416e-02 2.11844633e+02] [-4.26640614e-01 9.04387186e-01 -7.84886106e-03 -4.42298377e+01] [-1.87138809e-02 -1.51058249e-04 9.99824869e-01 1.06810766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.262320588 meters 0.025901823608347457 Centerline is valid? [True, True] Translation: X:211.87, Y:-44.24, Z:1.07 [[ 9.04171320e-01 4.26819268e-01 1.73071333e-02 2.11873216e+02] [-4.26744377e-01 9.04336933e-01 -7.99679153e-03 -4.42429080e+01] [-1.90646646e-02 -1.55252258e-04 9.99818241e-01 1.06798882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.292320588 meters 0.026096892322524563 Centerline is valid? [True, True] Translation: X:211.90, Y:-44.26, Z:1.07 [[ 9.04052011e-01 4.26994720e-01 1.91172544e-02 2.11901772e+02] [-4.26903351e-01 9.04254101e-01 -8.83462821e-03 -4.42551943e+01] [-2.10591953e-02 -1.74256578e-04 9.99778215e-01 1.06780778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.322320588 meters 0.026243817346957098 Centerline is valid? [True, True] Translation: X:211.93, Y:-44.27, Z:1.07 [[ 9.04056570e-01 4.26973979e-01 1.93633709e-02 2.11930561e+02] [-4.26880204e-01 9.04263894e-01 -8.94989323e-03 -4.42670512e+01] [-2.13309687e-02 -1.74629973e-04 9.99772454e-01 1.06818799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.352320588 meters 0.026073334773633116 Centerline is valid? [True, True] Translation: X:211.96, Y:-44.28, Z:1.07 [[ 9.04110397e-01 4.26896504e-01 1.85408795e-02 2.11959257e+02] [-4.26810463e-01 9.04300474e-01 -8.57210182e-03 -4.42808208e+01] [-2.04259264e-02 -1.63314973e-04 9.99791356e-01 1.06904729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.382320588 meters 0.025916464791290818 Centerline is valid? [True, True] Translation: X:211.99, Y:-44.29, Z:1.07 [[ 9.05491743e-01 4.24019794e-01 1.70855793e-02 2.11987631e+02] [-4.23946195e-01 9.05652917e-01 -7.90047756e-03 -4.42939971e+01] [-1.88235636e-02 -8.95491303e-05 9.99822817e-01 1.06801516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.412320588 meters 0.02593233199615378 Centerline is valid? [True, True] Translation: X:212.02, Y:-44.31, Z:1.07 [[ 9.06023083e-01 4.22888149e-01 1.69642697e-02 2.12015483e+02] [-4.22815368e-01 9.06181885e-01 -7.84573473e-03 -4.43076956e+01] [-1.86905821e-02 -6.43371493e-05 9.99825314e-01 1.06793333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.442320588 meters 0.025932493788367404 Centerline is valid? [True, True] Translation: X:212.04, Y:-44.32, Z:1.07 [[ 9.06265294e-01 4.22293379e-01 1.87488421e-02 2.12043128e+02] [-4.22204321e-01 9.06459210e-01 -8.67251472e-03 -4.43216977e+01] [-2.06574061e-02 -5.62430296e-05 9.99786611e-01 1.06825306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.472320588 meters 0.02595918837847273 Centerline is valid? [True, True] Translation: X:212.07, Y:-44.34, Z:1.07 [[ 9.06328183e-01 4.22104009e-01 1.99356310e-02 2.12072158e+02] [-4.22003196e-01 9.06547408e-01 -9.22498068e-03 -4.43362077e+01] [-2.19664959e-02 -5.20399912e-05 9.99758706e-01 1.06925926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.502320588 meters 0.02586362916770212 Centerline is valid? [True, True] Translation: X:212.10, Y:-44.35, Z:1.07 [[ 9.06236230e-01 4.22393355e-01 1.78815287e-02 2.12101543e+02] [-4.22312247e-01 9.06412627e-01 -8.27738449e-03 -4.43494210e+01] [-1.97043556e-02 -5.03228631e-05 9.99805849e-01 1.06927337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.532320588 meters 0.02591487376990184 Centerline is valid? [True, True] Translation: X:212.13, Y:-44.36, Z:1.07 [[ 9.05830282e-01 4.23293409e-01 1.71520020e-02 2.12130424e+02] [-4.23218894e-01 9.05992652e-01 -7.94240793e-03 -4.43631843e+01] [-1.89015567e-02 -6.45777045e-05 9.99821348e-01 1.06908276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.562320588 meters 0.026126320469259556 Centerline is valid? [True, True] Translation: X:212.16, Y:-44.38, Z:1.07 [[ 9.04113295e-01 4.26895175e-01 1.84298320e-02 2.12158237e+02] [-4.26809831e-01 9.04301105e-01 -8.53698600e-03 -4.43795552e+01] [-2.03105155e-02 -1.47630932e-04 9.99793709e-01 1.06918424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.592320588 meters 0.026188227681153788 Centerline is valid? [True, True] Translation: X:212.19, Y:-44.39, Z:1.07 [[ 9.03179582e-01 4.28825062e-01 1.93832307e-02 2.12187650e+02] [-4.28731038e-01 9.03387529e-01 -8.98161958e-03 -4.43936782e+01] [-2.13621124e-02 -1.98177200e-04 9.99771784e-01 1.06904868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.622320588 meters 0.026265482196623027 Centerline is valid? [True, True] Translation: X:212.22, Y:-44.41, Z:1.07 [[ 9.02432951e-01 4.30372865e-01 1.98485853e-02 2.12216866e+02] [-4.30274578e-01 9.02651173e-01 -9.20039626e-03 -4.44070256e+01] [-2.18759497e-02 -2.37600913e-04 9.99760665e-01 1.06923545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.652320588 meters 0.026362466571382033 Centerline is valid? [True, True] Translation: X:212.25, Y:-44.42, Z:1.07 [[ 9.01631897e-01 4.32093723e-01 1.88397899e-02 2.12246399e+02] [-4.32005486e-01 9.01828668e-01 -8.73579039e-03 -4.44202768e+01] [-2.07649428e-02 -2.62425332e-04 9.99784351e-01 1.06909141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68232058799998 meters 0.02637204728336447 Centerline is valid? [True, True] Translation: X:212.28, Y:-44.43, Z:1.07 [[ 9.00745053e-01 4.34022412e-01 1.68195233e-02 2.12275868e+02] [-4.33952371e-01 9.00902033e-01 -7.80173976e-03 -4.44339370e+01] [-1.85388726e-02 -2.71493520e-04 9.99828103e-01 1.06748087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71232058799998 meters 0.026411459638355353 Centerline is valid? [True, True] Translation: X:212.30, Y:-44.45, Z:1.07 [[ 9.00150183e-01 4.35276954e-01 1.62364291e-02 2.12304026e+02] [-4.35211872e-01 9.00296558e-01 -7.53222176e-03 -4.44465493e+01] [-1.78962037e-02 -2.86155892e-04 9.99839809e-01 1.06830976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74232058799998 meters 0.026604688400633146 Centerline is valid? [True, True] Translation: X:212.33, Y:-44.46, Z:1.07 [[ 8.99626615e-01 4.36347821e-01 1.65085677e-02 2.12333172e+02] [-4.36280696e-01 8.99778018e-01 -7.65976413e-03 -4.44586404e+01] [-1.81963677e-02 -3.11441719e-04 9.99834384e-01 1.06832525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77232058799999 meters 0.026856122204226087 Centerline is valid? [True, True] Translation: X:212.36, Y:-44.47, Z:1.07 [[ 8.97629313e-01 4.40378055e-01 1.81324432e-02 2.12362581e+02] [-4.40297902e-01 8.97812331e-01 -8.41282583e-03 -4.44676930e+01] [-1.99843550e-02 -4.32077643e-04 9.99800199e-01 1.07090777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.802320588 meters 0.027043351682711006 Centerline is valid? [True, True] Translation: X:212.39, Y:-44.48, Z:1.07 [[ 8.96510074e-01 4.42663798e-01 1.78451542e-02 2.12391612e+02] [-4.42586582e-01 8.96687536e-01 -8.28130026e-03 -4.44792670e+01] [-1.96673591e-02 -4.73756677e-04 9.99806467e-01 1.07105254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.832320588 meters 0.027294609005046124 Centerline is valid? [True, True] Translation: X:212.42, Y:-44.49, Z:1.07 [[ 8.95830284e-01 4.44021500e-01 1.82485341e-02 2.12419377e+02] [-4.43941042e-01 8.96015983e-01 -8.46812625e-03 -4.44909868e+01] [-2.01110083e-02 -5.15269287e-04 9.99797620e-01 1.07112563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.862320588 meters 0.02744591155393508 Centerline is valid? [True, True] Translation: X:212.45, Y:-44.50, Z:1.07 [[ 8.94639627e-01 4.46491416e-01 1.62896822e-02 2.12448180e+02] [-4.46427743e-01 8.94787771e-01 -7.55749575e-03 -4.44990660e+01] [-1.79501654e-02 -5.10930877e-04 9.99838752e-01 1.07085237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.892320588 meters 0.027650358548647898 Centerline is valid? [True, True] Translation: X:212.48, Y:-44.51, Z:1.07 [[ 8.94583572e-01 4.46657071e-01 1.47544573e-02 2.12475849e+02] [-4.46605013e-01 8.94705111e-01 -6.83566850e-03 -4.45089762e+01] [-1.62540881e-02 -4.74337879e-04 9.99867781e-01 1.07039124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.922320588 meters 0.027720848563167637 Centerline is valid? [True, True] Translation: X:212.50, Y:-44.52, Z:1.07 [[ 8.94946586e-01 4.45879746e-01 1.61820795e-02 2.12502563e+02] [-4.45817159e-01 8.95092727e-01 -7.48806560e-03 -4.45191653e+01] [-1.78232384e-02 -5.12829956e-04 9.99841022e-01 1.06992926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.952320588 meters 0.027169695509475834 Centerline is valid? [True, True] Translation: X:212.53, Y:-44.53, Z:1.07 [[ 8.96791841e-01 4.42143165e-01 1.65473576e-02 2.12531128e+02] [-4.42077251e-01 8.96944376e-01 -7.64798151e-03 -4.45266068e+01] [-1.82235621e-02 -4.56562952e-04 9.99833833e-01 1.07090981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.982320588 meters 0.027237430097548213 Centerline is valid? [True, True] Translation: X:212.56, Y:-44.54, Z:1.07 [[ 8.98165893e-01 4.39373512e-01 1.57780317e-02 2.12558628e+02] [-4.39313218e-01 8.98304385e-01 -7.28886674e-03 -4.45368553e+01] [-1.73760100e-02 -3.84886377e-04 9.99848952e-01 1.07140990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.012320588 meters 0.02692777172241081 Centerline is valid? [True, True] Translation: X:212.59, Y:-44.55, Z:1.07 [[ 8.99429307e-01 4.36833445e-01 1.42640624e-02 2.12585992e+02] [-4.36783979e-01 8.99542353e-01 -6.58111647e-03 -4.45474830e+01] [-1.57059801e-02 -3.11064912e-04 9.99876605e-01 1.07266380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.042320588 meters 0.02664077205576791 Centerline is valid? [True, True] Translation: X:212.61, Y:-44.56, Z:1.07 [[ 9.01079419e-01 4.33414172e-01 1.44234667e-02 2.12612659e+02] [-4.33363286e-01 9.01194811e-01 -6.64642498e-03 -4.45580745e+01] [-1.58790082e-02 -2.61644179e-04 9.99873886e-01 1.07128731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.072320588 meters 0.026522592935749236 Centerline is valid? [True, True] Translation: X:212.64, Y:-44.57, Z:1.07 [[ 9.02003903e-01 4.31481809e-01 1.45742113e-02 2.12639178e+02] [-4.31429729e-01 9.02121606e-01 -6.70797049e-03 -4.45686352e+01] [-1.60420782e-02 -2.37132463e-04 9.99871289e-01 1.07163010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.102320588 meters 0.026520609886882953 Centerline is valid? [True, True] Translation: X:212.66, Y:-44.58, Z:1.07 [[ 9.03029814e-01 4.29310806e-01 1.51455256e-02 2.12664820e+02] [-4.29254419e-01 9.03156789e-01 -6.96116635e-03 -4.45785759e+01] [-1.66672882e-02 -2.15143024e-04 9.99861068e-01 1.07149162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.132320588 meters 0.026302302972762936 Centerline is valid? [True, True] Translation: X:212.69, Y:-44.59, Z:1.07 [[ 9.04661665e-01 4.25869111e-01 1.49255282e-02 2.12691175e+02] [-4.25814011e-01 9.04784768e-01 -6.85217445e-03 -4.45891120e+01] [-1.64225200e-02 -1.56599476e-04 9.99865129e-01 1.07288352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.162320588 meters 0.026196381042041923 Centerline is valid? [True, True] Translation: X:212.72, Y:-44.60, Z:1.07 [[ 9.05730526e-01 4.23607446e-01 1.44549786e-02 2.12716904e+02] [-4.23555605e-01 9.05845857e-01 -6.62814879e-03 -4.46017293e+01] [-1.59017157e-02 -1.19170516e-04 9.99873553e-01 1.07261687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.192320588 meters 0.026007099119333424 Centerline is valid? [True, True] Translation: X:212.74, Y:-44.61, Z:1.07 [[ 9.06808947e-01 4.21318267e-01 1.37277782e-02 2.12742557e+02] [-4.21271366e-01 9.06912846e-01 -6.28692256e-03 -4.46137950e+01] [-1.50986937e-02 -8.20822540e-05 9.99886005e-01 1.07180362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.222320588 meters 0.02607878218328013 Centerline is valid? [True, True] Translation: X:212.77, Y:-44.63, Z:1.07 [[ 9.07939713e-01 4.18894038e-01 1.31629092e-02 2.12769254e+02] [-4.18850769e-01 9.08035122e-01 -6.02087111e-03 -4.46256955e+01] [-1.44744909e-02 -4.67066562e-05 9.99895238e-01 1.07189122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.252320588 meters 0.02607878218328013 Centerline is valid? [True, True] Translation: X:212.79, Y:-44.64, Z:1.07 [[ 9.08154329e-01 4.18428451e-01 1.31661128e-02 2.12794062e+02] [-4.18385234e-01 9.08249762e-01 -6.01386416e-03 -4.46373973e+01] [-1.44744907e-02 -4.69904150e-05 9.99895238e-01 1.07202970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.282320588 meters 0.026221905624553083 Centerline is valid? [True, True] Translation: X:212.82, Y:-44.65, Z:1.07 [[ 9.10409254e-01 4.13465903e-01 1.41752658e-02 2.12820218e+02] [-4.13415315e-01 9.10519603e-01 -6.46770234e-03 -4.46488981e+01] [-1.55810318e-02 2.79840715e-05 9.99878608e-01 1.07254397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.312320588 meters 0.026116533588910387 Centerline is valid? [True, True] Translation: X:212.85, Y:-44.66, Z:1.07 [[ 9.11452653e-01 4.11116989e-01 1.53909909e-02 2.12845721e+02] [-4.11057153e-01 9.11582589e-01 -7.01430587e-03 -4.46625775e+01] [-1.69138597e-02 6.66307873e-05 9.99856948e-01 1.07323861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.342320588 meters 0.02588502477358338 Centerline is valid? [True, True] Translation: X:212.87, Y:-44.68, Z:1.07 [[ 9.12108848e-01 4.09667395e-01 1.51682111e-02 2.12869696e+02] [-4.09609240e-01 9.12234958e-01 -6.90304122e-03 -4.46763777e+01] [-1.66649234e-02 8.32855363e-05 9.99861127e-01 1.07375211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.372320588 meters 0.02611256029403251 Centerline is valid? [True, True] Translation: X:212.89, Y:-44.69, Z:1.07 [[ 9.13430856e-01 4.06740190e-01 1.43697035e-02 2.12893457e+02] [-4.06687776e-01 9.13543870e-01 -6.53068647e-03 -4.46908760e+01] [-1.57836472e-02 1.21347778e-04 9.99875423e-01 1.07296885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.402320588 meters 0.026149814438421265 Centerline is valid? [True, True] Translation: X:212.92, Y:-44.70, Z:1.07 [[ 9.14214899e-01 4.04995008e-01 1.37898942e-02 2.12918135e+02] [-4.04946669e-01 9.14318886e-01 -6.25868270e-03 -4.47032750e+01] [-1.51430959e-02 1.37609276e-04 9.99885327e-01 1.07345313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43232058799998 meters 0.02635894757532282 Centerline is valid? [True, True] Translation: X:212.94, Y:-44.72, Z:1.07 [[ 9.15237591e-01 4.02692520e-01 1.33748263e-02 2.12942837e+02] [-4.02646921e-01 9.15335298e-01 -6.06209184e-03 -4.47164403e+01] [-1.46836097e-02 1.62921699e-04 9.99892177e-01 1.07238450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46232058799998 meters 0.02657986404080376 Centerline is valid? [True, True] Translation: X:212.97, Y:-44.73, Z:1.07 [[ 9.16576522e-01 3.99605342e-01 1.42495595e-02 2.12967164e+02] [-3.99553318e-01 9.16687255e-01 -6.45163771e-03 -4.47333904e+01] [-1.56404985e-02 2.19960873e-04 9.99877656e-01 1.07241519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49232058799998 meters 0.026541215107089934 Centerline is valid? [True, True] Translation: X:212.99, Y:-44.75, Z:1.07 [[ 9.17181023e-01 3.98202189e-01 1.46283271e-02 2.12992458e+02] [-3.98147307e-01 9.17297639e-01 -6.61544847e-03 -4.47480905e+01] [-1.60528160e-02 2.43334757e-04 9.99871116e-01 1.07258478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52232058799999 meters 0.026686558529393313 Centerline is valid? [True, True] Translation: X:213.02, Y:-44.76, Z:1.07 [[ 9.17595660e-01 3.97231152e-01 1.50205544e-02 2.13017718e+02] [-3.97173288e-01 9.17718554e-01 -6.78495138e-03 -4.47626041e+01] [-1.64798355e-02 2.60078962e-04 9.99864164e-01 1.07221905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.552320588 meters 0.026689657029326564 Centerline is valid? [True, True] Translation: X:213.04, Y:-44.78, Z:1.07 [[ 9.18292399e-01 3.95636126e-01 1.45301829e-02 2.13042276e+02] [-3.95581901e-01 9.18407307e-01 -6.55572092e-03 -4.47778049e+01] [-1.59383062e-02 2.72191326e-04 9.99872940e-01 1.07201122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.582320588 meters 0.026473975665169798 Centerline is valid? [True, True] Translation: X:213.07, Y:-44.80, Z:1.07 [[ 9.18363615e-01 3.95533737e-01 1.27017262e-02 2.13065877e+02] [-3.95492262e-01 9.18451417e-01 -5.73287230e-03 -4.47989924e+01] [-1.39334629e-02 2.41426889e-04 9.99902895e-01 1.07453690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.612320588 meters 0.026576934365691134 Centerline is valid? [True, True] Translation: X:213.09, Y:-44.82, Z:1.07 [[ 9.18196414e-01 3.95907041e-01 1.31514091e-02 2.13091967e+02] [-3.95862615e-01 9.18290562e-01 -5.93583485e-03 -4.48150362e+01] [-1.44268537e-02 2.44111054e-04 9.99895898e-01 1.07473901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.642320588 meters 0.026351111326639382 Centerline is valid? [True, True] Translation: X:213.12, Y:-44.83, Z:1.08 [[ 9.17836997e-01 3.96739884e-01 1.31419716e-02 2.13118966e+02] [-3.96695588e-01 9.17931049e-01 -5.93291300e-03 -4.48304772e+01] [-1.44172470e-02 2.32084905e-04 9.99896039e-01 1.07565465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.672320588 meters 0.026122277193158905 Centerline is valid? [True, True] Translation: X:213.15, Y:-44.85, Z:1.08 [[ 9.17218984e-01 3.98162268e-01 1.32719113e-02 2.13145032e+02] [-3.98117217e-01 9.17314975e-01 -5.99324471e-03 -4.48501757e+01] [-1.45608069e-02 2.13341438e-04 9.99893963e-01 1.07501218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.702320588 meters 0.026066820574642956 Centerline is valid? [True, True] Translation: X:213.17, Y:-44.87, Z:1.07 [[ 9.17023956e-01 3.98605957e-01 1.34296105e-02 2.13172726e+02] [-3.98559844e-01 9.17122264e-01 -6.06669599e-03 -4.48668121e+01] [-1.47348160e-02 2.10802095e-04 9.99891414e-01 1.07467646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.732320588 meters 0.025975671760363854 Centerline is valid? [True, True] Translation: X:213.20, Y:-44.89, Z:1.08 [[ 9.16351248e-01 4.00106862e-01 1.46591287e-02 2.13198654e+02] [-4.00052074e-01 9.16468470e-01 -6.62428225e-03 -4.48871188e+01] [-1.60850500e-02 2.05754471e-04 9.99870606e-01 1.07595317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.762320588 meters 0.02559445350134731 Centerline is valid? [True, True] Translation: X:213.23, Y:-44.90, Z:1.08 [[ 9.15494159e-01 4.02081327e-01 1.41792774e-02 2.13226184e+02] [-4.02030270e-01 9.15603942e-01 -6.40964004e-03 -4.49047961e+01] [-1.55597988e-02 1.67489316e-04 9.99878925e-01 1.07726207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.792320588 meters 0.02551696378780642 Centerline is valid? [True, True] Translation: X:213.25, Y:-44.92, Z:1.08 [[ 9.15146327e-01 4.02879212e-01 1.39835750e-02 2.13253263e+02] [-4.02829603e-01 9.15253144e-01 -6.32404340e-03 -4.49219374e+01] [-1.53463366e-02 1.54427132e-04 9.99882226e-01 1.07716368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.822320588 meters 0.025260394383569203 Centerline is valid? [True, True] Translation: X:213.28, Y:-44.94, Z:1.08 [[ 9.13315802e-01 4.06997247e-01 1.44043695e-02 2.13278785e+02] [-4.06945087e-01 9.13429380e-01 -6.51641774e-03 -4.49427759e+01] [-1.58095384e-02 8.97598995e-05 9.99875017e-01 1.07610437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.852320588 meters 0.025211938069387888 Centerline is valid? [True, True] Translation: X:213.31, Y:-44.96, Z:1.08 [[ 9.12100798e-01 4.09711325e-01 1.44486685e-02 2.13306815e+02] [-4.09659147e-01 9.12215231e-01 -6.53872886e-03 -4.49577191e+01] [-1.58592867e-02 4.49506190e-05 9.99874233e-01 1.07598537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.882320588 meters 0.02517725028723374 Centerline is valid? [True, True] Translation: X:213.34, Y:-44.97, Z:1.08 [[ 9.10718661e-01 4.12733806e-01 1.55668397e-02 2.13335375e+02] [-4.12673639e-01 9.10851692e-01 -7.04714006e-03 -4.49720731e+01] [-1.70876752e-02 -6.06244921e-06 9.99853995e-01 1.07585144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.912320588 meters 0.025028900931417186 Centerline is valid? [True, True] Translation: X:213.36, Y:-44.99, Z:1.08 [[ 9.08681824e-01 4.17219005e-01 1.50214674e-02 2.13364758e+02] [-4.17163527e-01 9.08805972e-01 -6.80419644e-03 -4.49873085e+01] [-1.64904394e-02 -8.35586956e-05 9.99864020e-01 1.07587507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.942320588 meters 0.025546362689192782 Centerline is valid? [True, True] Translation: X:213.39, Y:-45.01, Z:1.08 [[ 9.05089540e-01 4.24921865e-01 1.59478160e-02 2.13391431e+02] [-4.24860487e-01 9.05230000e-01 -7.22587078e-03 -4.50055719e+01] [-1.75068720e-02 -2.35536817e-04 9.99846715e-01 1.07584174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.972320588 meters 0.025743736837950157 Centerline is valid? [True, True] Translation: X:213.42, Y:-45.02, Z:1.08 [[ 9.03363727e-01 4.28596088e-01 1.54715882e-02 2.13420015e+02] [-4.28538817e-01 9.03496157e-01 -7.01256055e-03 -4.50212526e+01] [-1.69840765e-02 -2.95283297e-04 9.99855717e-01 1.07690393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.002320588 meters 0.025941133459121923 Centerline is valid? [True, True] Translation: X:213.45, Y:-45.04, Z:1.08 [[ 9.01630622e-01 4.32211686e-01 1.59774908e-02 2.13448812e+02] [-4.32150988e-01 9.01772102e-01 -7.25248079e-03 -4.50353509e+01] [-1.75426624e-02 -3.65629680e-04 9.99846049e-01 1.07674616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.032320588 meters 0.026549925087208878 Centerline is valid? [True, True] Translation: X:213.48, Y:-45.05, Z:1.08 [[ 8.99760951e-01 4.36109037e-01 1.54641494e-02 2.13478269e+02] [-4.36052739e-01 8.99893730e-01 -7.02018780e-03 -4.50474167e+01] [-1.69776584e-02 -4.26693855e-04 9.99855778e-01 1.07620515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.062320588 meters 0.02668399587208863 Centerline is valid? [True, True] Translation: X:213.51, Y:-45.06, Z:1.08 [[ 8.98591550e-01 4.38504469e-01 1.57180236e-02 2.13507753e+02] [-4.38446583e-01 8.98728883e-01 -7.14067115e-03 -4.50591675e+01] [-1.72574580e-02 -4.74966986e-04 9.99850966e-01 1.07641749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.092320588 meters 0.027071671530797734 Centerline is valid? [True, True] Translation: X:213.54, Y:-45.07, Z:1.08 [[ 8.97428384e-01 4.40868309e-01 1.60446147e-02 2.13537303e+02] [-4.40808336e-01 8.97571643e-01 -7.29088772e-03 -4.50716747e+01] [-1.76155125e-02 -5.29550318e-04 9.99844695e-01 1.07678407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.122320588 meters 0.027462232387398915 Centerline is valid? [True, True] Translation: X:213.57, Y:-45.08, Z:1.08 [[ 8.96189829e-01 4.43336940e-01 1.72089425e-02 2.13567938e+02] [-4.43268351e-01 8.96354827e-01 -7.82258624e-03 -4.50815750e+01] [-1.88933601e-02 -6.17657336e-04 9.99821314e-01 1.07758698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.152320588 meters 0.027271731306705797 Centerline is valid? [True, True] Translation: X:213.60, Y:-45.09, Z:1.08 [[ 8.95953661e-01 4.43849749e-01 1.62615209e-02 2.13598455e+02] [-4.43788544e-01 8.96101027e-01 -7.39447734e-03 -4.50919227e+01] [-1.78540024e-02 -5.91567617e-04 9.99840430e-01 1.07907135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18232058799998 meters 0.02743143556550368 Centerline is valid? [True, True] Translation: X:213.63, Y:-45.10, Z:1.08 [[ 8.95729974e-01 4.44323456e-01 1.56358717e-02 2.13629624e+02] [-4.44266873e-01 8.95866249e-01 -7.11403266e-03 -4.51038492e+01] [-1.71685813e-02 -5.74247535e-04 9.99852444e-01 1.07876174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21232058799998 meters 0.02734848540862434 Centerline is valid? [True, True] Translation: X:213.66, Y:-45.11, Z:1.08 [[ 8.96350979e-01 4.43024185e-01 1.68669742e-02 2.13660662e+02] [-4.42958069e-01 8.96509466e-01 -7.67632121e-03 -4.51136141e+01] [-1.85221979e-02 -5.90684285e-04 9.99828275e-01 1.07852560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24232058799998 meters 0.02724420272623303 Centerline is valid? [True, True] Translation: X:213.69, Y:-45.13, Z:1.08 [[ 8.96876290e-01 4.41971786e-01 1.65487285e-02 2.13691118e+02] [-4.41907916e-01 8.97028780e-01 -7.53407391e-03 -4.51251594e+01] [-1.81745338e-02 -5.55881873e-04 9.99834675e-01 1.07949335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27232058799999 meters 0.027131133912233846 Centerline is valid? [True, True] Translation: X:213.72, Y:-45.14, Z:1.08 [[ 8.97289192e-01 4.41112570e-01 1.70823676e-02 2.13722007e+02] [-4.41044309e-01 8.97451611e-01 -7.77966015e-03 -4.51355721e+01] [-1.87623042e-02 -5.53476026e-04 9.99823819e-01 1.07933371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.302320588 meters 0.026727900146714008 Centerline is valid? [True, True] Translation: X:213.75, Y:-45.14, Z:1.08 [[ 8.98523273e-01 4.38621299e-01 1.63488240e-02 2.13754660e+02] [-4.38558301e-01 8.98671869e-01 -7.44900779e-03 -4.51425171e+01] [-1.79595217e-02 -4.76805622e-04 9.99838601e-01 1.07786350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.332320588 meters 0.02639961229106179 Centerline is valid? [True, True] Translation: X:213.78, Y:-45.15, Z:1.08 [[ 8.99101051e-01 4.37445781e-01 1.60775833e-02 2.13784778e+02] [-4.37384627e-01 8.99244678e-01 -7.32779710e-03 -4.51534782e+01] [-1.76631952e-02 -4.43657709e-04 9.99843895e-01 1.07817571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.362320588 meters 0.026506179956645552 Centerline is valid? [True, True] Translation: X:213.81, Y:-45.17, Z:1.08 [[ 8.99288736e-01 4.37018763e-01 1.71571901e-02 2.13814860e+02] [-4.36948991e-01 8.99452270e-01 -7.82255777e-03 -4.51657188e+01] [-1.88506781e-02 -4.62078790e-04 9.99822203e-01 1.07913984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.392320588 meters 0.026582027177168246 Centerline is valid? [True, True] Translation: X:213.85, Y:-45.17, Z:1.08 [[ 8.99488292e-01 4.36569407e-01 1.81098279e-02 2.13846061e+02] [-4.36491523e-01 8.99670455e-01 -8.25974099e-03 -4.51743938e+01] [-1.98988274e-02 -4.75246059e-04 9.99801886e-01 1.08001682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.422320588 meters 0.026318274042623657 Centerline is valid? [True, True] Translation: X:213.88, Y:-45.18, Z:1.08 [[ 8.99635242e-01 4.36304402e-01 1.71726316e-02 2.13876795e+02] [-4.36234272e-01 8.99799018e-01 -7.83503029e-03 -4.51849371e+01] [-1.88703752e-02 -4.42621049e-04 9.99821841e-01 1.08010138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.452320588 meters 0.026269349687597372 Centerline is valid? [True, True] Translation: X:213.91, Y:-45.20, Z:1.08 [[ 9.00224445e-01 4.35117932e-01 1.63809083e-02 2.13906667e+02] [-4.35053875e-01 9.00373383e-01 -7.47645204e-03 -4.51969477e+01] [-1.80020721e-02 -3.96092728e-04 9.99837871e-01 1.07969169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.482320588 meters 0.026238304251836306 Centerline is valid? [True, True] Translation: X:213.94, Y:-45.21, Z:1.08 [[ 9.00574460e-01 4.34441413e-01 1.50432631e-02 2.13936253e+02] [-4.34387257e-01 9.00700026e-01 -6.86838492e-03 -4.52094669e+01] [-1.65333783e-02 -3.49109759e-04 9.99863253e-01 1.07871336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.512320588 meters 0.026201765001008497 Centerline is valid? [True, True] Translation: X:213.97, Y:-45.22, Z:1.08 [[ 9.01668962e-01 4.32153432e-01 1.53783459e-02 2.13966897e+02] [-4.32096489e-01 9.01800040e-01 -7.02221707e-03 -4.52174554e+01] [-1.69028682e-02 -3.13214086e-04 9.99857087e-01 1.07886299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.542320588 meters 0.02612864364411911 Centerline is valid? [True, True] Translation: X:214.00, Y:-45.23, Z:1.08 [[ 9.01997230e-01 4.31460710e-01 1.55773259e-02 2.13997115e+02] [-4.31402159e-01 9.02131678e-01 -7.11430122e-03 -4.52270890e+01] [-1.71223406e-02 -3.03012015e-04 9.99853356e-01 1.07967964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.572320588 meters 0.02609881418957707 Centerline is valid? [True, True] Translation: X:214.03, Y:-45.24, Z:1.08 [[ 9.02177458e-01 4.31056097e-01 1.63240451e-02 2.14026884e+02] [-4.30991709e-01 9.02325078e-01 -7.45659464e-03 -4.52382899e+01] [-1.79438058e-02 -3.08356486e-04 9.99838949e-01 1.07964533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.602320588 meters 0.02599625666009654 Centerline is valid? [True, True] Translation: X:214.06, Y:-45.25, Z:1.08 [[ 9.02414410e-01 4.30571262e-01 1.60193852e-02 2.14055637e+02] [-4.30509155e-01 9.02556537e-01 -7.31878305e-03 -4.52507280e+01] [-1.76096585e-02 -2.91916713e-04 9.99844895e-01 1.08009481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.632320588 meters 0.025862999331701265 Centerline is valid? [True, True] Translation: X:214.08, Y:-45.26, Z:1.08 [[ 9.03325129e-01 4.28702569e-01 1.47587061e-02 2.14084768e+02] [-4.28649584e-01 9.03445656e-01 -6.74401310e-03 -4.52626302e+01] [-1.62248646e-02 -2.34276709e-04 9.99868341e-01 1.07976692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.662320588 meters 0.025908626670451913 Centerline is valid? [True, True] Translation: X:214.11, Y:-45.27, Z:1.08 [[ 9.03996988e-01 4.27292028e-01 1.45247163e-02 2.14113255e+02] [-4.27240534e-01 9.04113643e-01 -6.63673058e-03 -4.52738282e+01] [-1.59678163e-02 -2.05963103e-04 9.99872485e-01 1.07958452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.692320588 meters 0.02584504852177307 Centerline is valid? [True, True] Translation: X:214.14, Y:-45.29, Z:1.08 [[ 9.04621609e-01 4.25931367e-01 1.55632382e-02 2.14140988e+02] [-4.25872057e-01 9.04755454e-01 -7.11046825e-03 -4.52853337e+01] [-1.71094961e-02 -1.95665043e-04 9.99853603e-01 1.07886644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.722320588 meters 0.02582203482225067 Centerline is valid? [True, True] Translation: X:214.17, Y:-45.30, Z:1.08 [[ 9.06265450e-01 4.22435020e-01 1.52180105e-02 2.14168057e+02] [-4.22377815e-01 9.06393203e-01 -6.95291789e-03 -4.52987317e+01] [-1.67306573e-02 -1.26560787e-04 9.99860025e-01 1.07962566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.752320588 meters 0.025833396945989188 Centerline is valid? [True, True] Translation: X:214.20, Y:-45.31, Z:1.08 [[ 9.06640463e-01 4.21655163e-01 1.44912028e-02 2.14196194e+02] [-4.21603192e-01 9.06756259e-01 -6.62084855e-03 -4.53105228e+01] [-1.59317038e-02 -1.06808160e-04 9.99873077e-01 1.08123196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.782320588 meters 0.025747139406583856 Centerline is valid? [True, True] Translation: X:214.22, Y:-45.32, Z:1.08 [[ 9.07331681e-01 4.20151709e-01 1.48916728e-02 2.14224869e+02] [-4.20096649e-01 9.07453875e-01 -6.80228346e-03 -4.53187190e+01] [-1.63714972e-02 -8.40145583e-05 9.99865975e-01 1.08145569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.812320588 meters 0.025935170471880577 Centerline is valid? [True, True] Translation: X:214.25, Y:-45.33, Z:1.08 [[ 9.07644918e-01 4.19485947e-01 1.45685786e-02 2.14252363e+02] [-4.19433183e-01 9.07761828e-01 -6.65354278e-03 -4.53310826e+01] [-1.60158672e-02 -7.14909833e-05 9.99871735e-01 1.07984865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.842320588 meters 0.025818706751972 Centerline is valid? [True, True] Translation: X:214.28, Y:-45.34, Z:1.08 [[ 9.08065803e-01 4.18622279e-01 1.31105233e-02 2.14279287e+02] [-4.18579464e-01 9.08160440e-01 -5.98728331e-03 -4.53446839e+01] [-1.44128687e-02 -5.09485678e-05 9.99896128e-01 1.08000808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.872320588 meters 0.025864628892033455 Centerline is valid? [True, True] Translation: X:214.31, Y:-45.36, Z:1.08 [[ 9.09065534e-01 4.16439775e-01 1.33329547e-02 2.14305426e+02] [-4.16395278e-01 9.09163304e-01 -6.08764807e-03 -4.53579766e+01] [-1.46569719e-02 -1.77083158e-05 9.99892581e-01 1.08123589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.902320588 meters 0.025929434123945872 Centerline is valid? [True, True] Translation: X:214.33, Y:-45.37, Z:1.08 [[ 9.09553567e-01 4.15384534e-01 1.29614005e-02 2.14331822e+02] [-4.15342508e-01 9.09645914e-01 -5.90865840e-03 -4.53683759e+01] [-1.42446503e-02 -9.17924645e-06 9.99898540e-01 1.08192993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93232058799998 meters 0.025995365833562455 Centerline is valid? [True, True] Translation: X:214.36, Y:-45.38, Z:1.08 [[ 9.09495126e-01 4.15493250e-01 1.35637552e-02 2.14358276e+02] [-4.15447348e-01 9.09596261e-01 -6.17594732e-03 -4.53788814e+01] [-1.49036054e-02 -1.80321315e-05 9.99888935e-01 1.08210133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96232058799998 meters 0.026103136873376592 Centerline is valid? [True, True] Translation: X:214.38, Y:-45.39, Z:1.08 [[ 9.10116137e-01 4.14153661e-01 1.28593410e-02 2.14384993e+02] [-4.14112371e-01 9.10206979e-01 -5.84804040e-03 -4.53902259e+01] [-1.41266493e-02 -2.81625919e-06 9.99900214e-01 1.08066605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99232058799998 meters 0.026102944927287663 Centerline is valid? [True, True] Translation: X:214.41, Y:-45.40, Z:1.08 [[ 9.10384461e-01 4.13552278e-01 1.32153638e-02 2.14410064e+02] [-4.13508732e-01 9.10480375e-01 -6.00131884e-03 -4.54018244e+01] [-1.45141885e-02 -1.16091030e-06 9.99894664e-01 1.08116576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02232058799999 meters 0.026037401022097645 Centerline is valid? [True, True] Translation: X:214.44, Y:-45.41, Z:1.08 [[ 9.10493368e-01 4.13326945e-01 1.27539782e-02 2.14435813e+02] [-4.13286478e-01 9.10582691e-01 -5.78365802e-03 -4.54124167e+01] [-1.40040935e-02 -5.06446661e-06 9.99901938e-01 1.08145302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.052320588 meters 0.02620812972562139 Centerline is valid? [True, True] Translation: X:214.46, Y:-45.42, Z:1.08 [[ 9.10873569e-01 4.12507889e-01 1.21071202e-02 2.14461348e+02] [-4.12471453e-01 9.10954028e-01 -5.48260398e-03 -4.54226401e+01] [-1.32906473e-02 1.17600771e-07 9.99911675e-01 1.08109325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.082320588 meters 0.0260440673600551 Centerline is valid? [True, True] Translation: X:214.49, Y:-45.44, Z:1.08 [[ 9.11389924e-01 4.11371600e-01 1.19085099e-02 2.14486573e+02] [-4.11336350e-01 9.11467721e-01 -5.38519530e-03 -4.54352719e+01] [-1.30695388e-02 9.60973867e-06 9.99914590e-01 1.08138427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.112320588 meters 0.02614357117105258 Centerline is valid? [True, True] Translation: X:214.51, Y:-45.45, Z:1.08 [[ 9.11925138e-01 4.10162493e-01 1.26202719e-02 2.14512088e+02] [-4.10122876e-01 9.12012461e-01 -5.70073658e-03 -4.54476140e+01] [-1.38480735e-02 2.27828060e-05 9.99904111e-01 1.08124368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.142320588 meters 0.026068423794678348 Centerline is valid? [True, True] Translation: X:214.54, Y:-45.46, Z:1.08 [[ 9.12668207e-01 4.08516920e-01 1.22747731e-02 2.14537243e+02] [-4.08479391e-01 9.12750746e-01 -5.53735159e-03 -4.54588668e+01] [-1.34659102e-02 3.97728947e-05 9.99909330e-01 1.08227248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.172320588 meters 0.026068423794678348 Centerline is valid? [True, True] Translation: X:214.56, Y:-45.47, Z:1.08 [[ 9.12880386e-01 4.08042471e-01 1.22777323e-02 2.14562123e+02] [-4.08004988e-01 9.12962946e-01 -5.53078909e-03 -4.54704402e+01] [-1.34659115e-02 3.95728758e-05 9.99909330e-01 1.08241096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.202320588 meters 0.02606413945030671 Centerline is valid? [True, True] Translation: X:214.59, Y:-45.48, Z:1.08 [[ 9.13700610e-01 4.06214227e-01 1.18826434e-02 2.14588389e+02] [-4.06179052e-01 9.13777871e-01 -5.34594498e-03 -4.54813696e+01] [-1.30296955e-02 5.81123578e-05 9.99915108e-01 1.08213621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.232320588 meters 0.02608361185179159 Centerline is valid? [True, True] Translation: X:214.61, Y:-45.49, Z:1.08 [[ 9.14293916e-01 4.04903682e-01 1.09381674e-02 2.14613456e+02] [-4.04873868e-01 9.14359341e-01 -4.91397334e-03 -4.54942856e+01] [-1.19911014e-02 6.42377889e-05 9.99928102e-01 1.08323134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.262320588 meters 0.026050335226924643 Centerline is valid? [True, True] Translation: X:214.64, Y:-45.51, Z:1.08 [[ 9.14827322e-01 4.03708291e-01 1.05159834e-02 2.14638079e+02] [-4.03680731e-01 9.14887759e-01 -4.71769050e-03 -4.55079121e+01] [-1.15255153e-02 7.07722760e-05 9.99933577e-01 1.08459004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.292320588 meters 0.026220178422682948 Centerline is valid? [True, True] Translation: X:214.66, Y:-45.52, Z:1.08 [[ 9.15427443e-01 4.02336746e-01 1.08508040e-02 2.14662182e+02] [-4.02307371e-01 9.15491745e-01 -4.86247764e-03 -4.55245892e+01] [-1.18901749e-02 8.58870482e-05 9.99929306e-01 1.08494912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.322320588 meters 0.02621230321329147 Centerline is valid? [True, True] Translation: X:214.69, Y:-45.54, Z:1.08 [[ 9.15918185e-01 4.01211820e-01 1.10884558e-02 2.14687555e+02] [-4.01181133e-01 9.15985298e-01 -4.96308485e-03 -4.55388293e+01] [-1.21481108e-02 9.73004155e-05 9.99926204e-01 1.08461608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.352320588 meters 0.026427444963028575 Centerline is valid? [True, True] Translation: X:214.71, Y:-45.56, Z:1.08 [[ 9.16458505e-01 4.00002603e-01 1.00859566e-02 2.14712530e+02] [-3.99977129e-01 9.16513997e-01 -4.51548976e-03 -4.55552497e+01] [-1.10501280e-02 1.04107038e-04 9.99938940e-01 1.08343328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.382320588 meters 0.026299935134635077 Centerline is valid? [True, True] Translation: X:214.74, Y:-45.57, Z:1.08 [[ 9.16310360e-01 4.00315753e-01 1.10735138e-02 2.14738635e+02] [-4.00285078e-01 9.16377262e-01 -4.95681124e-03 -4.55694168e+01] [-1.21318059e-02 1.09415144e-04 9.99926401e-01 1.08402795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.412320588 meters 0.026267427997299156 Centerline is valid? [True, True] Translation: X:214.77, Y:-45.58, Z:1.09 [[ 9.15759773e-01 4.01539379e-01 1.22542420e-02 2.14765434e+02] [-4.01501918e-01 9.15841753e-01 -5.48572681e-03 -4.55834691e+01] [-1.34256818e-02 1.03506269e-04 9.99909866e-01 1.08524095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.442320588 meters 0.026223376327244946 Centerline is valid? [True, True] Translation: X:214.79, Y:-45.60, Z:1.09 [[ 9.15369369e-01 4.02423948e-01 1.24050200e-02 2.14793669e+02] [-4.02385623e-01 9.15453416e-01 -5.55452490e-03 -4.55980680e+01] [-1.35914917e-02 9.28402664e-05 9.99907627e-01 1.08641023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.472320588 meters 0.025957823936456993 Centerline is valid? [True, True] Translation: X:214.82, Y:-45.61, Z:1.09 [[ 9.13483624e-01 4.06703064e-01 1.18443066e-02 2.14820037e+02] [-4.06668472e-01 9.13560407e-01 -5.30439612e-03 -4.56149842e+01] [-1.29778037e-02 2.87729412e-05 9.99915784e-01 1.08751243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.502320588 meters 0.026043160529327036 Centerline is valid? [True, True] Translation: X:214.85, Y:-45.63, Z:1.09 [[ 9.12228296e-01 4.09501189e-01 1.21783463e-02 2.14847871e+02] [-4.09464855e-01 9.12309583e-01 -5.45493415e-03 -4.56290366e+01] [-1.33442241e-02 -1.04595126e-05 9.99910962e-01 1.08601260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.532320588 meters 0.026051433614317766 Centerline is valid? [True, True] Translation: X:214.88, Y:-45.64, Z:1.09 [[ 9.11093814e-01 4.12042937e-01 1.13437084e-02 2.14877095e+02] [-4.12011583e-01 9.11164429e-01 -5.08324237e-03 -4.56432322e+01] [-1.24304977e-02 -4.24285798e-05 9.99922737e-01 1.08550968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.562320588 meters 0.026179865889133028 Centerline is valid? [True, True] Translation: X:214.91, Y:-45.66, Z:1.08 [[ 9.09208606e-01 4.16177876e-01 1.16484455e-02 2.14905969e+02] [-4.16145130e-01 9.09283215e-01 -5.22161414e-03 -4.56584987e+01] [-1.27648563e-02 -9.99073758e-05 9.99918521e-01 1.08490750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.592320588 meters 0.026275786225738975 Centerline is valid? [True, True] Translation: X:214.94, Y:-45.67, Z:1.09 [[ 9.08229477e-01 4.18282775e-01 1.25991218e-02 2.14935231e+02] [-4.18244641e-01 9.08316851e-01 -5.64970874e-03 -4.56725430e+01] [-1.38071705e-02 -1.38283179e-04 9.99904667e-01 1.08652136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.622320588 meters 0.02640372967739684 Centerline is valid? [True, True] Translation: X:214.96, Y:-45.69, Z:1.09 [[ 9.07389314e-01 4.20088218e-01 1.30584146e-02 2.14964617e+02] [-4.20047411e-01 9.07483256e-01 -5.85770625e-03 -4.56861754e+01] [-1.43110459e-02 -1.69933173e-04 9.99897577e-01 1.08693933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.652320588 meters 0.026477844953178304 Centerline is valid? [True, True] Translation: X:214.99, Y:-45.70, Z:1.09 [[ 9.06887996e-01 4.21122790e-01 1.44830676e-02 2.14994074e+02] [-4.21072689e-01 9.07003613e-01 -6.49897360e-03 -4.56988851e+01] [-1.58730605e-02 -2.04583059e-04 9.99873994e-01 1.08760276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68232058799998 meters 0.02660280824997827 Centerline is valid? [True, True] Translation: X:215.02, Y:-45.71, Z:1.09 [[ 9.05855725e-01 4.23347722e-01 1.42166127e-02 2.15024090e+02] [-4.23299686e-01 9.05967246e-01 -6.38165256e-03 -4.57103428e+01] [-1.55814435e-02 -2.37031195e-04 9.99878574e-01 1.08812153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71232058799998 meters 0.026600942021148637 Centerline is valid? [True, True] Translation: X:215.05, Y:-45.72, Z:1.09 [[ 9.05527624e-01 4.24037202e-01 1.45662158e-02 2.15053723e+02] [-4.23986827e-01 9.05644736e-01 -6.54086448e-03 -4.57231033e+01] [-1.59653865e-02 -2.52950156e-04 9.99872513e-01 1.08795533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74232058799998 meters 0.02668927921193218 Centerline is valid? [True, True] Translation: X:215.08, Y:-45.74, Z:1.09 [[ 9.05232138e-01 4.24683388e-01 1.40995034e-02 2.15082662e+02] [-4.24636234e-01 9.05341900e-01 -6.33352547e-03 -4.57367014e+01] [-1.54546143e-02 -2.53849225e-04 9.99880538e-01 1.08740748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77232058799999 meters 0.02671096496883788 Centerline is valid? [True, True] Translation: X:215.11, Y:-45.75, Z:1.09 [[ 9.04960109e-01 4.25226611e-01 1.51502244e-02 2.15111846e+02] [-4.25172204e-01 9.05086874e-01 -6.80785059e-03 -4.57511290e+01] [-1.66071485e-02 -2.80621082e-04 9.99862052e-01 1.08722067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.802320588 meters 0.026782026506521527 Centerline is valid? [True, True] Translation: X:215.14, Y:-45.76, Z:1.09 [[ 9.04659256e-01 4.25826472e-01 1.62310160e-02 2.15141395e+02] [-4.25764076e-01 9.04804797e-01 -7.29601766e-03 -4.57638097e+01] [-1.77927386e-02 -3.10173630e-04 9.99841649e-01 1.08870441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.832320588 meters 0.026725927467088333 Centerline is valid? [True, True] Translation: X:215.17, Y:-45.78, Z:1.09 [[ 9.04810310e-01 4.25453554e-01 1.75378735e-02 2.15171962e+02] [-4.25380583e-01 9.04980203e-01 -7.88618776e-03 -4.57754405e+01] [-1.92266349e-02 -3.24766846e-04 9.99815098e-01 1.08880266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.862320588 meters 0.026699379105938496 Centerline is valid? [True, True] Translation: X:215.20, Y:-45.79, Z:1.09 [[ 9.05217273e-01 4.24669188e-01 1.54197938e-02 2.15202381e+02] [-4.24612623e-01 9.05348556e-01 -6.93626876e-03 -4.57855838e+01] [-1.69059077e-02 -2.68608803e-04 9.99857049e-01 1.08787170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.892320588 meters 0.026613367620856306 Centerline is valid? [True, True] Translation: X:215.23, Y:-45.80, Z:1.09 [[ 9.05256606e-01 4.24623585e-01 1.43278679e-02 2.15231874e+02] [-4.24574706e-01 9.05369952e-01 -6.44741022e-03 -4.57983458e+01] [-1.57097435e-02 -2.46689620e-04 9.99876564e-01 1.08810645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.922320588 meters 0.02658442317096808 Centerline is valid? [True, True] Translation: X:215.26, Y:-45.81, Z:1.09 [[ 9.05689010e-01 4.23686670e-01 1.47317065e-02 2.15261791e+02] [-4.23634835e-01 9.05808782e-01 -6.63144932e-03 -4.58112675e+01] [-1.61537658e-02 -2.34833275e-04 9.99869492e-01 1.08804591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.952320588 meters 0.026673219932386232 Centerline is valid? [True, True] Translation: X:215.29, Y:-45.82, Z:1.09 [[ 9.05835737e-01 4.23337580e-01 1.57134082e-02 2.15291846e+02] [-4.23278493e-01 9.05971984e-01 -7.07684735e-03 -4.58237240e+01] [-1.72318030e-02 -2.40686517e-04 9.99851492e-01 1.08839986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.982320588 meters 0.026415256462093337 Centerline is valid? [True, True] Translation: X:215.32, Y:-45.84, Z:1.09 [[ 9.05859484e-01 4.23253691e-01 1.65803726e-02 2.15320980e+02] [-4.23187847e-01 9.06011175e-01 -7.46966046e-03 -4.58365064e+01] [-1.81835643e-02 -2.50149429e-04 9.99834634e-01 1.08865973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.012320588 meters 0.02644872789657667 Centerline is valid? [True, True] Translation: X:215.35, Y:-45.85, Z:1.09 [[ 9.06320349e-01 4.22286121e-01 1.60579559e-02 2.15351186e+02] [-4.22224150e-01 9.06462566e-01 -7.23768211e-03 -4.58490548e+01] [-1.76123086e-02 -2.20398179e-04 9.99844867e-01 1.08915363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.042320588 meters 0.026297793530792538 Centerline is valid? [True, True] Translation: X:215.38, Y:-45.86, Z:1.09 [[ 9.07235053e-01 4.20355616e-01 1.50237638e-02 2.15382130e+02] [-4.20301069e-01 9.07359426e-01 -6.77378297e-03 -4.58591025e+01] [-1.64793514e-02 -1.69090624e-04 9.99864192e-01 1.09029662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.072320588 meters 0.026260189252358245 Centerline is valid? [True, True] Translation: X:215.41, Y:-45.87, Z:1.09 [[ 9.07894331e-01 4.18968171e-01 1.39124025e-02 2.15411326e+02] [-4.18921221e-01 9.08000911e-01 -6.27348683e-03 -4.58705687e+01] [-1.52608654e-02 -1.32537496e-04 9.99883537e-01 1.09050402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.102320588 meters 0.02616577322257476 Centerline is valid? [True, True] Translation: X:215.44, Y:-45.88, Z:1.09 [[ 9.08377168e-01 4.17943157e-01 1.32075423e-02 2.15440000e+02] [-4.17900720e-01 9.08473173e-01 -5.95669473e-03 -4.58825773e+01] [-1.44882577e-02 -1.08515969e-04 9.99895034e-01 1.09017503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.132320588 meters 0.026129742100320666 Centerline is valid? [True, True] Translation: X:215.47, Y:-45.90, Z:1.09 [[ 9.09897797e-01 4.14593372e-01 1.40831389e-02 2.15468336e+02] [-4.14544725e-01 9.10006776e-01 -6.35121221e-03 -4.58950557e+01] [-1.54489223e-02 -5.91369359e-05 9.99880657e-01 1.08940978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.162320588 meters 0.025927954627903524 Centerline is valid? [True, True] Translation: X:215.50, Y:-45.91, Z:1.09 [[ 9.11011805e-01 4.12144127e-01 1.39538515e-02 2.15497207e+02] [-4.12096059e-01 9.11118663e-01 -6.29437266e-03 -4.59079146e+01] [-1.53078033e-02 -1.60794255e-05 9.99882829e-01 1.08967294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.192320588 meters 0.025931801847114962 Centerline is valid? [True, True] Translation: X:215.53, Y:-45.92, Z:1.09 [[ 9.11808390e-01 4.10397197e-01 1.34015041e-02 2.15526185e+02] [-4.10352645e-01 9.11906871e-01 -6.04696514e-03 -4.59211366e+01] [-1.47025812e-02 1.43308966e-05 9.99891911e-01 1.08966523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.222320588 meters 0.02587149384394705 Centerline is valid? [True, True] Translation: X:215.55, Y:-45.93, Z:1.09 [[ 9.12682747e-01 4.08456866e-01 1.31602109e-02 2.15554665e+02] [-4.08413691e-01 9.12777621e-01 -5.93894328e-03 -4.59341551e+01] [-1.44381481e-02 4.55607783e-05 9.99895763e-01 1.09168971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.252320588 meters 0.026214481094737268 Centerline is valid? [True, True] Translation: X:215.58, Y:-45.95, Z:1.09 [[ 9.14646718e-01 4.04009164e-01 1.40704336e-02 2.15582815e+02] [-4.03959265e-01 9.14754929e-01 -6.35077326e-03 -4.59471903e+01] [-1.54367691e-02 1.24831924e-04 9.99880838e-01 1.09195581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.282320588 meters 0.026291484463806622 Centerline is valid? [True, True] Translation: X:215.61, Y:-45.96, Z:1.09 [[ 9.15429563e-01 4.02253480e-01 1.34481890e-02 2.15610821e+02] [-4.02207692e-01 9.15528326e-01 -6.07096019e-03 -4.59603256e+01] [-1.47542628e-02 1.48571375e-04 9.99891139e-01 1.09252099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.312320588 meters 0.026308334309060172 Centerline is valid? [True, True] Translation: X:215.64, Y:-45.97, Z:1.09 [[ 9.16071857e-01 4.00781121e-01 1.36691632e-02 2.15638829e+02] [-4.00733637e-01 9.16173816e-01 -6.17175261e-03 -4.59738313e+01] [-1.49968513e-02 1.76075411e-04 9.99887525e-01 1.09103603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.342320588 meters 0.02637113270566607 Centerline is valid? [True, True] Translation: X:215.67, Y:-45.99, Z:1.09 [[ 9.16471100e-01 3.99883933e-01 1.31743339e-02 2.15666769e+02] [-3.99839717e-01 9.16565767e-01 -5.94934824e-03 -4.59878004e+01] [-1.44541922e-02 1.84783795e-04 9.99895516e-01 1.08962158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.372320588 meters 0.026713162758468315 Centerline is valid? [True, True] Translation: X:215.69, Y:-46.00, Z:1.09 [[ 9.17508349e-01 3.97494928e-01 1.32744987e-02 2.15693904e+02] [-3.97449772e-01 9.17604344e-01 -5.99558001e-03 -4.60029545e+01] [-1.45639503e-02 2.25048231e-04 9.99893915e-01 1.08949260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.402320588 meters 0.02691829704258359 Centerline is valid? [True, True] Translation: X:215.72, Y:-46.02, Z:1.09 [[ 9.17570955e-01 3.97263531e-01 1.56598098e-02 2.15722166e+02] [-3.97200608e-01 9.17704535e-01 -7.07557776e-03 -4.60180204e+01] [-1.71819474e-02 2.72258681e-04 9.99852342e-01 1.08950016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43232058799998 meters 0.027089480275600555 Centerline is valid? [True, True] Translation: X:215.75, Y:-46.04, Z:1.09 [[ 9.18294892e-01 3.95567028e-01 1.61622432e-02 2.15749341e+02] [-3.95499697e-01 9.18437056e-01 -7.30501332e-03 -4.60353048e+01] [-1.77336254e-02 3.15994148e-04 9.99842697e-01 1.09031929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46232058799998 meters 0.027079129584628044 Centerline is valid? [True, True] Translation: X:215.78, Y:-46.05, Z:1.09 [[ 9.18590528e-01 3.94962804e-01 1.39937719e-02 2.15777551e+02] [-3.94912226e-01 9.18697067e-01 -6.32711295e-03 -4.60511610e+01] [-1.53550115e-02 2.85714403e-04 9.99882064e-01 1.09052624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49232058799998 meters 0.027168219152255868 Centerline is valid? [True, True] Translation: X:215.81, Y:-46.07, Z:1.09 [[ 9.18900228e-01 3.94258339e-01 1.35178798e-02 2.15805342e+02] [-3.94211035e-01 9.18999608e-01 -6.11402892e-03 -4.60672887e+01] [-1.48334331e-02 2.89285176e-04 9.99889937e-01 1.08967536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52232058799999 meters 0.026982228135862207 Centerline is valid? [True, True] Translation: X:215.83, Y:-46.08, Z:1.09 [[ 9.18962521e-01 3.94150347e-01 1.23850037e-02 2.15833142e+02] [-3.94110604e-01 9.19045936e-01 -5.60357830e-03 -4.60839531e+01] [-1.35910397e-02 2.68417148e-04 9.99907602e-01 1.09005796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.552320588 meters 0.027001765840553065 Centerline is valid? [True, True] Translation: X:215.86, Y:-46.10, Z:1.09 [[ 9.18828918e-01 3.94481883e-01 1.17244550e-02 2.15861024e+02] [-3.94446270e-01 9.18903684e-01 -5.30654760e-03 -4.61010139e+01] [-1.28669818e-02 2.51141861e-04 9.99917185e-01 1.08907946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.582320588 meters 0.0269582380053149 Centerline is valid? [True, True] Translation: X:215.89, Y:-46.12, Z:1.09 [[ 9.18513766e-01 3.95166784e-01 1.32542042e-02 2.15886842e+02] [-3.95121324e-01 9.18609350e-01 -6.00017294e-03 -4.61207926e+01] [-1.45465050e-02 2.74222740e-04 9.99894156e-01 1.08964417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.612320588 meters 0.026926759204758073 Centerline is valid? [True, True] Translation: X:215.92, Y:-46.14, Z:1.09 [[ 9.17779979e-01 3.96854902e-01 1.36416940e-02 2.15915073e+02] [-3.96806898e-01 9.17881322e-01 -6.17781985e-03 -4.61361057e+01] [-1.49731542e-02 2.56761110e-04 9.99887863e-01 1.09028542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.642320588 meters 0.02662043453930745 Centerline is valid? [True, True] Translation: X:215.94, Y:-46.15, Z:1.09 [[ 9.16807856e-01 3.99139199e-01 1.22986154e-02 2.15943526e+02] [-3.99100361e-01 9.16890321e-01 -5.57152629e-03 -4.61507195e+01] [-1.35002959e-02 1.99637244e-04 9.99908847e-01 1.09090873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.672320588 meters 0.026072803108091472 Centerline is valid? [True, True] Translation: X:215.97, Y:-46.17, Z:1.09 [[ 9.14432500e-01 4.04613278e-01 1.00646750e-02 2.15969980e+02] [-4.04587575e-01 9.14487881e-01 -4.56174069e-03 -4.61697061e+01] [-1.10497642e-02 9.93614978e-05 9.99938945e-01 1.09140150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.702320588 meters 0.026151710928716848 Centerline is valid? [True, True] Translation: X:216.00, Y:-46.19, Z:1.09 [[ 9.13158221e-01 4.07460020e-01 1.08810111e-02 2.15997700e+02] [-4.07430146e-01 9.13223044e-01 -4.93443953e-03 -4.61878944e+01] [-1.19473769e-02 7.26720941e-05 9.99928625e-01 1.09101014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.732320588 meters 0.025864429243120737 Centerline is valid? [True, True] Translation: X:216.02, Y:-46.21, Z:1.09 [[ 9.11875698e-01 4.10286909e-01 1.21393188e-02 2.16024842e+02] [-4.10249958e-01 9.11956496e-01 -5.50648732e-03 -4.62054974e+01] [-1.33297703e-02 4.10769479e-05 9.99911154e-01 1.09156058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.762320588 meters 0.026001713667064642 Centerline is valid? [True, True] Translation: X:216.05, Y:-46.22, Z:1.09 [[ 9.10804309e-01 4.12613940e-01 1.36105671e-02 2.16052673e+02] [-4.12567620e-01 9.10905998e-01 -6.18243924e-03 -4.62208330e+01] [-1.49489079e-02 1.57130087e-05 9.99888259e-01 1.09211908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.792320588 meters 0.026089474216093703 Centerline is valid? [True, True] Translation: X:216.08, Y:-46.24, Z:1.09 [[ 9.08561465e-01 4.17541236e-01 1.32431600e-02 2.16082125e+02] [-4.17497773e-01 9.08657974e-01 -6.02460899e-03 -4.62355322e+01] [-1.45490257e-02 -5.52622624e-05 9.99894156e-01 1.09165769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.822320588 meters 0.02615131992875047 Centerline is valid? [True, True] Translation: X:216.11, Y:-46.25, Z:1.09 [[ 9.07630134e-01 4.19580636e-01 1.26344497e-02 2.16111749e+02] [-4.19541162e-01 9.07718064e-01 -5.75581402e-03 -4.62507134e+01] [-1.38835463e-02 -7.65214578e-05 9.99903616e-01 1.09053508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.852320588 meters 0.02620413140814544 Centerline is valid? [True, True] Translation: X:216.14, Y:-46.27, Z:1.09 [[ 9.06358810e-01 4.22382296e-01 1.03394195e-02 2.16139717e+02] [-4.22355976e-01 9.06417778e-01 -4.71616195e-03 -4.62667785e+01] [-1.13638570e-02 -9.23806835e-05 9.99935425e-01 1.09068036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.882320588 meters 0.02618196971102781 Centerline is valid? [True, True] Translation: X:216.17, Y:-46.28, Z:1.09 [[ 9.04939024e-01 4.25414344e-01 1.03922226e-02 2.16167561e+02] [-4.25387888e-01 9.04998685e-01 -4.74605587e-03 -4.62827828e+01] [-1.14239881e-02 -1.25834463e-04 9.99934736e-01 1.09253781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.912320588 meters 0.026457162462564746 Centerline is valid? [True, True] Translation: X:216.20, Y:-46.30, Z:1.10 [[ 9.02322113e-01 4.30931959e-01 1.06043208e-02 2.16196444e+02] [-4.30904723e-01 9.02384402e-01 -4.84880750e-03 -4.62972140e+01] [-1.16586798e-02 -1.94265695e-04 9.99932016e-01 1.09649695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.942320588 meters 0.0266159595606257 Centerline is valid? [True, True] Translation: X:216.23, Y:-46.31, Z:1.10 [[ 9.01226581e-01 4.33218454e-01 1.06029062e-02 2.16226388e+02] [-4.33191314e-01 9.01288923e-01 -4.85404050e-03 -4.63092474e+01] [-1.16591419e-02 -2.18496568e-04 9.99932006e-01 1.09641729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.972320588 meters 0.02681984453672626 Centerline is valid? [True, True] Translation: X:216.26, Y:-46.32, Z:1.09 [[ 9.00154945e-01 4.35398495e-01 1.22158078e-02 2.16256301e+02] [-4.35362585e-01 9.00237787e-01 -5.59885197e-03 -4.63222542e+01] [-1.34348635e-02 -2.78471371e-04 9.99909709e-01 1.09354589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.002320588 meters 0.027046069115269637 Centerline is valid? [True, True] Translation: X:216.29, Y:-46.34, Z:1.09 [[ 8.99628192e-01 4.36458931e-01 1.31422196e-02 2.16285750e+02] [-4.36417377e-01 8.99724127e-01 -6.03053404e-03 -4.63357458e+01] [-1.44564525e-02 -3.10254598e-04 9.99895452e-01 1.09215180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.032320588 meters 0.02718282441186331 Centerline is valid? [True, True] Translation: X:216.32, Y:-46.35, Z:1.09 [[ 8.99068133e-01 4.37626241e-01 1.26398654e-02 2.16315779e+02] [-4.37587800e-01 8.99156926e-01 -5.80852957e-03 -4.63494673e+01] [-1.39071875e-02 -3.08787072e-04 9.99903243e-01 1.09263313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.062320588 meters 0.02722450955089678 Centerline is valid? [True, True] Translation: X:216.34, Y:-46.36, Z:1.09 [[ 8.98519800e-01 4.38722511e-01 1.35914672e-02 2.16344835e+02] [-4.38678097e-01 8.98622523e-01 -6.25199975e-03 -4.63621496e+01] [-1.49564916e-02 -3.44733432e-04 9.99888086e-01 1.09386713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.092320588 meters 0.02722450955089678 Centerline is valid? [True, True] Translation: X:216.37, Y:-46.38, Z:1.09 [[ 8.98290265e-01 4.39192403e-01 1.35879851e-02 2.16374522e+02] [-4.39147929e-01 8.98392962e-01 -6.25956594e-03 -4.63754819e+01] [-1.49565040e-02 -3.44228393e-04 9.99888086e-01 1.09403106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.122320588 meters 0.027231622434844054 Centerline is valid? [True, True] Translation: X:216.41, Y:-46.39, Z:1.10 [[ 8.97468690e-01 4.40894200e-01 1.27379283e-02 2.16405375e+02] [-4.40855171e-01 8.97559016e-01 -5.87622904e-03 -4.63881159e+01] [-1.40238377e-02 -3.41849968e-04 9.99901603e-01 1.09696300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.152320588 meters 0.027328992505499534 Centerline is valid? [True, True] Translation: X:216.44, Y:-46.40, Z:1.10 [[ 8.97015742e-01 4.41800027e-01 1.32474625e-02 2.16435174e+02] [-4.41757812e-01 8.97113484e-01 -6.11818542e-03 -4.64009938e+01] [-1.45874917e-02 -3.64061408e-04 9.99893531e-01 1.09675956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18232058799998 meters 0.02746525179888571 Centerline is valid? [True, True] Translation: X:216.47, Y:-46.41, Z:1.10 [[ 8.96772051e-01 4.42287347e-01 1.34830179e-02 2.16465448e+02] [-4.42243605e-01 8.96873326e-01 -6.23152167e-03 -4.64130305e+01] [-1.48486823e-02 -3.74523964e-04 9.99889682e-01 1.09594392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21232058799998 meters 0.027681826439511323 Centerline is valid? [True, True] Translation: X:216.50, Y:-46.42, Z:1.09 [[ 8.96190669e-01 4.43451115e-01 1.39065757e-02 2.16496234e+02] [-4.43404594e-01 8.96298471e-01 -6.43557314e-03 -4.64229966e+01] [-1.53183046e-02 -3.98738957e-04 9.99882588e-01 1.09409437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24232058799998 meters 0.02753683166890812 Centerline is valid? [True, True] Translation: X:216.53, Y:-46.44, Z:1.09 [[ 8.95677468e-01 4.44480118e-01 1.41173242e-02 2.16527389e+02] [-4.44432161e-01 8.95788621e-01 -6.54224814e-03 -4.64352174e+01] [-1.55540376e-02 -4.14448647e-04 9.99878943e-01 1.09392222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27232058799999 meters 0.027479101219214465 Centerline is valid? [True, True] Translation: X:216.56, Y:-46.45, Z:1.10 [[ 8.95316318e-01 4.45276127e-01 1.17414390e-02 2.16557189e+02] [-4.45242936e-01 8.95393237e-01 -5.44784797e-03 -4.64478631e+01] [-1.29390017e-02 -3.50245579e-04 9.99916226e-01 1.09546848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.302320588 meters 0.02774157628201783 Centerline is valid? [True, True] Translation: X:216.59, Y:-46.46, Z:1.10 [[ 8.94808536e-01 4.46284984e-01 1.21406978e-02 2.16587479e+02] [-4.46249591e-01 8.94890815e-01 -5.63314064e-03 -4.64582568e+01] [-1.33785850e-02 -3.77199072e-04 9.99910432e-01 1.09725497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.332320588 meters 0.027712979568239524 Centerline is valid? [True, True] Translation: X:216.62, Y:-46.47, Z:1.10 [[ 8.94554444e-01 4.46791970e-01 1.22181338e-02 2.16617514e+02] [-4.46756145e-01 8.94637797e-01 -5.67100360e-03 -4.64691437e+01] [-1.34645632e-02 -3.85504894e-04 9.99909274e-01 1.09791576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.362320588 meters 0.027759167540619252 Centerline is valid? [True, True] Translation: X:216.65, Y:-46.48, Z:1.10 [[ 8.94045551e-01 4.47804780e-01 1.23867153e-02 2.16648041e+02] [-4.47768021e-01 8.94131263e-01 -5.75185113e-03 -4.64796547e+01] [-1.36510558e-02 -4.03958067e-04 9.99906738e-01 1.09790764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.392320588 meters 0.02801572700316669 Centerline is valid? [True, True] Translation: X:216.68, Y:-46.49, Z:1.10 [[ 8.93097412e-01 4.49749523e-01 1.01182794e-02 2.16679150e+02] [-4.49725102e-01 8.93154657e-01 -4.70009737e-03 -4.64887016e+01] [-1.11510549e-02 -3.52799416e-04 9.99937763e-01 1.09580294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.422320588 meters 0.028118140554611995 Centerline is valid? [True, True] Translation: X:216.71, Y:-46.50, Z:1.10 [[ 8.92525546e-01 4.50910690e-01 8.81474193e-03 2.16709669e+02] [-4.50892197e-01 8.92569016e-01 -4.09607239e-03 -4.64997896e+01] [-9.71472836e-03 -3.18649108e-04 9.99952760e-01 1.09621690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.452320588 meters 0.02832852428611983 Centerline is valid? [True, True] Translation: X:216.74, Y:-46.51, Z:1.10 [[ 8.92042209e-01 4.51879309e-01 8.11097228e-03 2.16739982e+02] [-4.51863680e-01 8.92079032e-01 -3.77038970e-03 -4.65111099e+01] [-8.93938939e-03 -3.01707024e-04 9.99959997e-01 1.09603287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.482320588 meters 0.028408496647879835 Centerline is valid? [True, True] Translation: X:216.77, Y:-46.52, Z:1.10 [[ 8.92029852e-01 4.51896829e-01 8.48518503e-03 2.16770977e+02] [-4.51879704e-01 8.92070153e-01 -3.94666540e-03 -4.65227135e+01] [-9.35286589e-03 -3.13739542e-04 9.99956212e-01 1.09676366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.512320588 meters 0.027957063945649688 Centerline is valid? [True, True] Translation: X:216.80, Y:-46.53, Z:1.10 [[ 8.92861384e-01 4.50216849e-01 1.01654789e-02 2.16801739e+02] [-4.50192149e-01 8.92919181e-01 -4.72922952e-03 -4.65325163e+01] [-1.12061299e-02 -3.53872355e-04 9.99937147e-01 1.09836167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.542320588 meters 0.02796665585633095 Centerline is valid? [True, True] Translation: X:216.83, Y:-46.54, Z:1.10 [[ 8.93099407e-01 4.49749896e-01 9.92368458e-03 2.16831175e+02] [-4.49726311e-01 8.93154475e-01 -4.61833964e-03 -4.65446386e+01] [-1.09404811e-02 -3.38305662e-04 9.99940094e-01 1.09934332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.572320588 meters 0.027584773946652125 Centerline is valid? [True, True] Translation: X:216.86, Y:-46.55, Z:1.10 [[ 8.94297706e-01 4.47354085e-01 1.02925442e-02 2.16863467e+02] [-4.47328537e-01 8.94356876e-01 -4.79160542e-03 -4.65514425e+01] [-1.13487519e-02 -3.19027008e-04 9.99935550e-01 1.09980786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.602320588 meters 0.0273389029514816 Centerline is valid? [True, True] Translation: X:216.89, Y:-46.56, Z:1.10 [[ 8.94615933e-01 4.46754294e-01 8.54012163e-03 2.16894283e+02] [-4.46736664e-01 8.94656657e-01 -3.97726712e-03 -4.65610735e+01] [-9.41733784e-03 -2.57058910e-04 9.99955623e-01 1.09944465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.632320588 meters 0.027262689886806496 Centerline is valid? [True, True] Translation: X:216.92, Y:-46.57, Z:1.10 [[ 8.94744313e-01 4.46521956e-01 7.12435095e-03 2.16924325e+02] [-4.46509677e-01 8.94772651e-01 -3.31824491e-03 -4.65717196e+01] [-7.85634360e-03 -2.12110879e-04 9.99969116e-01 1.09887671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.662320588 meters 0.02731130114610539 Centerline is valid? [True, True] Translation: X:216.95, Y:-46.58, Z:1.10 [[ 8.94606530e-01 4.46807070e-01 6.52674740e-03 2.16952755e+02] [-4.46796774e-01 8.94630317e-01 -3.03957130e-03 -4.65825773e+01] [-7.19712804e-03 -1.96909352e-04 9.99974081e-01 1.09993191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.692320588 meters 0.027381587691435963 Centerline is valid? [True, True] Translation: X:216.98, Y:-46.59, Z:1.10 [[ 8.94246629e-01 4.47476732e-01 9.35636381e-03 2.16981753e+02] [-4.47455622e-01 8.94295527e-01 -4.35624624e-03 -4.65909724e+01] [-1.03166731e-02 -2.90999074e-04 9.99946739e-01 1.10046332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.722320588 meters 0.02718968107252312 Centerline is valid? [True, True] Translation: X:217.01, Y:-46.60, Z:1.10 [[ 8.94581816e-01 4.46793936e-01 9.92737866e-03 2.17010586e+02] [-4.46770124e-01 8.94636848e-01 -4.62249085e-03 -4.66015476e+01] [-1.09466996e-02 -3.00059934e-04 9.99940038e-01 1.10156815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.752320588 meters 0.02698786430025334 Centerline is valid? [True, True] Translation: X:217.04, Y:-46.61, Z:1.10 [[ 8.94948818e-01 4.46047179e-01 1.04176512e-02 2.17038083e+02] [-4.46020920e-01 8.95009397e-01 -4.84958372e-03 -4.66116355e+01] [-1.14870389e-02 -3.06361167e-04 9.99933975e-01 1.10172719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.782320588 meters 0.026920555773481274 Centerline is valid? [True, True] Translation: X:217.07, Y:-46.62, Z:1.10 [[ 8.95295231e-01 4.45355609e-01 1.02386642e-02 2.17065639e+02] [-4.45330209e-01 8.95353726e-01 -4.76543718e-03 -4.66215806e+01] [-1.12895403e-02 -2.93113297e-04 9.99936228e-01 1.10257526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.812320588 meters 0.026581587529553613 Centerline is valid? [True, True] Translation: X:217.09, Y:-46.63, Z:1.10 [[ 8.96498121e-01 4.42932889e-01 1.00784542e-02 2.17094911e+02] [-4.42908212e-01 8.96554731e-01 -4.68300645e-03 -4.66270028e+01] [-1.11101434e-02 -2.65523638e-04 9.99938245e-01 1.10281192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.842320588 meters 0.026486649079224833 Centerline is valid? [True, True] Translation: X:217.12, Y:-46.64, Z:1.10 [[ 8.97557797e-01 4.40807282e-01 8.88484664e-03 2.17122162e+02] [-4.40788052e-01 8.97601746e-01 -4.12308871e-03 -4.66361326e+01] [-9.79254138e-03 -2.15623816e-04 9.99952029e-01 1.10315882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.872320588 meters 0.02625878140535451 Centerline is valid? [True, True] Translation: X:217.15, Y:-46.65, Z:1.10 [[ 8.98549272e-01 4.38780726e-01 8.98221620e-03 2.17149020e+02] [-4.38761019e-01 8.98594144e-01 -4.16330022e-03 -4.66464052e+01] [-9.89814276e-03 -2.00115955e-04 9.99950992e-01 1.10255418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.902320588 meters 0.025938815749335105 Centerline is valid? [True, True] Translation: X:217.18, Y:-46.66, Z:1.10 [[ 9.00126891e-01 4.35569390e-01 7.13341249e-03 2.17175975e+02] [-4.35556896e-01 9.00155147e-01 -3.30183008e-03 -4.66567163e+01] [-7.85935408e-03 -1.34940955e-04 9.99969106e-01 1.10184807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93232058799998 meters 0.0258840305979064 Centerline is valid? [True, True] Translation: X:217.20, Y:-46.67, Z:1.10 [[ 9.01095214e-01 4.33559098e-01 7.34325665e-03 2.17202759e+02] [-4.33545824e-01 9.01125126e-01 -3.39495629e-03 -4.66670682e+01] [-8.08910726e-03 -1.24459386e-04 9.99967275e-01 1.10172253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96232058799998 meters 0.0257368748217863 Centerline is valid? [True, True] Translation: X:217.23, Y:-46.68, Z:1.10 [[ 9.02029432e-01 4.31609160e-01 7.51246307e-03 2.17230079e+02] [-4.31595234e-01 9.02060707e-01 -3.46903352e-03 -4.66767773e+01] [-8.27396440e-03 -1.13172923e-04 9.99965764e-01 1.10224324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99232058799998 meters 0.02553916338194171 Centerline is valid? [True, True] Translation: X:217.26, Y:-46.69, Z:1.10 [[ 9.03004386e-01 4.29539536e-01 8.88068267e-03 2.17256333e+02] [-4.29520028e-01 9.03048046e-01 -4.09531248e-03 -4.66859838e+01] [-9.77878176e-03 -1.16345939e-04 9.99952180e-01 1.10277357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02232058799999 meters 0.02533982626919604 Centerline is valid? [True, True] Translation: X:217.28, Y:-46.69, Z:1.10 [[ 9.03816953e-01 4.27852134e-01 7.58064207e-03 2.17283976e+02] [-4.27837897e-01 9.03848739e-01 -3.49144904e-03 -4.66949292e+01] [-8.34557770e-03 -8.76551274e-05 9.99965171e-01 1.10354453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.052320588 meters 0.025378606572176828 Centerline is valid? [True, True] Translation: X:217.31, Y:-46.70, Z:1.10 [[ 9.04295895e-01 4.26828520e-01 8.14548329e-03 2.17309825e+02] [-4.26812089e-01 9.04332575e-01 -3.74627966e-03 -4.67048832e+01] [-8.96524489e-03 -8.88454187e-05 9.99959807e-01 1.10324893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.082320588 meters 0.025291196899071253 Centerline is valid? [True, True] Translation: X:217.34, Y:-46.71, Z:1.10 [[ 9.05087211e-01 4.25150789e-01 7.99672126e-03 2.17336291e+02] [-4.25134932e-01 9.05122534e-01 -3.67271478e-03 -4.67143289e+01] [-8.79947020e-03 -7.55583738e-05 9.99961281e-01 1.10368957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.112320588 meters 0.025221099392823035 Centerline is valid? [True, True] Translation: X:217.36, Y:-46.72, Z:1.10 [[ 9.06546801e-01 4.22023401e-01 8.31546997e-03 2.17364760e+02] [-4.22006169e-01 9.06584936e-01 -3.81397252e-03 -4.67201148e+01] [-9.14826546e-03 -5.16350453e-05 9.99958152e-01 1.10268078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.142320588 meters 0.025052017071020973 Centerline is valid? [True, True] Translation: X:217.39, Y:-46.73, Z:1.10 [[ 9.07740078e-01 4.19448668e-01 8.41220344e-03 2.17390763e+02] [-4.19430972e-01 9.07779056e-01 -3.85306697e-03 -4.67297372e+01] [-9.25258590e-03 -3.07553466e-05 9.99957193e-01 1.10281177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.172320588 meters 0.02514077939593098 Centerline is valid? [True, True] Translation: X:217.42, Y:-46.74, Z:1.10 [[ 9.08710405e-01 4.17350450e-01 8.00013737e-03 2.17416103e+02] [-4.17334410e-01 9.08745620e-01 -3.65911898e-03 -4.67409755e+01] [-8.79722475e-03 -1.36531158e-05 9.99961304e-01 1.10195208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.202320588 meters 0.02503785345139738 Centerline is valid? [True, True] Translation: X:217.44, Y:-46.75, Z:1.10 [[ 9.10853802e-01 4.12685620e-01 5.99426161e-03 2.17442573e+02] [-4.12676537e-01 9.10873525e-01 -2.73803351e-03 -4.67514659e+01] [-6.58996126e-03 2.02571081e-05 9.99978286e-01 1.10198461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.232320588 meters 0.025106353329216506 Centerline is valid? [True, True] Translation: X:217.47, Y:-46.76, Z:1.10 [[ 9.11781268e-01 4.10651615e-01 4.49109711e-03 2.17469073e+02] [-4.10646510e-01 9.11792329e-01 -2.04768573e-03 -4.67604053e+01] [-4.93583334e-03 2.27881377e-05 9.99987818e-01 1.10279767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.262320588 meters 0.025028946202936057 Centerline is valid? [True, True] Translation: X:217.50, Y:-46.77, Z:1.10 [[ 9.12477946e-01 4.09113766e-01 3.15041768e-03 2.17495827e+02] [-4.09111255e-01 9.12483384e-01 -1.43359741e-03 -4.67693129e+01] [-3.46120822e-03 1.92546935e-05 9.99994010e-01 1.10349296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.292320588 meters 0.0250151047026642 Centerline is valid? [True, True] Translation: X:217.52, Y:-46.78, Z:1.11 [[ 9.13658580e-01 4.06454762e-01 4.74619314e-03 2.17522537e+02] [-4.06449030e-01 9.13670906e-01 -2.15902272e-03 -4.67789707e+01] [-5.21400365e-03 4.35240304e-05 9.99986406e-01 1.10580862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.322320588 meters 0.0250857521169607 Centerline is valid? [True, True] Translation: X:217.55, Y:-46.79, Z:1.11 [[ 9.14141547e-01 4.05342427e-01 6.53824944e-03 2.17547975e+02] [-4.05331539e-01 9.14164927e-01 -2.97167133e-03 -4.67925159e+01] [-7.18158279e-03 6.63695207e-05 9.99974210e-01 1.10675125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.352320588 meters 0.02518985208418665 Centerline is valid? [True, True] Translation: X:217.57, Y:-46.81, Z:1.11 [[ 9.14650671e-01 4.04173668e-01 7.60231968e-03 2.17573180e+02] [-4.04158939e-01 9.14682261e-01 -3.45158964e-03 -4.68056121e+01] [-8.34874860e-03 8.44533270e-05 9.99965145e-01 1.10543579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.382320588 meters 0.02511314680882409 Centerline is valid? [True, True] Translation: X:217.60, Y:-46.82, Z:1.11 [[ 9.15363702e-01 4.02564135e-01 7.17009619e-03 2.17598757e+02] [-4.02551021e-01 9.15391779e-01 -3.25054645e-03 -4.68169721e+01] [-7.87200053e-03 8.91026904e-05 9.99969011e-01 1.10557038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.412320588 meters 0.02531094458980859 Centerline is valid? [True, True] Translation: X:217.63, Y:-46.83, Z:1.10 [[ 9.16660945e-01 3.99614533e-01 6.39815388e-03 2.17625295e+02] [-3.99604042e-01 9.16683269e-01 -2.89729786e-03 -4.68285001e+01] [-7.02288294e-03 9.91116415e-05 9.99975334e-01 1.10325542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.442320588 meters 0.02539252102053243 Centerline is valid? [True, True] Translation: X:217.65, Y:-46.84, Z:1.10 [[ 9.17374928e-01 3.97996300e-01 4.71022972e-03 2.17649875e+02] [-3.97990613e-01 9.17387017e-01 -2.12907586e-03 -4.68427776e+01] [-5.16846791e-03 7.85335997e-05 9.99986640e-01 1.10338744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.472320588 meters 0.025468730429564282 Centerline is valid? [True, True] Translation: X:217.67, Y:-46.86, Z:1.10 [[ 9.18299793e-01 3.95860210e-01 4.49275847e-03 2.17673818e+02] [-3.95855021e-01 9.18310779e-01 -2.02864300e-03 -4.68593252e+01] [-4.92880758e-03 8.44214462e-05 9.99987850e-01 1.10352475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.502320588 meters 0.025985728473267147 Centerline is valid? [True, True] Translation: X:217.70, Y:-46.88, Z:1.10 [[ 9.19283431e-01 3.93531696e-01 7.12589494e-03 2.17696319e+02] [-3.93518590e-01 9.19311036e-01 -3.21525111e-03 -4.68789036e+01] [-7.81621708e-03 1.51554943e-04 9.99969441e-01 1.10450837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.532320588 meters 0.025744553562251176 Centerline is valid? [True, True] Translation: X:217.72, Y:-46.89, Z:1.11 [[ 9.19557054e-01 3.92894305e-01 6.99212822e-03 2.17721145e+02] [-3.92881700e-01 9.19583625e-01 -3.15079536e-03 -4.68922387e+01] [-7.66777616e-03 1.50256878e-04 9.99970591e-01 1.10508937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.562320588 meters 0.025588866929294313 Centerline is valid? [True, True] Translation: X:217.75, Y:-46.91, Z:1.11 [[ 9.18760101e-01 3.94786796e-01 4.82305223e-03 2.17746604e+02] [-3.94780842e-01 9.18772756e-01 -2.17014718e-03 -4.69054641e+01] [-5.28803444e-03 8.97960218e-05 9.99986014e-01 1.10551378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.592320588 meters 0.024865404088913894 Centerline is valid? [True, True] Translation: X:217.77, Y:-46.92, Z:1.10 [[ 9.15911245e-01 4.01350642e-01 4.92480293e-03 2.17769740e+02] [-4.01344540e-01 9.15924484e-01 -2.21372281e-03 -4.69241723e+01] [-5.39922665e-03 5.10308519e-05 9.99985423e-01 1.10318394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.622320588 meters 0.02455899784168619 Centerline is valid? [True, True] Translation: X:217.79, Y:-46.94, Z:1.10 [[ 9.14284847e-01 4.05047162e-01 4.47383005e-03 2.17794216e+02] [-4.05042183e-01 9.14295793e-01 -2.00850873e-03 -4.69411482e+01] [-4.90394475e-03 2.42592126e-05 9.99987975e-01 1.10299983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.652320588 meters 0.02441285188462084 Centerline is valid? [True, True] Translation: X:217.82, Y:-46.96, Z:1.10 [[ 9.12953121e-01 4.08011442e-01 6.57739189e-03 2.17817546e+02] [-4.08000782e-01 9.12976814e-01 -2.94932795e-03 -4.69565014e+01] [-7.20836585e-03 9.01712423e-06 9.99974019e-01 1.10367486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68232058799998 meters 0.024431845131631165 Centerline is valid? [True, True] Translation: X:217.84, Y:-46.97, Z:1.10 [[ 9.11945984e-01 4.10262851e-01 6.23820641e-03 2.17841952e+02] [-4.10253343e-01 9.11967320e-01 -2.79312883e-03 -4.69703016e+01] [-6.83495738e-03 -1.20624134e-05 9.99976641e-01 1.10366562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71232058799998 meters 0.024422337378706003 Centerline is valid? [True, True] Translation: X:217.87, Y:-46.98, Z:1.10 [[ 9.09864237e-01 4.14890514e-01 3.59590282e-03 2.17865563e+02] [-4.14887404e-01 9.09871343e-01 -1.60691936e-03 -4.69847977e+01] [-3.93850453e-03 -2.98163291e-05 9.99992244e-01 1.10439863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74232058799998 meters 0.024442397215867384 Centerline is valid? [True, True] Translation: X:217.89, Y:-47.00, Z:1.10 [[ 9.09189212e-01 4.16372022e-01 3.05233106e-03 2.17889990e+02] [-4.16369797e-01 9.09194335e-01 -1.36145855e-03 -4.69981815e+01] [-3.34203536e-03 -3.30750407e-05 9.99994415e-01 1.10406436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77232058799999 meters 0.024538008066916715 Centerline is valid? [True, True] Translation: X:217.92, Y:-47.01, Z:1.10 [[ 9.08647221e-01 4.17559984e-01 1.97178933e-03 2.17915268e+02] [-4.17559063e-01 9.08649360e-01 -8.77220038e-04 -4.70111311e+01] [-2.15795710e-03 -2.62549559e-05 9.99997671e-01 1.10496862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.802320588 meters 0.024702069511818178 Centerline is valid? [True, True] Translation: X:217.94, Y:-47.02, Z:1.11 [[ 9.07235867e-01 4.20619992e-01 1.38002925e-03 2.17942632e+02] [-4.20619547e-01 9.07236916e-01 -6.12716669e-04 -4.70203238e+01] [-1.50973436e-03 -2.45887403e-05 9.99998860e-01 1.10622850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.832320588 meters 0.02494007106982329 Centerline is valid? [True, True] Translation: X:217.97, Y:-47.03, Z:1.11 [[ 9.06781989e-01 4.21595460e-01 1.92142514e-03 2.17969638e+02] [-4.21594599e-01 9.06784024e-01 -8.53007910e-04 -4.70300296e+01] [-2.10194189e-03 -3.65702537e-05 9.99997790e-01 1.10633629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.862320588 meters 0.024986412890988578 Centerline is valid? [True, True] Translation: X:218.00, Y:-47.04, Z:1.11 [[ 9.06032722e-01 4.23199661e-01 2.59863519e-03 2.17996638e+02] [-4.23198093e-01 9.06036447e-01 -1.15313592e-03 -4.70407039e+01] [-2.84246493e-03 -5.49585847e-05 9.99995959e-01 1.10643517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.892320588 meters 0.02530905216486328 Centerline is valid? [True, True] Translation: X:218.02, Y:-47.05, Z:1.11 [[ 9.05267226e-01 4.24818456e-01 4.53086820e-03 2.18022607e+02] [-4.24813715e-01 9.05278558e-01 -2.00989239e-03 -4.70529649e+01] [-4.95553721e-03 -1.05285238e-04 9.99987716e-01 1.10602517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.922320588 meters 0.025423877957577314 Centerline is valid? [True, True] Translation: X:218.05, Y:-47.06, Z:1.11 [[ 9.04509346e-01 4.26378515e-01 8.01284266e-03 2.18049257e+02] [-4.26363768e-01 9.04544814e-01 -3.55209420e-03 -4.70633422e+01] [-8.76251192e-03 -2.03483387e-04 9.99961588e-01 1.10753174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.952320588 meters 0.025518532276597068 Centerline is valid? [True, True] Translation: X:218.08, Y:-47.07, Z:1.11 [[ 9.04689468e-01 4.25983130e-01 8.67985528e-03 2.18076042e+02] [-4.25965861e-01 9.04731078e-01 -3.84211518e-03 -4.70721160e+01] [-9.48961107e-03 -2.21400883e-04 9.99954948e-01 1.10803369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.982320588 meters 0.025518532276597068 Centerline is valid? [True, True] Translation: X:218.10, Y:-47.08, Z:1.11 [[ 9.04912955e-01 4.25508130e-01 8.68186503e-03 2.18101016e+02] [-4.25490882e-01 9.04954575e-01 -3.83757338e-03 -4.70834934e+01] [-9.48961215e-03 -2.21384548e-04 9.99954948e-01 1.10817223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.012320588 meters 0.025486373053910945 Centerline is valid? [True, True] Translation: X:218.13, Y:-47.09, Z:1.11 [[ 9.05191516e-01 4.24905539e-01 9.14348438e-03 2.18128199e+02] [-4.24886433e-01 9.05237665e-01 -4.03603188e-03 -4.70918174e+01] [-9.99195874e-03 -2.31560648e-04 9.99950052e-01 1.10819122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.042320588 meters 0.025412803981640242 Centerline is valid? [True, True] Translation: X:218.16, Y:-47.10, Z:1.11 [[ 9.05526366e-01 4.24199682e-01 8.75382218e-03 2.18155830e+02] [-4.24182191e-01 9.05568651e-01 -3.85838433e-03 -4.70990419e+01] [-9.56391234e-03 -2.19346735e-04 9.99954241e-01 1.10782252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.072320588 meters 0.025575891887263388 Centerline is valid? [True, True] Translation: X:218.18, Y:-47.11, Z:1.11 [[ 9.05861986e-01 4.23479993e-01 8.87459606e-03 2.18182434e+02] [-4.23462035e-01 9.05905430e-01 -3.90610989e-03 -4.71083078e+01] [-9.69370414e-03 -2.19658038e-04 9.99952991e-01 1.10752393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.102320588 meters 0.025487314209983257 Centerline is valid? [True, True] Translation: X:218.21, Y:-47.12, Z:1.11 [[ 9.06231418e-01 4.22670753e-01 9.69801449e-03 2.18209387e+02] [-4.22649322e-01 9.06283278e-01 -4.26282058e-03 -4.71166385e+01] [-1.05909179e-02 -2.35757311e-04 9.99943887e-01 1.10866881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.132320588 meters 0.025493474067167315 Centerline is valid? [True, True] Translation: X:218.24, Y:-47.12, Z:1.11 [[ 9.06906299e-01 4.21232034e-01 9.19446105e-03 2.18236897e+02] [-4.21212745e-01 9.06952881e-01 -4.03667213e-03 -4.71249424e+01] [-1.00393185e-02 -2.11940796e-04 9.99949582e-01 1.10826243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.162320588 meters 0.02528422580270196 Centerline is valid? [True, True] Translation: X:218.26, Y:-47.14, Z:1.11 [[ 9.07432306e-01 4.20115661e-01 8.33317751e-03 2.18263306e+02] [-4.20099812e-01 9.07470549e-01 -3.65380150e-03 -4.71361242e+01] [-9.09713240e-03 -1.85188785e-04 9.99958603e-01 1.10742782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.192320588 meters 0.025237732331409028 Centerline is valid? [True, True] Translation: X:218.29, Y:-47.15, Z:1.10 [[ 9.08440477e-01 4.17937080e-01 8.03099851e-03 2.18290143e+02] [-4.17922310e-01 9.08475961e-01 -3.51730142e-03 -4.71477398e+01] [-8.76597978e-03 -1.61074471e-04 9.99961565e-01 1.10474218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.222320588 meters 0.024805259721319053 Centerline is valid? [True, True] Translation: X:218.32, Y:-47.16, Z:1.10 [[ 9.10387891e-01 4.13683657e-01 7.72783537e-03 2.18317570e+02] [-4.13669866e-01 9.10420681e-01 -3.37998912e-03 -4.71557856e+01] [-8.43382740e-03 -1.19671461e-04 9.99964427e-01 1.10468952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.252320588 meters 0.02490761840485105 Centerline is valid? [True, True] Translation: X:218.34, Y:-47.16, Z:1.11 [[ 9.10941801e-01 4.12455841e-01 8.07561855e-03 2.18344162e+02] [-4.12440779e-01 9.10977588e-01 -3.52680883e-03 -4.71641514e+01] [-8.81136041e-03 -1.17996817e-04 9.99961172e-01 1.10518205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.282320588 meters 0.02457748311654523 Centerline is valid? [True, True] Translation: X:218.37, Y:-47.17, Z:1.11 [[ 9.11646597e-01 4.10946899e-01 4.80923201e-03 2.18372310e+02] [-4.10941554e-01 9.11659280e-01 -2.09692640e-03 -4.71716148e+01] [-5.24610639e-03 -6.46574591e-05 9.99986237e-01 1.10843850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.312320588 meters 0.02448748773107475 Centerline is valid? [True, True] Translation: X:218.40, Y:-47.18, Z:1.10 [[ 9.13314614e-01 4.07249323e-01 2.09855911e-03 2.18400131e+02] [-4.07248302e-01 9.13317025e-01 -9.12443221e-04 -4.71806430e+01] [-2.28824164e-03 -2.12869039e-05 9.99997382e-01 1.10497126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.342320588 meters 0.024586708404613113 Centerline is valid? [True, True] Translation: X:218.43, Y:-47.19, Z:1.11 [[ 9.14113165e-01 4.05443444e-01 3.56852577e-03 2.18426028e+02] [-4.05440479e-01 9.14120130e-01 -1.55078583e-03 -4.71911086e+01] [-3.89081719e-03 -2.92310550e-05 9.99992430e-01 1.10518652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.372320588 meters 0.024369732641057747 Centerline is valid? [True, True] Translation: X:218.45, Y:-47.20, Z:1.11 [[ 9.16231140e-01 4.00649361e-01 7.67270103e-04 2.18453119e+02] [-4.00649224e-01 9.16231461e-01 -3.31127852e-04 -4.71998432e+01] [-8.35663169e-04 -4.01652233e-06 9.99999651e-01 1.10777043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.402320588 meters 0.024145492754586925 Centerline is valid? [True, True] Translation: X:218.48, Y:-47.21, Z:1.11 [[ 9.17884250e-01 3.96839229e-01 -2.67036713e-03 2.18479352e+02] [-3.96837526e-01 9.17888134e-01 1.16238042e-03 -4.72092377e+01] [ 2.91237645e-03 -7.22879194e-06 9.99995759e-01 1.10855902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43232058799998 meters 0.027303971708050222 Centerline is valid? [True, True] Translation: X:218.45, Y:-47.35, Z:1.11 [[ 9.30276047e-01 3.66534750e-01 1.54516633e-02 2.18448902e+02] [-3.66473807e-01 9.30404183e-01 -6.70864490e-03 -4.73542093e+01] [-1.68352436e-02 5.78261786e-04 9.99858110e-01 1.11142345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46232058799998 meters 0.02735094292930459 Centerline is valid? [True, True] Translation: X:218.48, Y:-47.37, Z:1.11 [[ 9.30510417e-01 3.65990827e-01 1.41801936e-02 2.18477379e+02] [-3.65939268e-01 9.30618296e-01 -6.16766154e-03 -4.73717492e+01] [-1.54536552e-02 5.49983636e-04 9.99880434e-01 1.11186960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49232058799998 meters 0.02735094292930459 Centerline is valid? [True, True] Translation: X:218.51, Y:-47.38, Z:1.11 [[ 9.30329671e-01 3.66450149e-01 1.41771383e-02 2.18507339e+02] [-3.66398537e-01 9.30437524e-01 -6.17468285e-03 -4.73844539e+01] [-1.54536549e-02 5.50007921e-04 9.99880434e-01 1.11203358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52232058799999 meters 0.027557402196795634 Centerline is valid? [True, True] Translation: X:218.54, Y:-47.40, Z:1.11 [[ 9.30407710e-01 3.66312428e-01 1.25179097e-02 2.18535704e+02] [-3.66272073e-01 9.30491784e-01 -5.45969113e-03 -4.74025078e+01] [-1.36477649e-02 4.94777975e-04 9.99906743e-01 1.11216953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.552320588 meters 0.027435670707908696 Centerline is valid? [True, True] Translation: X:218.56, Y:-47.42, Z:1.11 [[ 9.30181602e-01 3.66904023e-01 1.19843649e-02 2.18562572e+02] [-3.66867007e-01 9.30258683e-01 -5.23282837e-03 -4.74204809e+01] [-1.30685052e-02 4.70812609e-04 9.99914493e-01 1.11169266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.582320588 meters 0.027464140829477627 Centerline is valid? [True, True] Translation: X:218.59, Y:-47.44, Z:1.11 [[ 9.29777195e-01 3.67879517e-01 1.33801305e-02 2.18591077e+02] [-3.67833363e-01 9.29873321e-01 -5.85017133e-03 -4.74385029e+01] [-1.45939845e-02 5.17697504e-04 9.99893368e-01 1.11108848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.612320588 meters 0.027237676912213626 Centerline is valid? [True, True] Translation: X:218.62, Y:-47.46, Z:1.11 [[ 9.29302475e-01 3.69075463e-01 1.34243437e-02 2.18619380e+02] [-3.69029031e-01 9.29399293e-01 -5.87604050e-03 -4.74550927e+01] [-1.46452779e-02 5.06646422e-04 9.99892624e-01 1.11122686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.642320588 meters 0.026465800849572986 Centerline is valid? [True, True] Translation: X:218.65, Y:-47.47, Z:1.11 [[ 9.27301621e-01 3.73957254e-01 1.63608180e-02 2.18646383e+02] [-3.73889025e-01 9.27445792e-01 -7.16238604e-03 -4.74743440e+01] [-1.78521981e-02 5.24561881e-04 9.99840499e-01 1.11195926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.672320588 meters 0.026297222948798337 Centerline is valid? [True, True] Translation: X:218.67, Y:-47.49, Z:1.11 [[ 9.25909097e-01 3.77315456e-01 1.80385867e-02 2.18674463e+02] [-3.77232934e-01 9.26084650e-01 -7.90787812e-03 -4.74897949e+01] [-1.96890229e-02 5.17227309e-04 9.99806019e-01 1.11212768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.702320588 meters 0.026297222948798337 Centerline is valid? [True, True] Translation: X:218.70, Y:-47.50, Z:1.11 [[ 9.25719900e-01 3.77779596e-01 1.80345024e-02 2.18704369e+02] [-3.77696980e-01 9.25895410e-01 -7.91718982e-03 -4.75025739e+01] [-1.96890158e-02 5.17523073e-04 9.99806019e-01 1.11229162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.732320588 meters 0.025804433913856166 Centerline is valid? [True, True] Translation: X:218.73, Y:-47.52, Z:1.11 [[ 9.24153361e-01 3.81545459e-01 1.90690100e-02 2.18732131e+02] [-3.81453695e-01 9.24349956e-01 -8.38082592e-03 -4.75195589e+01] [-2.08241047e-02 4.71224103e-04 9.99783044e-01 1.11419146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.762320588 meters 0.025467778513468427 Centerline is valid? [True, True] Translation: X:218.76, Y:-47.54, Z:1.11 [[ 9.22790220e-01 3.84850734e-01 1.86580412e-02 2.18760244e+02] [-3.84763515e-01 9.22978743e-01 -8.20226740e-03 -4.75366328e+01] [-2.03776240e-02 3.90038630e-04 9.99792279e-01 1.11454937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.792320588 meters 0.025185490581964166 Centerline is valid? [True, True] Translation: X:218.79, Y:-47.55, Z:1.11 [[ 9.21492147e-01 3.88092381e-01 1.53794584e-02 2.18787663e+02] [-3.88033405e-01 9.21620437e-01 -6.77102455e-03 -4.75533183e+01] [-1.68018062e-02 2.71702343e-04 9.99858803e-01 1.11449886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.822320588 meters 0.025185490581964166 Centerline is valid? [True, True] Translation: X:218.82, Y:-47.57, Z:1.11 [[ 9.21289371e-01 3.88573649e-01 1.53757776e-02 2.18817533e+02] [-3.88514601e-01 9.21417628e-01 -6.77938077e-03 -4.75661369e+01] [-1.68018012e-02 2.72057360e-04 9.99858803e-01 1.11466275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.852320588 meters 0.025043972721699035 Centerline is valid? [True, True] Translation: X:218.85, Y:-47.58, Z:1.11 [[ 9.20711892e-01 3.90013308e-01 1.33877105e-02 2.18845838e+02] [-3.89968680e-01 9.20809195e-01 -5.90382446e-03 -4.75829410e+01] [-1.46300970e-02 2.14933596e-04 9.99892951e-01 1.11248962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.882320588 meters 0.025043972721699035 Centerline is valid? [True, True] Translation: X:218.88, Y:-47.60, Z:1.11 [[ 9.20508347e-01 3.90493604e-01 1.33839004e-02 2.18875696e+02] [-3.90448902e-01 9.20605615e-01 -5.91245902e-03 -4.75957763e+01] [-1.46300713e-02 2.16738659e-04 9.99892951e-01 1.11265341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.912320588 meters 0.024986854202942044 Centerline is valid? [True, True] Translation: X:218.90, Y:-47.62, Z:1.11 [[ 9.18953579e-01 3.94162163e-01 1.26692373e-02 2.18901919e+02] [-3.94122362e-01 9.19040894e-01 -5.60345327e-03 -4.76158761e+01] [-1.38522164e-02 1.56083702e-04 9.99904041e-01 1.10978481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.942320588 meters 0.024857419023919466 Centerline is valid? [True, True] Translation: X:218.93, Y:-47.63, Z:1.11 [[ 9.18247001e-01 3.95753554e-01 1.41975471e-02 2.18931693e+02] [-3.95703620e-01 9.18356739e-01 -6.28845164e-03 -4.76309244e+01] [-1.55270901e-02 1.56331073e-04 9.99879435e-01 1.11057354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.972320588 meters 0.024857419023919466 Centerline is valid? [True, True] Translation: X:218.96, Y:-47.64, Z:1.11 [[ 9.18038035e-01 3.96238173e-01 1.41942265e-02 2.18961524e+02] [-3.96188181e-01 9.18147747e-01 -6.29594509e-03 -4.76438034e+01] [-1.55270908e-02 1.56332302e-04 9.99879435e-01 1.11073743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.002320588 meters 0.024755774245356105 Centerline is valid? [True, True] Translation: X:218.99, Y:-47.66, Z:1.11 [[ 9.16856006e-01 3.98959864e-01 1.43558636e-02 2.18990778e+02] [-3.98908918e-01 9.16968381e-01 -6.37671819e-03 -4.76579793e+01] [-1.57079276e-02 1.19850362e-04 9.99876616e-01 1.11246098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.032320588 meters 0.024713771735972494 Centerline is valid? [True, True] Translation: X:219.02, Y:-47.67, Z:1.11 [[ 9.15948556e-01 4.01022588e-01 1.48029498e-02 2.19020502e+02] [-4.00968536e-01 9.16068161e-01 -6.58466225e-03 -4.76720737e+01] [-1.62011093e-02 9.56947810e-05 9.99868749e-01 1.11376496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.062320588 meters 0.02474006545210766 Centerline is valid? [True, True] Translation: X:219.05, Y:-47.69, Z:1.11 [[ 9.14758423e-01 4.03755839e-01 1.40801524e-02 2.19049575e+02] [-4.03707144e-01 9.14866777e-01 -6.27076812e-03 -4.76867795e+01] [-1.54133229e-02 5.19798563e-05 9.99881206e-01 1.11387930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.092320588 meters 0.024626551990867378 Centerline is valid? [True, True] Translation: X:219.08, Y:-47.70, Z:1.11 [[ 9.13865769e-01 4.05819939e-01 1.26306414e-02 2.19078546e+02] [-4.05780849e-01 9.13953050e-01 -5.63257379e-03 -4.77016523e+01] [-1.38296239e-02 2.21440028e-05 9.99904366e-01 1.11398798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.122320588 meters 0.024626551990867378 Centerline is valid? [True, True] Translation: X:219.11, Y:-47.71, Z:1.11 [[ 9.13646307e-01 4.06313886e-01 1.26274466e-02 2.19108341e+02] [-4.06274744e-01 9.13733564e-01 -5.63973422e-03 -4.77145987e+01] [-1.38296242e-02 2.25096819e-05 9.99904366e-01 1.11415183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.152320588 meters 0.02477090264196873 Centerline is valid? [True, True] Translation: X:219.14, Y:-47.73, Z:1.11 [[ 9.13075751e-01 4.07588530e-01 1.28164886e-02 2.19137859e+02] [-4.07548217e-01 9.13165697e-01 -5.73243646e-03 -4.77295379e+01] [-1.40400531e-02 1.08116381e-05 9.99901434e-01 1.11289670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18232058799998 meters 0.024753752151409316 Centerline is valid? [True, True] Translation: X:219.17, Y:-47.74, Z:1.11 [[ 9.12266270e-01 4.09409062e-01 1.24287220e-02 2.19166878e+02] [-4.09371210e-01 9.12350930e-01 -5.56708493e-03 -4.77444221e+01] [-1.36185711e-02 -9.29716118e-06 9.99907263e-01 1.11343236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21232058799998 meters 0.024700695656474737 Centerline is valid? [True, True] Translation: X:219.20, Y:-47.76, Z:1.11 [[ 9.11419563e-01 4.11261640e-01 1.33508165e-02 2.19196251e+02] [-4.11218039e-01 9.11517341e-01 -5.98844409e-03 -4.77593268e+01] [-1.46323181e-02 -3.21114825e-05 9.99892941e-01 1.11479604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24232058799998 meters 0.024965377702942205 Centerline is valid? [True, True] Translation: X:219.23, Y:-47.77, Z:1.12 [[ 9.10500791e-01 4.13267571e-01 1.40792441e-02 2.19226030e+02] [-4.13219185e-01 9.10609637e-01 -6.32405644e-03 -4.77734275e+01] [-1.54342228e-02 -5.97553621e-05 9.99880884e-01 1.11564478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27232058799999 meters 0.025180523296000484 Centerline is valid? [True, True] Translation: X:219.26, Y:-47.79, Z:1.12 [[ 9.09401234e-01 4.15575753e-01 1.69171227e-02 2.19255242e+02] [-4.15506137e-01 9.09558564e-01 -7.60718245e-03 -4.77861567e+01] [-1.85484744e-02 -1.11187200e-04 9.99827956e-01 1.11604709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.302320588 meters 0.025173739142785936 Centerline is valid? [True, True] Translation: X:219.29, Y:-47.80, Z:1.12 [[ 9.08262818e-01 4.18061581e-01 1.68275982e-02 2.19285610e+02] [-4.17992923e-01 9.08418677e-01 -7.57791462e-03 -4.77982735e+01] [-1.84545395e-02 -1.51078874e-04 9.99829689e-01 1.11737678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.332320588 meters 0.02527248426551188 Centerline is valid? [True, True] Translation: X:219.32, Y:-47.81, Z:1.12 [[ 9.06996774e-01 4.20789888e-01 1.71091490e-02 2.19315308e+02] [-4.20719230e-01 9.07158106e-01 -7.71363579e-03 -4.78111110e+01] [-1.87665231e-02 -2.01905198e-04 9.99823873e-01 1.11778912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.362320588 meters 0.02527248426551188 Centerline is valid? [True, True] Translation: X:219.35, Y:-47.82, Z:1.12 [[ 9.06775976e-01 4.21265652e-01 1.71049576e-02 2.19345051e+02] [-4.21194903e-01 9.06937269e-01 -7.72292758e-03 -4.78241831e+01] [-1.87665276e-02 -2.01555734e-04 9.99823873e-01 1.11795299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.392320588 meters 0.02519634379918683 Centerline is valid? [True, True] Translation: X:219.37, Y:-47.84, Z:1.12 [[ 9.05638854e-01 4.23783196e-01 1.50355983e-02 2.19374085e+02] [-4.23728741e-01 9.05763632e-01 -6.79685468e-03 -4.78374593e+01] [-1.64990909e-02 -2.15519462e-04 9.99863858e-01 1.11656833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.422320588 meters 0.02551256687031565 Centerline is valid? [True, True] Translation: X:219.40, Y:-47.85, Z:1.11 [[ 9.04449758e-01 4.26328922e-01 1.46384727e-02 2.19402698e+02] [-4.26277510e-01 9.04568178e-01 -6.62541645e-03 -4.78520012e+01] [-1.60661032e-02 -2.47695366e-04 9.99870901e-01 1.11494631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.452320588 meters 0.026073250762700655 Centerline is valid? [True, True] Translation: X:219.43, Y:-47.87, Z:1.12 [[ 9.02162959e-01 4.31129320e-01 1.51494011e-02 2.19431127e+02] [-4.31074796e-01 9.02290084e-01 -6.86477006e-03 -4.78676620e+01] [-1.66287580e-02 -3.37383721e-04 9.99861676e-01 1.11604353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.482320588 meters 0.02602730325319593 Centerline is valid? [True, True] Translation: X:219.46, Y:-47.88, Z:1.12 [[ 9.01457141e-01 4.32526530e-01 1.71995114e-02 2.19461199e+02] [-4.32456477e-01 9.01621113e-01 -7.79510837e-03 -4.78794270e+01] [-1.88790338e-02 -4.11084018e-04 9.99821691e-01 1.11776294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.512320588 meters 0.02643676507317929 Centerline is valid? [True, True] Translation: X:219.49, Y:-47.89, Z:1.12 [[ 9.00625218e-01 4.34201094e-01 1.85371835e-02 2.19491296e+02] [-4.34119838e-01 9.00815846e-01 -8.41297923e-03 -4.78913935e+01] [-2.03515134e-02 -4.70417839e-04 9.99792776e-01 1.11712249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.542320588 meters 0.02643676507317929 Centerline is valid? [True, True] Translation: X:219.52, Y:-47.90, Z:1.12 [[ 9.00404872e-01 4.34658028e-01 1.85327957e-02 2.19521013e+02] [-4.34576670e-01 9.00595457e-01 -8.42264217e-03 -4.79045467e+01] [-2.03515207e-02 -4.70132604e-04 9.99792776e-01 1.11728641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.572320588 meters 0.026574422808941532 Centerline is valid? [True, True] Translation: X:219.55, Y:-47.92, Z:1.12 [[ 8.99815515e-01 4.35928162e-01 1.72822568e-02 2.19552185e+02] [-4.35857443e-01 8.99981350e-01 -7.86510307e-03 -4.79166821e+01] [-1.89823287e-02 -4.55458476e-04 9.99819716e-01 1.11708076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.602320588 meters 0.026913867759063043 Centerline is valid? [True, True] Translation: X:219.58, Y:-47.93, Z:1.12 [[ 8.98940542e-01 4.37777050e-01 1.60360798e-02 2.19582479e+02] [-4.37716280e-01 8.99083451e-01 -7.30792997e-03 -4.79298618e+01] [-1.76170180e-02 -4.49858666e-04 9.99844707e-01 1.11615755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.632320588 meters 0.02715715276870346 Centerline is valid? [True, True] Translation: X:219.61, Y:-47.94, Z:1.11 [[ 8.97810834e-01 4.40159766e-01 1.39673137e-02 2.19613226e+02] [-4.40113817e-01 8.97919373e-01 -6.37399473e-03 -4.79409713e+01] [-1.53470976e-02 -4.24566207e-04 9.99882136e-01 1.11473715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.662320588 meters 0.02726129356064554 Centerline is valid? [True, True] Translation: X:219.64, Y:-47.95, Z:1.12 [[ 8.97459197e-01 4.40867124e-01 1.42537374e-02 2.19643900e+02] [-4.40819224e-01 8.97572274e-01 -6.51340378e-03 -4.79528542e+01] [-1.56653051e-02 -4.37807335e-04 9.99877196e-01 1.11503640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.692320588 meters 0.027312027341716665 Centerline is valid? [True, True] Translation: X:219.67, Y:-47.96, Z:1.12 [[ 8.97078733e-01 4.41543872e-01 1.69928186e-02 2.19674707e+02] [-4.41475762e-01 8.97239505e-01 -7.77316780e-03 -4.79633453e+01] [-1.86788228e-02 -5.28774018e-04 9.99825396e-01 1.11835317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.722320588 meters 0.027328670835129246 Centerline is valid? [True, True] Translation: X:219.70, Y:-47.97, Z:1.12 [[ 8.97248434e-01 4.41205705e-01 1.68158570e-02 2.19704347e+02] [-4.41138781e-01 8.97405855e-01 -7.70118818e-03 -4.79749904e+01] [-1.84884567e-02 -5.08247641e-04 9.99828945e-01 1.11930623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.752320588 meters 0.027296294589066905 Centerline is valid? [True, True] Translation: X:219.73, Y:-47.99, Z:1.12 [[ 8.97547409e-01 4.40597216e-01 1.68149299e-02 2.19734668e+02] [-4.40530026e-01 8.97704771e-01 -7.70977296e-03 -4.79865483e+01] [-1.84917473e-02 -4.87594778e-04 9.99828894e-01 1.11906596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.782320588 meters 0.027096251376263255 Centerline is valid? [True, True] Translation: X:219.76, Y:-48.00, Z:1.12 [[ 8.97802571e-01 4.40076560e-01 1.68274934e-02 2.19764610e+02] [-4.40009012e-01 8.97960133e-01 -7.72453291e-03 -4.79978219e+01] [-1.85098041e-02 -4.69143227e-04 9.99828569e-01 1.11835093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.812320588 meters 0.02705332699036201 Centerline is valid? [True, True] Translation: X:219.80, Y:-48.01, Z:1.12 [[ 8.97736760e-01 4.40203410e-01 1.70196380e-02 2.19795444e+02] [-4.40134131e-01 8.97897956e-01 -7.82348711e-03 -4.80097834e+01] [-1.87258239e-02 -4.67491601e-04 9.99824547e-01 1.11742431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.842320588 meters 0.026989915819842714 Centerline is valid? [True, True] Translation: X:219.83, Y:-48.02, Z:1.12 [[ 8.97602599e-01 4.40455296e-01 1.75700272e-02 2.19826189e+02] [-4.40381307e-01 8.97774417e-01 -8.08710455e-03 -4.80211815e+01] [-1.93359290e-02 -4.78505489e-04 9.99812929e-01 1.11701723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.872320588 meters 0.027002752693822612 Centerline is valid? [True, True] Translation: X:219.86, Y:-48.03, Z:1.12 [[ 8.97659968e-01 4.40307728e-01 1.83217434e-02 2.19857641e+02] [-4.40227017e-01 8.97846796e-01 -8.44422966e-03 -4.80319663e+01] [-2.01681782e-02 -4.85679501e-04 9.99796484e-01 1.11831500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.902320588 meters 0.027002752693822612 Centerline is valid? [True, True] Translation: X:219.89, Y:-48.05, Z:1.12 [[ 8.97435434e-01 4.40765373e-01 1.83174286e-02 2.19887291e+02] [-4.40684566e-01 8.97622220e-01 -8.45358677e-03 -4.80452985e+01] [-2.01681793e-02 -4.85659778e-04 9.99796484e-01 1.11847894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93232058799998 meters 0.027002752693822612 Centerline is valid? [True, True] Translation: X:219.92, Y:-48.06, Z:1.12 [[ 8.97210666e-01 4.41222903e-01 1.83131174e-02 2.19916934e+02] [-4.41142001e-01 8.97397411e-01 -8.46292376e-03 -4.80586459e+01] [-2.01681800e-02 -4.85659795e-04 9.99796484e-01 1.11864289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96232058799998 meters 0.027014994509205165 Centerline is valid? [True, True] Translation: X:219.95, Y:-48.07, Z:1.12 [[ 8.97291999e-01 4.41025869e-01 1.90591483e-02 2.19948181e+02] [-4.40937951e-01 8.97494258e-01 -8.81937285e-03 -4.80690483e+01] [-2.09950477e-02 -4.90349078e-04 9.99779459e-01 1.11891296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99232058799998 meters 0.026856778252161942 Centerline is valid? [True, True] Translation: X:219.98, Y:-48.08, Z:1.12 [[ 8.97160792e-01 4.41308206e-01 1.86970695e-02 2.19979282e+02] [-4.41223421e-01 8.97355470e-01 -8.66335315e-03 -4.80795311e+01] [-2.06011265e-02 -4.77164203e-04 9.99787660e-01 1.11912943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02232058799999 meters 0.02691413600565028 Centerline is valid? [True, True] Translation: X:220.01, Y:-48.09, Z:1.12 [[ 8.97149473e-01 4.41356766e-01 1.80839215e-02 2.20008890e+02] [-4.41277271e-01 8.97331599e-01 -8.38875799e-03 -4.80916236e+01] [-1.99297093e-02 -4.54053689e-04 9.99801281e-01 1.11833663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.052320588 meters 0.026885821182136022 Centerline is valid? [True, True] Translation: X:220.04, Y:-48.10, Z:1.12 [[ 8.97387247e-01 4.40923332e-01 1.68149804e-02 2.20038067e+02] [-4.40854355e-01 8.97544679e-01 -7.80937557e-03 -4.81043156e+01] [-1.85355321e-02 -4.04923293e-04 9.99828120e-01 1.11760286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.082320588 meters 0.02682192554570748 Centerline is valid? [True, True] Translation: X:220.07, Y:-48.12, Z:1.12 [[ 8.97713307e-01 4.40314719e-01 1.52894621e-02 2.20067494e+02] [-4.40257458e-01 8.97843431e-01 -7.10943312e-03 -4.81169830e+01] [-1.68579312e-02 -3.49067004e-04 9.99857834e-01 1.11613769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.112320588 meters 0.026776720017782505 Centerline is valid? [True, True] Translation: X:220.10, Y:-48.13, Z:1.12 [[ 8.97874493e-01 4.40044401e-01 1.35025952e-02 2.20097346e+02] [-4.39999599e-01 8.97975967e-01 -6.28616307e-03 -4.81283055e+01] [-1.48911968e-02 -2.96951000e-04 9.99889076e-01 1.11686543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.142320588 meters 0.026692906027213928 Centerline is valid? [True, True] Translation: X:220.13, Y:-48.14, Z:1.12 [[ 8.97900881e-01 4.39955999e-01 1.45851494e-02 2.20128329e+02] [-4.39903562e-01 8.98019277e-01 -6.79950573e-03 -4.81399284e+01] [-1.60892286e-02 -3.10776970e-04 9.99870512e-01 1.11679925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.172320588 meters 0.026692906027213928 Centerline is valid? [True, True] Translation: X:220.16, Y:-48.15, Z:1.12 [[ 8.97674556e-01 4.40417719e-01 1.45816560e-02 2.20157921e+02] [-4.40365221e-01 8.97792925e-01 -6.80699561e-03 -4.81533876e+01] [-1.60892291e-02 -3.10787422e-04 9.99870512e-01 1.11696316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.202320588 meters 0.02657450204687823 Centerline is valid? [True, True] Translation: X:220.19, Y:-48.16, Z:1.12 [[ 8.97729538e-01 4.40284122e-01 1.52174079e-02 2.20189198e+02] [-4.40226769e-01 8.97858449e-01 -7.11319212e-03 -4.81640692e+01] [-1.67949038e-02 -3.13387645e-04 9.99858907e-01 1.11973090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.232320588 meters 0.02658784334959634 Centerline is valid? [True, True] Translation: X:220.22, Y:-48.18, Z:1.12 [[ 8.97495293e-01 4.40705684e-01 1.67541044e-02 2.20219623e+02] [-4.40636077e-01 8.97651592e-01 -7.84010310e-03 -4.81752739e+01] [-1.84945265e-02 -3.46007208e-04 9.99828902e-01 1.12082122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.262320588 meters 0.026561130110015287 Centerline is valid? [True, True] Translation: X:220.25, Y:-48.19, Z:1.12 [[ 8.97357950e-01 4.41069865e-01 1.43556034e-02 2.20249928e+02] [-4.41018679e-01 8.97472722e-01 -6.72593492e-03 -4.81862509e+01] [-1.58503697e-02 -2.95518091e-04 9.99874331e-01 1.12191143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.292320588 meters 0.026351070622766117 Centerline is valid? [True, True] Translation: X:220.28, Y:-48.20, Z:1.12 [[ 8.97265960e-01 4.41308306e-01 1.26797406e-02 2.20280595e+02] [-4.41268380e-01 8.97355509e-01 -5.94196836e-03 -4.81977076e+01] [-1.40004751e-02 -2.63642658e-04 9.99901954e-01 1.12113378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.322320588 meters 0.02630962230941921 Centerline is valid? [True, True] Translation: X:220.31, Y:-48.21, Z:1.12 [[ 8.97113593e-01 4.41651211e-01 1.14633777e-02 2.20310383e+02] [-4.41618505e-01 8.97186799e-01 -5.37997353e-03 -4.82090874e+01] [-1.26608630e-02 -2.35992344e-04 9.99919820e-01 1.12060981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.352320588 meters 0.02630962230941921 Centerline is valid? [True, True] Translation: X:220.34, Y:-48.22, Z:1.12 [[ 8.96882152e-01 4.42121098e-01 1.14604049e-02 2.20339942e+02] [-4.42088349e-01 8.96955339e-01 -5.38630515e-03 -4.82226286e+01] [-1.26608705e-02 -2.35630518e-04 9.99919820e-01 1.12077370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.382320588 meters 0.026215208027543905 Centerline is valid? [True, True] Translation: X:220.37, Y:-48.24, Z:1.12 [[ 8.96967333e-01 4.41943963e-01 1.16248700e-02 2.20370693e+02] [-4.41910158e-01 8.97042630e-01 -5.47101015e-03 -4.82352366e+01] [-1.28458839e-02 -2.29830742e-04 9.99917462e-01 1.12106629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.412320588 meters 0.026215208027543905 Centerline is valid? [True, True] Translation: X:220.40, Y:-48.25, Z:1.12 [[ 8.96736680e-01 4.42411863e-01 1.16220211e-02 2.20400238e+02] [-4.42378018e-01 8.96811960e-01 -5.47706104e-03 -4.82488070e+01] [-1.28458843e-02 -2.29845119e-04 9.99917462e-01 1.12123019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.442320588 meters 0.026186632111676898 Centerline is valid? [True, True] Translation: X:220.43, Y:-48.26, Z:1.12 [[ 8.97217475e-01 4.41357756e-01 1.42875486e-02 2.20429538e+02] [-4.41306374e-01 8.97331190e-01 -6.73941724e-03 -4.82609282e+01] [-1.57951571e-02 -2.58463349e-04 9.99875215e-01 1.12101146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.472320588 meters 0.02601242500290569 Centerline is valid? [True, True] Translation: X:220.46, Y:-48.27, Z:1.12 [[ 8.97661436e-01 4.40445334e-01 1.45552177e-02 2.20460194e+02] [-4.40391730e-01 8.97779400e-01 -6.87553235e-03 -4.82735070e+01] [-1.60956708e-02 -2.38097260e-04 9.99870428e-01 1.12256945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.502320588 meters 0.02596820240982511 Centerline is valid? [True, True] Translation: X:220.49, Y:-48.29, Z:1.12 [[ 8.97958860e-01 4.39887521e-01 1.29944066e-02 2.20490153e+02] [-4.39844634e-01 8.98052855e-01 -6.14552742e-03 -4.82855993e+01] [-1.43730048e-02 -1.97089227e-04 9.99896684e-01 1.12417890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.532320588 meters 0.025755133071685702 Centerline is valid? [True, True] Translation: X:220.52, Y:-48.30, Z:1.12 [[ 8.98406373e-01 4.38972894e-01 1.29918016e-02 2.20520720e+02] [-4.38929889e-01 8.98500287e-01 -6.14707017e-03 -4.82968604e+01] [-1.43715347e-02 -1.79923032e-04 9.99896708e-01 1.12469472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.562320588 meters 0.025704589224667895 Centerline is valid? [True, True] Translation: X:220.55, Y:-48.31, Z:1.13 [[ 8.98795802e-01 4.38188075e-01 1.25426384e-02 2.20551006e+02] [-4.38147800e-01 8.98883300e-01 -5.94290733e-03 -4.83081340e+01] [-1.38784793e-02 -1.54069246e-04 9.99903677e-01 1.12519869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.592320588 meters 0.025704589224667895 Centerline is valid? [True, True] Translation: X:220.58, Y:-48.32, Z:1.13 [[ 8.98563376e-01 4.38664591e-01 1.25393422e-02 2.20580520e+02] [-4.38624265e-01 8.98650852e-01 -5.94986077e-03 -4.83217803e+01] [-1.38784838e-02 -1.53732773e-04 9.99903677e-01 1.12536256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.622320588 meters 0.025591084807014518 Centerline is valid? [True, True] Translation: X:220.61, Y:-48.33, Z:1.13 [[ 8.98482728e-01 4.38816384e-01 1.29988140e-02 2.20611613e+02] [-4.38772944e-01 8.98576740e-01 -6.17621983e-03 -4.83340206e+01] [-1.43906584e-02 -1.54301059e-04 9.99896437e-01 1.12551718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.652320588 meters 0.025625584493441975 Centerline is valid? [True, True] Translation: X:220.64, Y:-48.35, Z:1.13 [[ 8.97930749e-01 4.39904167e-01 1.43071420e-02 2.20640987e+02] [-4.39851561e-01 8.98044704e-01 -6.80536103e-03 -4.83465339e+01] [-1.58421598e-02 -1.82275818e-04 9.99874488e-01 1.12570310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68232058799998 meters 0.025562205809998326 Centerline is valid? [True, True] Translation: X:220.67, Y:-48.36, Z:1.13 [[ 8.97254760e-01 4.41304093e-01 1.35865237e-02 2.20671188e+02] [-4.41256674e-01 8.97357600e-01 -6.47190869e-03 -4.83595339e+01] [-1.50480501e-02 -1.88193387e-04 9.99886754e-01 1.12655054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71232058799998 meters 0.025313915635142722 Centerline is valid? [True, True] Translation: X:220.70, Y:-48.37, Z:1.13 [[ 8.97152558e-01 4.41539180e-01 1.26664879e-02 2.20701326e+02] [-4.41497890e-01 8.97241953e-01 -6.04070869e-03 -4.83720259e+01] [-1.40321139e-02 -1.72790413e-04 9.99901530e-01 1.12586226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74232058799998 meters 0.025386770173996254 Centerline is valid? [True, True] Translation: X:220.73, Y:-48.38, Z:1.13 [[ 8.96744580e-01 4.42400369e-01 1.14486994e-02 2.20730817e+02] [-4.42366622e-01 8.96817644e-01 -5.46668005e-03 -4.83842653e+01] [-1.26858569e-02 -1.62306768e-04 9.99919518e-01 1.12518890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77232058799999 meters 0.025386770173996254 Centerline is valid? [True, True] Translation: X:220.76, Y:-48.40, Z:1.13 [[ 8.96507790e-01 4.42880097e-01 1.14456166e-02 2.20760290e+02] [-4.42846307e-01 8.96580835e-01 -5.47313351e-03 -4.83980050e+01] [-1.26858623e-02 -1.61942194e-04 9.99919518e-01 1.12535278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.802320588 meters 0.025286682868528712 Centerline is valid? [True, True] Translation: X:220.79, Y:-48.41, Z:1.13 [[ 8.95900014e-01 4.44116657e-01 1.11157346e-02 2.20790261e+02] [-4.44084791e-01 8.95968954e-01 -5.32276104e-03 -4.84108755e+01] [-1.23232799e-02 -1.67666965e-04 9.99924051e-01 1.12570346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.832320588 meters 0.025357070716817174 Centerline is valid? [True, True] Translation: X:220.82, Y:-48.42, Z:1.13 [[ 8.95784414e-01 4.44364586e-01 1.05070942e-02 2.20820996e+02] [-4.44336047e-01 8.95846020e-01 -5.03846197e-03 -4.84236677e+01] [-1.16516526e-02 -1.55305018e-04 9.99932105e-01 1.12597068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.862320588 meters 0.025357070716817174 Centerline is valid? [True, True] Translation: X:220.85, Y:-48.44, Z:1.13 [[ 8.95548866e-01 4.44839168e-01 1.05044430e-02 2.20850448e+02] [-4.44810598e-01 8.95610457e-01 -5.04398860e-03 -4.84374543e+01] [-1.16516527e-02 -1.55349320e-04 9.99932105e-01 1.12613456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.892320588 meters 0.02518790836127219 Centerline is valid? [True, True] Translation: X:220.88, Y:-48.45, Z:1.13 [[ 8.95335898e-01 4.45277665e-01 1.00712550e-02 2.20881734e+02] [-4.45251355e-01 8.95392528e-01 -4.84267778e-03 -4.84496803e+01] [-1.11740627e-02 -1.48416686e-04 9.99937557e-01 1.12622792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.922320588 meters 0.024975221369326256 Centerline is valid? [True, True] Translation: X:220.91, Y:-48.46, Z:1.13 [[ 8.95304238e-01 4.45339588e-01 1.01475338e-02 2.20912781e+02] [-4.45312807e-01 8.95361732e-01 -4.88604073e-03 -4.84609439e+01] [-1.12616608e-02 -1.44333794e-04 9.99936575e-01 1.12687078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.952320588 meters 0.024975221369326256 Centerline is valid? [True, True] Translation: X:220.94, Y:-48.47, Z:1.13 [[ 8.95067302e-01 4.45815662e-01 1.01449412e-02 2.20942214e+02] [-4.45788851e-01 8.95124781e-01 -4.89142318e-03 -4.84747787e+01] [-1.12616613e-02 -1.44348733e-04 9.99936575e-01 1.12703466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.982320588 meters 0.024927249394803924 Centerline is valid? [True, True] Translation: X:220.97, Y:-48.49, Z:1.13 [[ 8.95178882e-01 4.45635302e-01 7.99672710e-03 2.20972469e+02] [-4.45618593e-01 8.95214592e-01 -3.86047457e-03 -4.84855691e+01] [-8.87915054e-03 -1.07674968e-04 9.99960574e-01 1.12810403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.012320588 meters 0.024789605705535223 Centerline is valid? [True, True] Translation: X:221.00, Y:-48.50, Z:1.13 [[ 8.95494176e-01 4.45013881e-01 7.26818239e-03 2.21002696e+02] [-4.45000022e-01 8.95523667e-01 -3.51324751e-03 -4.84975146e+01] [-8.07227326e-03 -8.82486343e-05 9.99967415e-01 1.12800749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.042320588 meters 0.024667880164640957 Centerline is valid? [True, True] Translation: X:221.03, Y:-48.51, Z:1.13 [[ 8.95542635e-01 4.44929945e-01 6.38231378e-03 2.21032966e+02] [-4.44919256e-01 8.95565374e-01 -3.08499951e-03 -4.85099328e+01] [-7.08838788e-03 -7.68657102e-05 9.99974874e-01 1.12799245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.072320588 meters 0.02475915047629309 Centerline is valid? [True, True] Translation: X:221.06, Y:-48.52, Z:1.13 [[ 8.95673448e-01 4.44652102e-01 7.32000508e-03 2.21063413e+02] [-4.44637978e-01 8.95703356e-01 -3.54501468e-03 -4.85220917e+01] [-8.13285135e-03 -7.95767360e-05 9.99966925e-01 1.12783285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.102320588 meters 0.024785599131446987 Centerline is valid? [True, True] Translation: X:221.09, Y:-48.53, Z:1.13 [[ 8.95694995e-01 4.44585496e-01 8.61469782e-03 2.21093970e+02] [-4.44565881e-01 8.95736417e-01 -4.17719278e-03 -4.85339139e+01] [-9.57361788e-03 -8.83100593e-05 9.99954168e-01 1.12848265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.132320588 meters 0.024785599131446987 Centerline is valid? [True, True] Translation: X:221.12, Y:-48.55, Z:1.13 [[ 8.95457359e-01 4.45063978e-01 8.61246969e-03 2.21123371e+02] [-4.45044340e-01 8.95498770e-01 -4.18178642e-03 -4.85478271e+01] [-9.57361851e-03 -8.83194722e-05 9.99954168e-01 1.12864652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.162320588 meters 0.024875704038259748 Centerline is valid? [True, True] Translation: X:221.15, Y:-48.56, Z:1.13 [[ 8.95225162e-01 4.45487064e-01 1.06387976e-02 2.21153352e+02] [-4.45457069e-01 8.95288369e-01 -5.17071399e-03 -4.85600184e+01] [-1.18282779e-02 -1.10174308e-04 9.99930037e-01 1.12861812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.192320588 meters 0.02466413245280717 Centerline is valid? [True, True] Translation: X:221.18, Y:-48.57, Z:1.13 [[ 8.95306502e-01 4.45303875e-01 1.14335540e-02 2.21184854e+02] [-4.45269118e-01 8.95379499e-01 -5.56467021e-03 -4.85717084e+01] [-1.27153391e-02 -1.08923101e-04 9.99919151e-01 1.13069655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.222320588 meters 0.02476653372487458 Centerline is valid? [True, True] Translation: X:221.22, Y:-48.58, Z:1.13 [[ 8.95524520e-01 4.44854635e-01 1.18401155e-02 2.21215615e+02] [-4.44817221e-01 8.95602783e-01 -5.77025412e-03 -4.85845818e+01] [-1.31709647e-02 -9.92832178e-05 9.99913254e-01 1.12967346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.252320588 meters 0.02457269439936033 Centerline is valid? [True, True] Translation: X:221.25, Y:-48.60, Z:1.13 [[ 8.95893084e-01 4.44149501e-01 1.03345443e-02 2.21245546e+02] [-4.44120882e-01 8.95952686e-01 -5.04248443e-03 -4.85971996e+01] [-1.14988796e-02 -7.22599758e-05 9.99933883e-01 1.12983496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.282320588 meters 0.024243798222897593 Centerline is valid? [True, True] Translation: X:221.28, Y:-48.61, Z:1.13 [[ 8.96655705e-01 4.42612933e-01 1.01162433e-02 2.21275074e+02] [-4.42585332e-01 8.96712768e-01 -4.94314213e-03 -4.86109460e+01] [-1.12592632e-02 -4.50043088e-05 9.99936611e-01 1.12955932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.312320588 meters 0.024181446082748203 Centerline is valid? [True, True] Translation: X:221.30, Y:-48.63, Z:1.13 [[ 8.96559232e-01 4.42798973e-01 1.05172266e-02 2.21304896e+02] [-4.42769073e-01 8.96620916e-01 -5.14590508e-03 -4.86259917e+01] [-1.17085669e-02 -4.30939847e-05 9.99931451e-01 1.12994958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.342320588 meters 0.024496415337819228 Centerline is valid? [True, True] Translation: X:221.33, Y:-48.64, Z:1.13 [[ 8.96551418e-01 4.42787909e-01 1.15940697e-02 2.21334754e+02] [-4.42751477e-01 8.96626381e-01 -5.68011347e-03 -4.86397382e+01] [-1.29106343e-02 -4.07777002e-05 9.99916653e-01 1.12995317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.372320588 meters 0.024410010395651615 Centerline is valid? [True, True] Translation: X:221.37, Y:-48.65, Z:1.13 [[ 8.96803039e-01 4.42237491e-01 1.30502991e-02 2.21365110e+02] [-4.42191176e-01 8.96897988e-01 -6.40029133e-03 -4.86520119e+01] [-1.45352358e-02 -3.09264078e-05 9.99894357e-01 1.12968370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.402320588 meters 0.02430133615014104 Centerline is valid? [True, True] Translation: X:221.40, Y:-48.66, Z:1.13 [[ 8.97056630e-01 4.41770450e-01 1.13257363e-02 2.21395181e+02] [-4.41735445e-01 8.97128123e-01 -5.56127182e-03 -4.86629877e+01] [-1.26174421e-02 -1.42034115e-05 9.99920397e-01 1.12998092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43232058799998 meters 0.02421612902502512 Centerline is valid? [True, True] Translation: X:221.42, Y:-48.68, Z:1.13 [[ 8.97093896e-01 4.41695727e-01 1.12883410e-02 2.21424102e+02] [-4.41660847e-01 8.97164915e-01 -5.55079412e-03 -4.86781953e+01] [-1.25792656e-02 -6.03472934e-06 9.99920878e-01 1.12883023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46232058799998 meters 0.024362486139263544 Centerline is valid? [True, True] Translation: X:221.45, Y:-48.69, Z:1.13 [[ 8.96752098e-01 4.42388125e-01 1.13323573e-02 2.21452852e+02] [-4.42352934e-01 8.96823699e-01 -5.57991187e-03 -4.86943143e+01] [-1.26316133e-02 -9.10382405e-06 9.99920218e-01 1.12782494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49232058799998 meters 0.024233978636331543 Centerline is valid? [True, True] Translation: X:221.48, Y:-48.71, Z:1.13 [[ 8.96253778e-01 4.43423078e-01 1.02537610e-02 2.21480800e+02] [-4.43394268e-01 8.96312431e-01 -5.05463867e-03 -4.87094992e+01] [-1.14319169e-02 -1.62198453e-05 9.99934653e-01 1.12882951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52232058799999 meters 0.024022756443709947 Centerline is valid? [True, True] Translation: X:221.51, Y:-48.72, Z:1.13 [[ 8.95978729e-01 4.43963519e-01 1.08863024e-02 2.21511294e+02] [-4.43930995e-01 8.96044861e-01 -5.37382783e-03 -4.87230598e+01] [-1.21403988e-02 -1.79316275e-05 9.99926302e-01 1.12953726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.552320588 meters 0.023933503008611086 Centerline is valid? [True, True] Translation: X:221.54, Y:-48.74, Z:1.13 [[ 8.96044990e-01 4.43848971e-01 1.00730321e-02 2.21541590e+02] [-4.43821041e-01 8.96101607e-01 -4.97925367e-03 -4.87367599e+01] [-1.12364969e-02 -8.98829642e-06 9.99936869e-01 1.13078761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.582320588 meters 0.02390205235638672 Centerline is valid? [True, True] Translation: X:221.57, Y:-48.75, Z:1.13 [[ 8.96403109e-01 4.43164639e-01 8.15897457e-03 2.21570384e+02] [-4.43146243e-01 8.96440239e-01 -4.03798639e-03 -4.87520157e+01] [-9.10352590e-03 4.04463030e-06 9.99958562e-01 1.13103940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.612320588 meters 0.023898056483955935 Centerline is valid? [True, True] Translation: X:221.60, Y:-48.77, Z:1.13 [[ 8.96108862e-01 4.43769961e-01 7.55835420e-03 2.21599146e+02] [-4.43754147e-01 8.96140738e-01 -3.74634022e-03 -4.87679218e+01] [-8.43586236e-03 3.07764877e-06 9.99964417e-01 1.13079910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.642320588 meters 0.024075007682831134 Centerline is valid? [True, True] Translation: X:221.63, Y:-48.78, Z:1.13 [[ 8.95755035e-01 4.44459714e-01 8.85886682e-03 2.21628271e+02] [-4.44437970e-01 8.95798841e-01 -4.39636670e-03 -4.87835740e+01] [-9.88977051e-03 8.50826255e-07 9.99951095e-01 1.12958127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.672320588 meters 0.02408016385552663 Centerline is valid? [True, True] Translation: X:221.66, Y:-48.80, Z:1.13 [[ 8.95149248e-01 4.45616548e-01 1.15635869e-02 2.21657076e+02] [-4.45579527e-01 8.95223934e-01 -5.74395113e-03 -4.87977471e+01] [-1.29115994e-02 -1.08040497e-05 9.99916642e-01 1.13028829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.702320588 meters 0.02402315048226139 Centerline is valid? [True, True] Translation: X:221.69, Y:-48.81, Z:1.13 [[ 8.94800132e-01 4.46245414e-01 1.40624927e-02 2.21686330e+02] [-4.46190620e-01 8.94910627e-01 -6.99284770e-03 -4.88110485e+01] [-1.57052003e-02 -1.73512821e-05 9.99876666e-01 1.13072675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.732320588 meters 0.024089091731262554 Centerline is valid? [True, True] Translation: X:221.72, Y:-48.82, Z:1.13 [[ 8.94436710e-01 4.46985306e-01 1.36787650e-02 2.21716101e+02] [-4.46933403e-01 8.94541299e-01 -6.81158668e-03 -4.88249551e+01] [-1.52808993e-02 -2.09637865e-05 9.99883240e-01 1.13117351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.762320588 meters 0.023894014258037787 Centerline is valid? [True, True] Translation: X:221.74, Y:-48.84, Z:1.13 [[ 8.93772782e-01 4.48373175e-01 1.14765228e-02 2.21744150e+02] [-4.48336667e-01 8.93846461e-01 -5.72172317e-03 -4.88403132e+01] [-1.28237165e-02 -3.14255473e-05 9.99917772e-01 1.13202933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.792320588 meters 0.023894014258037787 Centerline is valid? [True, True] Translation: X:221.77, Y:-48.85, Z:1.13 [[ 8.93532071e-01 4.48852761e-01 1.14732930e-02 2.21773399e+02] [-4.48816209e-01 8.93605728e-01 -5.72819875e-03 -4.88545478e+01] [-1.28237181e-02 -3.10705586e-05 9.99917772e-01 1.13219320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.822320588 meters 0.024127944662397153 Centerline is valid? [True, True] Translation: X:221.80, Y:-48.87, Z:1.13 [[ 8.93381984e-01 4.49155454e-01 1.13140829e-02 2.21802407e+02] [-4.49119837e-01 8.93453624e-01 -5.65633881e-03 -4.88701188e+01] [-1.26491838e-02 -2.81078805e-05 9.99919995e-01 1.13148951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.852320588 meters 0.02411359835832067 Centerline is valid? [True, True] Translation: X:221.83, Y:-48.88, Z:1.13 [[ 8.93002070e-01 4.49860945e-01 1.31313696e-02 2.21831447e+02] [-4.49812945e-01 8.93098611e-01 -6.57157823e-03 -4.88847832e+01] [-1.46839043e-02 -3.82270540e-05 9.99892185e-01 1.13028297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.882320588 meters 0.024145579393223118 Centerline is valid? [True, True] Translation: X:221.86, Y:-48.90, Z:1.13 [[ 8.91890659e-01 4.52048868e-01 1.35230696e-02 2.21861724e+02] [-4.51998073e-01 8.91993170e-01 -6.77689174e-03 -4.88986223e+01] [-1.51259720e-02 -6.81549809e-05 9.99885594e-01 1.13174099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.912320588 meters 0.02416215659747704 Centerline is valid? [True, True] Translation: X:221.89, Y:-48.91, Z:1.13 [[ 8.90886760e-01 4.54037300e-01 1.30732898e-02 2.21891066e+02] [-4.53989913e-01 8.90982672e-01 -6.56028828e-03 -4.89130654e+01] [-1.46266903e-02 -9.06677228e-05 9.99893020e-01 1.13131181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.942320588 meters 0.02421305408979774 Centerline is valid? [True, True] Translation: X:221.92, Y:-48.93, Z:1.13 [[ 8.90376797e-01 4.55054712e-01 1.24245061e-02 2.21920241e+02] [-4.55011894e-01 8.90463475e-01 -6.24312219e-03 -4.89279222e+01] [-1.39045310e-02 -9.45669053e-05 9.99903323e-01 1.13207155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.972320588 meters 0.02406564837229609 Centerline is valid? [True, True] Translation: X:221.95, Y:-48.94, Z:1.13 [[ 8.90010732e-01 4.55802831e-01 1.11658187e-02 2.21949571e+02] [-4.55768228e-01 8.90080766e-01 -5.61706445e-03 -4.89422769e+01] [-1.24987543e-02 -8.97777493e-05 9.99921883e-01 1.13308090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.002320588 meters 0.02422776067380963 Centerline is valid? [True, True] Translation: X:221.98, Y:-48.96, Z:1.13 [[ 8.88901203e-01 4.57979309e-01 1.04691953e-02 2.21980115e+02] [-4.57948952e-01 8.88962846e-01 -5.27411612e-03 -4.89553466e+01] [-1.17221617e-02 -1.06188847e-04 9.99931287e-01 1.13215525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.032320588 meters 0.024362863941757046 Centerline is valid? [True, True] Translation: X:222.01, Y:-48.97, Z:1.13 [[ 8.88142141e-01 4.59455146e-01 1.02228600e-02 2.22010300e+02] [-4.59426218e-01 8.88200966e-01 -5.15701579e-03 -4.89690754e+01] [-1.14493715e-02 -1.16486846e-04 9.99934447e-01 1.13093733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.062320588 meters 0.024232627241526392 Centerline is valid? [True, True] Translation: X:222.04, Y:-48.98, Z:1.13 [[ 8.87718664e-01 4.60271532e-01 1.02805858e-02 2.22040895e+02] [-4.60242253e-01 8.87778183e-01 -5.19293619e-03 -4.89825840e+01] [-1.15170405e-02 -1.21693590e-04 9.99933669e-01 1.13160161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.092320588 meters 0.024319283691365073 Centerline is valid? [True, True] Translation: X:222.07, Y:-48.99, Z:1.13 [[ 8.87002455e-01 4.61680362e-01 8.82542690e-03 2.22072547e+02] [-4.61658792e-01 8.87046352e-01 -4.46422898e-03 -4.89939843e+01] [-9.88960959e-03 -1.14553854e-04 9.99951090e-01 1.13352332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.122320588 meters 0.024236239353594063 Centerline is valid? [True, True] Translation: X:222.10, Y:-49.01, Z:1.13 [[ 8.86941536e-01 4.61791885e-01 9.10863106e-03 2.22102898e+02] [-4.61768854e-01 8.86988299e-01 -4.61345574e-03 -4.90072917e+01] [-1.02097056e-02 -1.14216601e-04 9.99947873e-01 1.13447797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.152320588 meters 0.024252428072596408 Centerline is valid? [True, True] Translation: X:222.13, Y:-49.02, Z:1.14 [[ 8.86681625e-01 4.62292011e-01 9.04392167e-03 2.22132425e+02] [-4.62269270e-01 8.86727739e-01 -4.58683962e-03 -4.90220775e+01] [-1.01399555e-02 -1.13660662e-04 9.99948583e-01 1.13555077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18232058799998 meters 0.02426681048793143 Centerline is valid? [True, True] Translation: X:222.16, Y:-49.04, Z:1.14 [[ 8.86940351e-01 4.61787189e-01 9.45544009e-03 2.22162297e+02] [-4.61762236e-01 8.86990744e-01 -4.80177318e-03 -4.90370303e+01] [-1.06042852e-02 -1.07278765e-04 9.99943767e-01 1.13522094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21232058799998 meters 0.024267049855404878 Centerline is valid? [True, True] Translation: X:222.19, Y:-49.05, Z:1.14 [[ 8.87559384e-01 4.60580444e-01 1.01977808e-02 2.22192706e+02] [-4.60551262e-01 8.87617962e-01 -5.18549846e-03 -4.90497961e+01] [-1.14400726e-02 -9.41629933e-05 9.99934556e-01 1.13519357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24232058799998 meters 0.024258085087863243 Centerline is valid? [True, True] Translation: X:222.22, Y:-49.06, Z:1.13 [[ 8.87620873e-01 4.60452682e-01 1.06072695e-02 2.22222959e+02] [-4.60421019e-01 8.87684245e-01 -5.40058783e-03 -4.90627380e+01] [-1.19026211e-02 -9.01353293e-05 9.99929157e-01 1.13493242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27232058799999 meters 0.02432833237745753 Centerline is valid? [True, True] Translation: X:222.25, Y:-49.08, Z:1.13 [[ 8.88024162e-01 4.59681861e-01 1.02798398e-02 2.22253115e+02] [-4.59651989e-01 8.88083657e-01 -5.24088768e-03 -4.90765856e+01] [-1.15384987e-02 -7.11139327e-05 9.99933427e-01 1.13381011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.302320588 meters 0.024167278148446856 Centerline is valid? [True, True] Translation: X:222.28, Y:-49.09, Z:1.13 [[ 8.88305237e-01 4.59156085e-01 9.46018881e-03 2.22281767e+02] [-4.59130700e-01 8.88355608e-01 -4.82837124e-03 -4.90909990e+01] [-1.06209878e-02 -5.43956540e-05 9.99943594e-01 1.13406606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.332320588 meters 0.02424067425157664 Centerline is valid? [True, True] Translation: X:222.31, Y:-49.11, Z:1.13 [[ 8.89098494e-01 4.57547676e-01 1.24093327e-02 2.22310723e+02] [-4.57503750e-01 8.89185089e-01 -6.34006408e-03 -4.91054602e+01] [-1.39350752e-02 -4.03748059e-05 9.99902901e-01 1.13446931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.362320588 meters 0.02441834459793703 Centerline is valid? [True, True] Translation: X:222.34, Y:-49.12, Z:1.13 [[ 8.89568982e-01 4.56610205e-01 1.31964919e-02 2.22340930e+02] [-4.56560292e-01 8.89666859e-01 -6.75124742e-03 -4.91191327e+01] [-1.48231700e-02 -1.92939028e-05 9.99890131e-01 1.13471446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.392320588 meters 0.024358829231191745 Centerline is valid? [True, True] Translation: X:222.37, Y:-49.13, Z:1.14 [[ 8.90556438e-01 4.54728595e-01 1.14514726e-02 2.22370294e+02] [-4.54690769e-01 8.90630061e-01 -5.86512966e-03 -4.91330161e+01] [-1.28660679e-02 1.63501054e-05 9.99917229e-01 1.13500018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.422320588 meters 0.02428120238136168 Centerline is valid? [True, True] Translation: X:222.40, Y:-49.15, Z:1.13 [[ 8.90965384e-01 4.53928678e-01 1.13771780e-02 2.22399356e+02] [-4.53891175e-01 8.91038021e-01 -5.83498706e-03 -4.91495118e+01] [-1.27861661e-02 3.47707884e-05 9.99918253e-01 1.13405049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.452320588 meters 0.024357627401235003 Centerline is valid? [True, True] Translation: X:222.43, Y:-49.17, Z:1.13 [[ 8.91383523e-01 4.53119064e-01 1.08871148e-02 2.22427875e+02] [-4.53084572e-01 8.91450005e-01 -5.59097649e-03 -4.91659475e+01] [-1.22386966e-02 5.09205477e-05 9.99925103e-01 1.13356279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.482320588 meters 0.024577949834337854 Centerline is valid? [True, True] Translation: X:222.46, Y:-49.18, Z:1.13 [[ 8.91595013e-01 4.52653840e-01 1.27606116e-02 2.22455865e+02] [-4.52606315e-01 8.91686321e-01 -6.55956085e-03 -4.91813146e+01] [-1.43476732e-02 7.29383528e-05 9.99897064e-01 1.13298530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.512320588 meters 0.02444868314189618 Centerline is valid? [True, True] Translation: X:222.48, Y:-49.20, Z:1.13 [[ 8.91776426e-01 4.52309458e-01 1.22865769e-02 2.22484255e+02] [-4.52265246e-01 8.91861058e-01 -6.32451101e-03 -4.91982077e+01] [-1.38185556e-02 8.32581213e-05 9.99904516e-01 1.13314707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.542320588 meters 0.024517355909552757 Centerline is valid? [True, True] Translation: X:222.51, Y:-49.22, Z:1.13 [[ 8.91130877e-01 4.53599889e-01 1.15282521e-02 2.22511643e+02] [-4.53560991e-01 8.91205440e-01 -5.94058232e-03 -4.92154552e+01] [-1.29686885e-02 6.50708721e-05 9.99915901e-01 1.13286537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.572320588 meters 0.024403741366240014 Centerline is valid? [True, True] Translation: X:222.54, Y:-49.23, Z:1.13 [[ 8.90693912e-01 4.54458434e-01 1.14842162e-02 2.22539408e+02] [-4.54419801e-01 8.90767943e-01 -5.92588504e-03 -4.92336687e+01] [-1.29228401e-02 5.94944709e-05 9.99916495e-01 1.13274619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.602320588 meters 0.024411119283940245 Centerline is valid? [True, True] Translation: X:222.57, Y:-49.25, Z:1.13 [[ 8.90358315e-01 4.55136267e-01 1.06324980e-02 2.22566985e+02] [-4.55103113e-01 8.90421796e-01 -5.49369884e-03 -4.92516180e+01] [-1.19677896e-02 5.24774822e-05 9.99928382e-01 1.13242240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.632320588 meters 0.024385288158154547 Centerline is valid? [True, True] Translation: X:222.59, Y:-49.27, Z:1.13 [[ 8.88619402e-01 4.58501625e-01 1.14812196e-02 2.22594599e+02] [-4.58463150e-01 8.88693569e-01 -5.93972213e-03 -4.92711801e+01] [-1.29266583e-02 1.44362033e-05 9.99916447e-01 1.13110340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.662320588 meters 0.024462418880593507 Centerline is valid? [True, True] Translation: X:222.62, Y:-49.29, Z:1.13 [[ 8.87168016e-01 4.61295505e-01 1.18054147e-02 2.22623348e+02] [-4.61254969e-01 8.87246559e-01 -6.11529985e-03 -4.92884988e+01] [-1.32952739e-02 -2.00077390e-05 9.99911614e-01 1.13191220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.692320588 meters 0.024431899735501087 Centerline is valid? [True, True] Translation: X:222.65, Y:-49.31, Z:1.13 [[ 8.85916034e-01 4.63666531e-01 1.28890708e-02 2.22651368e+02] [-4.63618361e-01 8.86009788e-01 -6.68358820e-03 -4.93052670e+01] [-1.45187991e-02 -5.45119308e-05 9.99894595e-01 1.13124385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.722320588 meters 0.02455069151542856 Centerline is valid? [True, True] Translation: X:222.68, Y:-49.32, Z:1.13 [[ 8.83374317e-01 4.68520685e-01 1.17552091e-02 2.22678618e+02] [-4.68480934e-01 8.83452520e-01 -6.10408697e-03 -4.93239210e+01] [-1.32450601e-02 -1.14897698e-04 9.99912274e-01 1.13183941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.752320588 meters 0.02460526406942053 Centerline is valid? [True, True] Translation: X:222.71, Y:-49.34, Z:1.13 [[ 8.82256887e-01 4.70620751e-01 1.17853166e-02 2.22707443e+02] [-4.70580877e-01 8.82335588e-01 -6.12767303e-03 -4.93403396e+01] [-1.32824143e-02 -1.39762896e-04 9.99911775e-01 1.13174244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.782320588 meters 0.024708109464840214 Centerline is valid? [True, True] Translation: X:222.74, Y:-49.36, Z:1.13 [[ 8.80804347e-01 4.73370372e-01 1.02075134e-02 2.22736094e+02] [-4.73340562e-01 8.80863479e-01 -5.31457356e-03 -4.93559701e+01] [-1.15071874e-02 -1.50530634e-04 9.99933779e-01 1.13218456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.812320588 meters 0.024930047758118933 Centerline is valid? [True, True] Translation: X:222.76, Y:-49.37, Z:1.13 [[ 8.79044962e-01 4.76642208e-01 9.60003548e-03 2.22764107e+02] [-4.76615975e-01 8.79097364e-01 -5.00375380e-03 -4.93711714e+01] [-1.08243661e-02 -1.77005704e-04 9.99941399e-01 1.13341786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.842320588 meters 0.024828079969214465 Centerline is valid? [True, True] Translation: X:222.79, Y:-49.39, Z:1.13 [[ 8.78423209e-01 4.77824266e-01 7.52569967e-03 2.22793173e+02] [-4.77808147e-01 8.78455434e-01 -3.92753652e-03 -4.93857743e+01] [-8.48766403e-03 -1.45801376e-04 9.99963969e-01 1.13436489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.872320588 meters 0.02514311074788677 Centerline is valid? [True, True] Translation: X:222.82, Y:-49.40, Z:1.13 [[ 8.77413948e-01 4.79699549e-01 5.75382061e-03 2.22823011e+02] [-4.79690135e-01 8.77432806e-01 -3.00771592e-03 -4.93998827e+01] [-6.49139093e-03 -1.21039080e-04 9.99978923e-01 1.13375984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.902320588 meters 0.024954802511450054 Centerline is valid? [True, True] Translation: X:222.85, Y:-49.41, Z:1.13 [[ 8.76566542e-01 4.81279317e-01 -1.14751351e-03 2.22854207e+02] [-4.81278947e-01 8.76567293e-01 5.97290035e-04 -4.94095830e+01] [ 1.29333615e-03 2.87096333e-05 9.99999163e-01 1.13283248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93232058799998 meters 0.024827959135121105 Centerline is valid? [True, True] Translation: X:222.88, Y:-49.42, Z:1.13 [[ 8.76302460e-01 4.81761340e-01 -1.03664893e-04 2.22884936e+02] [-4.81761337e-01 8.76302466e-01 5.12432420e-05 -4.94226222e+01] [ 1.15528815e-04 5.03715872e-06 9.99999993e-01 1.13265388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96232058799998 meters 0.024624761679233213 Centerline is valid? [True, True] Translation: X:222.91, Y:-49.44, Z:1.14 [[ 8.77804753e-01 4.79016728e-01 1.33749109e-03 2.22914154e+02] [-4.79016212e-01 8.77805772e-01 -7.03583624e-04 -4.94370756e+01] [-1.51108572e-03 -2.30708656e-05 9.99998858e-01 1.13548470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99232058799998 meters 0.02422103059875739 Centerline is valid? [True, True] Translation: X:222.94, Y:-49.45, Z:1.14 [[ 8.84129338e-01 4.67216882e-01 4.86811637e-03 2.22943946e+02] [-4.67209886e-01 8.84142740e-01 -2.55688562e-03 -4.94494946e+01] [-5.49872987e-03 -1.38144974e-05 9.99984882e-01 1.13608245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02232058799999 meters 0.02422103059875739 Centerline is valid? [True, True] Translation: X:222.97, Y:-49.46, Z:1.14 [[ 8.83879375e-01 4.67689605e-01 4.86661100e-03 2.22972885e+02] [-4.67682600e-01 8.83892772e-01 -2.55975151e-03 -4.94643338e+01] [-5.49873147e-03 -1.35177237e-05 9.99984882e-01 1.13624630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.052320588 meters 0.024038237038009953 Centerline is valid? [True, True] Translation: X:223.00, Y:-49.48, Z:1.14 [[ 8.83692940e-01 4.68038390e-01 5.18203278e-03 2.23002130e+02] [-4.68030434e-01 8.83708134e-01 -2.72900135e-03 -4.94800229e+01] [-5.85668191e-03 -1.37498213e-05 9.99982849e-01 1.13656228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.082320588 meters 0.024038237038009953 Centerline is valid? [True, True] Translation: X:223.03, Y:-49.49, Z:1.14 [[ 8.83443058e-01 4.68509898e-01 5.18057959e-03 2.23031053e+02] [-4.68501934e-01 8.83458248e-01 -2.73176052e-03 -4.94948924e+01] [-5.85668261e-03 -1.37566915e-05 9.99982849e-01 1.13672613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.112320588 meters 0.024054584572297016 Centerline is valid? [True, True] Translation: X:223.06, Y:-49.51, Z:1.14 [[ 8.82502429e-01 4.70276869e-01 5.39721857e-03 2.23059760e+02] [-4.70268236e-01 8.82518933e-01 -2.84954683e-03 -4.95112356e+01] [-6.10322353e-03 -2.34084597e-05 9.99981375e-01 1.13668313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.142320588 meters 0.024054584572297016 Centerline is valid? [True, True] Translation: X:223.09, Y:-49.53, Z:1.14 [[ 8.82251586e-01 4.70747305e-01 5.39569982e-03 2.23088667e+02] [-4.70738663e-01 8.82268086e-01 -2.85242310e-03 -4.95261362e+01] [-6.10322424e-03 -2.34097120e-05 9.99981375e-01 1.13684698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.172320588 meters 0.024248221047025603 Centerline is valid? [True, True] Translation: X:223.12, Y:-49.54, Z:1.14 [[ 8.81118405e-01 4.72851567e-01 6.46162370e-03 2.23116788e+02] [-4.72839209e-01 8.81142096e-01 -3.41876560e-03 -4.95428235e+01] [-7.31017732e-03 -4.29717523e-05 9.99973279e-01 1.13697573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.202320588 meters 0.024348140196691494 Centerline is valid? [True, True] Translation: X:223.14, Y:-49.56, Z:1.14 [[ 8.79424844e-01 4.75946104e-01 9.34074877e-03 2.23144357e+02] [-4.75920409e-01 8.79474444e-01 -4.94646013e-03 -4.95600435e+01] [-1.05691983e-02 -9.54130483e-05 9.99944140e-01 1.13910086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.232320588 meters 0.024511646439642102 Centerline is valid? [True, True] Translation: X:223.17, Y:-49.58, Z:1.14 [[ 8.78690470e-01 4.77288865e-01 9.91950763e-03 2.23173424e+02] [-4.77259893e-01 8.78746452e-01 -5.26000239e-03 -4.95755497e+01] [-1.12272727e-02 -1.12269181e-04 9.99936966e-01 1.14012027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.262320588 meters 0.024370427044509337 Centerline is valid? [True, True] Translation: X:223.20, Y:-49.59, Z:1.14 [[ 8.77890956e-01 4.78773940e-01 9.10958683e-03 2.23202655e+02] [-4.78749520e-01 8.77938210e-01 -4.83695371e-03 -4.95904910e+01] [-1.03134617e-02 -1.14892408e-04 9.99946808e-01 1.14145425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.292320588 meters 0.024700133010519716 Centerline is valid? [True, True] Translation: X:223.23, Y:-49.61, Z:1.14 [[ 8.76778408e-01 4.80796302e-01 9.72310546e-03 2.23230426e+02] [-4.80768548e-01 8.76832307e-01 -5.16793556e-03 -4.96070626e+01] [-1.10102573e-02 -1.43428982e-04 9.99939375e-01 1.14024559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.322320588 meters 0.024561390686615475 Centerline is valid? [True, True] Translation: X:223.26, Y:-49.62, Z:1.14 [[ 8.76174535e-01 4.81879613e-01 1.04986627e-02 2.23258036e+02] [-4.81847260e-01 8.76237417e-01 -5.58626846e-03 -4.96231262e+01] [-1.18912300e-02 -1.64205683e-04 9.99929283e-01 1.14046335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.352320588 meters 0.024831817322421866 Centerline is valid? [True, True] Translation: X:223.29, Y:-49.64, Z:1.14 [[ 8.75413003e-01 4.83263731e-01 1.04038490e-02 2.23286374e+02] [-4.83231968e-01 8.75474806e-01 -5.54343441e-03 -4.96397940e+01] [-1.17872485e-02 -1.74677856e-04 9.99930513e-01 1.14011909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.382320588 meters 0.025021580840753774 Centerline is valid? [True, True] Translation: X:223.32, Y:-49.66, Z:1.14 [[ 8.74869405e-01 4.84235504e-01 1.09316030e-02 2.23315203e+02] [-4.84200423e-01 8.74937678e-01 -5.83183988e-03 -4.96557087e+01] [-1.23884552e-02 -1.90988484e-04 9.99923242e-01 1.13971877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.412320588 meters 0.025053002461646753 Centerline is valid? [True, True] Translation: X:223.34, Y:-49.67, Z:1.14 [[ 8.73634667e-01 4.86469072e-01 1.05029134e-02 2.23342464e+02] [-4.86436778e-01 8.73697773e-01 -5.60910691e-03 -4.96722114e+01] [-1.19050291e-02 -2.08693122e-04 9.99929111e-01 1.14191634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.442320588 meters 0.02538325176263892 Centerline is valid? [True, True] Translation: X:223.37, Y:-49.69, Z:1.14 [[ 8.72776410e-01 4.88009554e-01 1.03929043e-02 2.23371040e+02] [-4.87977955e-01 8.72838259e-01 -5.55781674e-03 -4.96887329e+01] [-1.17835922e-02 -2.20776837e-04 9.99930547e-01 1.14265783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.472320588 meters 0.025234165349212724 Centerline is valid? [True, True] Translation: X:223.40, Y:-49.70, Z:1.14 [[ 8.72696071e-01 4.88137961e-01 1.10859699e-02 2.23400047e+02] [-4.88101926e-01 8.72766451e-01 -5.93564849e-03 -4.97037516e+01] [-1.25728779e-02 -2.31066133e-04 9.99920932e-01 1.14337066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.502320588 meters 0.025129936257363022 Centerline is valid? [True, True] Translation: X:223.43, Y:-49.72, Z:1.14 [[ 8.73251967e-01 4.87167536e-01 9.93946020e-03 2.23429431e+02] [-4.87138442e-01 8.73308511e-01 -5.32753435e-03 -4.97176859e+01] [-1.12756170e-02 -1.89613302e-04 9.99936410e-01 1.14104864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.532320588 meters 0.024810239762771896 Centerline is valid? [True, True] Translation: X:223.46, Y:-49.73, Z:1.14 [[ 8.73480432e-01 4.86794797e-01 7.92213743e-03 2.23457848e+02] [-4.86776252e-01 8.73516345e-01 -4.25149588e-03 -4.97325323e+01] [-8.98972260e-03 -1.42709913e-04 9.99959581e-01 1.14150136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.562320588 meters 0.024947208211666187 Centerline is valid? [True, True] Translation: X:223.49, Y:-49.75, Z:1.14 [[ 8.74171296e-01 4.85518798e-01 9.80015901e-03 2.23485059e+02] [-4.85490265e-01 8.74226214e-01 -5.26584639e-03 -4.97514556e+01] [-1.11242233e-02 -1.54630032e-04 9.99938112e-01 1.14304363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.592320588 meters 0.024556468456003795 Centerline is valid? [True, True] Translation: X:223.51, Y:-49.77, Z:1.14 [[ 8.74549062e-01 4.84859848e-01 8.65247965e-03 2.23513712e+02] [-4.84837525e-01 8.74591855e-01 -4.65429863e-03 -4.97664823e+01] [-9.82407075e-03 -1.24634319e-04 9.99951735e-01 1.14455836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.622320588 meters 0.024395807992135084 Centerline is valid? [True, True] Translation: X:223.54, Y:-49.78, Z:1.14 [[ 8.75109624e-01 4.83880998e-01 6.50586555e-03 2.23542738e+02] [-4.83868316e-01 8.75133803e-01 -3.50425142e-03 -4.97806284e+01] [-7.38914354e-03 -8.13780682e-05 9.99972697e-01 1.14323881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.652320588 meters 0.024513192925372032 Centerline is valid? [True, True] Translation: X:223.57, Y:-49.80, Z:1.14 [[ 8.75451193e-01 4.83238669e-01 8.09926595e-03 2.23571223e+02] [-4.83218938e-01 8.75488653e-01 -4.36778200e-03 -4.97966675e+01] [-9.20149659e-03 -8.99387272e-05 9.99957661e-01 1.14133829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68232058799998 meters 0.024513192925372032 Centerline is valid? [True, True] Translation: X:223.60, Y:-49.81, Z:1.14 [[ 8.75192909e-01 4.83706328e-01 8.09693047e-03 2.23599986e+02] [-4.83686576e-01 8.75230358e-01 -4.37211146e-03 -4.98118300e+01] [-9.20149734e-03 -8.99356331e-05 9.99957661e-01 1.14150216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71232058799998 meters 0.02459480289631136 Centerline is valid? [True, True] Translation: X:223.63, Y:-49.83, Z:1.14 [[ 8.76047158e-01 4.82079644e-01 1.18572308e-02 2.23625763e+02] [-4.82037065e-01 8.76127392e-01 -6.40792026e-03 -4.98312173e+01] [-1.34775726e-02 -1.01984393e-04 9.99909168e-01 1.14266518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74232058799998 meters 0.02438098215447382 Centerline is valid? [True, True] Translation: X:223.65, Y:-49.85, Z:1.15 [[ 8.76486905e-01 4.81263472e-01 1.24970288e-02 2.23653745e+02] [-4.81215965e-01 8.76575988e-01 -6.76255406e-03 -4.98491144e+01] [-1.42091656e-02 -8.64796750e-05 9.99899041e-01 1.14582522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77232058799999 meters 0.0242895756794183 Centerline is valid? [True, True] Translation: X:223.68, Y:-49.87, Z:1.15 [[ 8.75276375e-01 4.83434683e-01 1.34972146e-02 2.23681077e+02] [-4.83379410e-01 8.75380427e-01 -7.31126353e-03 -4.98654057e+01] [-1.53497159e-02 -1.24899386e-04 9.99882178e-01 1.14783275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.802320588 meters 0.02467376734699714 Centerline is valid? [True, True] Translation: X:223.71, Y:-49.88, Z:1.15 [[ 8.72107880e-01 4.89138430e-01 1.30936104e-02 2.23709560e+02] [-4.89086936e-01 8.72206141e-01 -7.10052011e-03 -4.98803826e+01] [-1.48934647e-02 -2.11494269e-04 9.99889064e-01 1.14751144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.832320588 meters 0.024930207965597324 Centerline is valid? [True, True] Translation: X:223.74, Y:-49.90, Z:1.15 [[ 8.70167551e-01 4.92566182e-01 1.36744367e-02 2.23737607e+02] [-4.92510316e-01 8.70274945e-01 -7.42347565e-03 -4.98958564e+01] [-1.55570727e-02 -2.75133521e-04 9.99878944e-01 1.14732797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.862320588 meters 0.025777844788212826 Centerline is valid? [True, True] Translation: X:223.77, Y:-49.91, Z:1.15 [[ 8.66621624e-01 4.98704861e-01 1.61376158e-02 2.23765707e+02] [-4.98628107e-01 8.66771744e-01 -8.76100304e-03 -4.99119609e+01] [-1.83567842e-02 -4.54194139e-04 9.99831397e-01 1.14787240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.892320588 meters 0.025950289814691982 Centerline is valid? [True, True] Translation: X:223.79, Y:-49.93, Z:1.15 [[ 8.65033520e-01 5.01448980e-01 1.63073464e-02 2.23794296e+02] [-5.01370881e-01 8.65187068e-01 -8.86437439e-03 -4.99262777e+01] [-1.85539367e-02 -5.08047653e-04 9.99827732e-01 1.14849205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.922320588 meters 0.02678320300283588 Centerline is valid? [True, True] Translation: X:223.82, Y:-49.94, Z:1.15 [[ 8.62534354e-01 5.05763159e-01 1.54309501e-02 2.23824188e+02] [-5.05693759e-01 8.62672193e-01 -8.39700694e-03 -4.99393392e+01] [-1.75587483e-02 -5.60628215e-04 9.99845676e-01 1.14671803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.952320588 meters 0.02700374559624373 Centerline is valid? [True, True] Translation: X:223.85, Y:-49.95, Z:1.15 [[ 8.61494778e-01 5.07517732e-01 1.58902286e-02 2.23852937e+02] [-5.07444274e-01 8.61641099e-01 -8.65589165e-03 -4.99533151e+01] [-1.80846925e-02 -6.06400052e-04 9.99836275e-01 1.14610403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.982320588 meters 0.02721584971453319 Centerline is valid? [True, True] Translation: X:223.88, Y:-49.97, Z:1.15 [[ 8.60623147e-01 5.09014978e-01 1.52168177e-02 2.23882554e+02] [-5.08947697e-01 8.60757451e-01 -8.29778873e-03 -4.99659059e+01] [-1.73216879e-02 -6.03295256e-04 9.99849786e-01 1.14588939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.012320588 meters 0.02719333876418071 Centerline is valid? [True, True] Translation: X:223.91, Y:-49.98, Z:1.15 [[ 8.60638603e-01 5.09051300e-01 1.29603003e-02 2.23911981e+02] [-5.09002478e-01 8.60736028e-01 -7.06868963e-03 -4.99801387e+01] [-1.47537231e-02 -5.13237807e-04 9.99891026e-01 1.14547794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.042320588 meters 0.02719333876418071 Centerline is valid? [True, True] Translation: X:223.94, Y:-50.00, Z:1.15 [[ 8.60383990e-01 5.09481632e-01 1.29559349e-02 2.23940685e+02] [-5.09432739e-01 8.60481380e-01 -7.07668929e-03 -4.99954583e+01] [-1.47537840e-02 -5.11507250e-04 9.99891026e-01 1.14564188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.072320588 meters 0.02676788349507923 Centerline is valid? [True, True] Translation: X:223.97, Y:-50.01, Z:1.15 [[ 8.61026234e-01 5.08454678e-01 1.03761828e-02 2.23970413e+02] [-5.08423216e-01 8.61088663e-01 -5.66991497e-03 -5.00089771e+01] [-1.18177082e-02 -3.93546710e-04 9.99930091e-01 1.14592140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.102320588 meters 0.026337306456613176 Centerline is valid? [True, True] Translation: X:224.00, Y:-50.02, Z:1.15 [[ 8.61721138e-01 5.07285627e-01 9.89813704e-03 2.23999850e+02] [-5.07256902e-01 8.61777909e-01 -5.41032740e-03 -5.00218114e+01] [-1.12745772e-02 -3.58704845e-04 9.99936376e-01 1.14566318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.132320588 meters 0.026443325769191558 Centerline is valid? [True, True] Translation: X:224.03, Y:-50.04, Z:1.15 [[ 8.61705200e-01 5.07299235e-01 1.05657110e-02 2.24029776e+02] [-5.07266396e-01 8.61769891e-01 -5.78428247e-03 -5.00359105e+01] [-1.20395737e-02 -3.75283875e-04 9.99927451e-01 1.14640683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.162320588 meters 0.026417626881435185 Centerline is valid? [True, True] Translation: X:224.06, Y:-50.05, Z:1.15 [[ 8.61732213e-01 5.07194915e-01 1.30732722e-02 2.24059076e+02] [-5.07144531e-01 8.61831253e-01 -7.16347851e-03 -5.00489100e+01] [-1.49002344e-02 -4.57038300e-04 9.99888881e-01 1.14679710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.192320588 meters 0.026299492891036474 Centerline is valid? [True, True] Translation: X:224.09, Y:-50.06, Z:1.15 [[ 8.61587887e-01 5.07424666e-01 1.36572633e-02 2.24089470e+02] [-5.07369563e-01 8.61695993e-01 -7.49283940e-03 -5.00629588e+01] [-1.55704606e-02 -4.73540033e-04 9.99878661e-01 1.14816127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.222320588 meters 0.02613880383137653 Centerline is valid? [True, True] Translation: X:224.12, Y:-50.08, Z:1.15 [[ 8.61691430e-01 5.07240551e-01 1.39608042e-02 2.24119569e+02] [-5.07182800e-01 8.61804386e-01 -7.66857426e-03 -5.00764926e+01] [-1.59212941e-02 -4.72735029e-04 9.99873136e-01 1.14934492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.252320588 meters 0.02612656300299406 Centerline is valid? [True, True] Translation: X:224.15, Y:-50.09, Z:1.15 [[ 8.62115861e-01 5.06535509e-01 1.33424116e-02 2.24148350e+02] [-5.06482562e-01 8.62218992e-01 -7.33645949e-03 -5.00902048e+01] [-1.52202580e-02 -4.32820730e-04 9.99884071e-01 1.14939321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.282320588 meters 0.02612656300299406 Centerline is valid? [True, True] Translation: X:224.18, Y:-50.11, Z:1.15 [[ 8.61857329e-01 5.06975373e-01 1.33385172e-02 2.24177002e+02] [-5.06922369e-01 8.61960431e-01 -7.34353912e-03 -5.01056205e+01] [-1.52202675e-02 -4.32509711e-04 9.99884071e-01 1.14955715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.312320588 meters 0.02582966341558211 Centerline is valid? [True, True] Translation: X:224.21, Y:-50.12, Z:1.15 [[ 8.62500742e-01 5.05913151e-01 1.20147539e-02 2.24206365e+02] [-5.05869948e-01 8.62584343e-01 -6.62163976e-03 -5.01194637e+01] [-1.37137132e-02 -3.66733731e-04 9.99905895e-01 1.15080805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.342320588 meters 0.02567511589787694 Centerline is valid? [True, True] Translation: X:224.24, Y:-50.13, Z:1.15 [[ 8.63138617e-01 5.04866495e-01 1.00771907e-02 2.24235415e+02] [-5.04835959e-01 8.63197393e-01 -5.56019787e-03 -5.01341598e+01] [-1.15057623e-02 -2.88106714e-04 9.99933765e-01 1.15098665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.372320588 meters 0.02535868828189472 Centerline is valid? [True, True] Translation: X:224.26, Y:-50.15, Z:1.15 [[ 8.63852245e-01 5.03625762e-01 1.09723004e-02 2.24264364e+02] [-5.03589381e-01 8.63921876e-01 -6.06036448e-03 -5.01489053e+01] [-1.25313660e-02 -2.90274493e-04 9.99921437e-01 1.15025726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.402320588 meters 0.025223927174095526 Centerline is valid? [True, True] Translation: X:224.29, Y:-50.16, Z:1.15 [[ 8.64529290e-01 5.02479748e-01 1.01592078e-02 2.24293337e+02] [-5.02448406e-01 8.64588944e-01 -5.61760286e-03 -5.01638842e+01] [-1.16062704e-02 -2.47895535e-04 9.99932614e-01 1.15075700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43232058799998 meters 0.025058580655269676 Centerline is valid? [True, True] Translation: X:224.32, Y:-50.18, Z:1.15 [[ 8.65656813e-01 5.00487161e-01 1.22834694e-02 2.24323861e+02] [-5.00441024e-01 8.65743919e-01 -6.80055604e-03 -5.01767325e+01] [-1.40379299e-02 -2.60204322e-04 9.99901430e-01 1.15048175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46232058799998 meters 0.024928822160056655 Centerline is valid? [True, True] Translation: X:224.35, Y:-50.19, Z:1.15 [[ 8.66337600e-01 4.99269435e-01 1.37547833e-02 2.24353928e+02] [-4.99211287e-01 8.66446746e-01 -7.62418856e-03 -5.01911130e+01] [-1.57243116e-02 -2.61421866e-04 9.99876331e-01 1.15101851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49232058799998 meters 0.024711008414269386 Centerline is valid? [True, True] Translation: X:224.38, Y:-50.20, Z:1.15 [[ 8.67174262e-01 4.97839494e-01 1.28311383e-02 2.24382994e+02] [-4.97788626e-01 8.67269158e-01 -7.11974565e-03 -5.02049669e+01] [-1.46725411e-02 -2.13134515e-04 9.99892330e-01 1.15167175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52232058799999 meters 0.024660176995337804 Centerline is valid? [True, True] Translation: X:224.41, Y:-50.22, Z:1.15 [[ 8.67301829e-01 4.97652112e-01 1.13979509e-02 2.24411124e+02] [-4.97611863e-01 8.67376702e-01 -6.33176719e-03 -5.02201259e+01] [-1.30373344e-02 -1.80202331e-04 9.99914994e-01 1.15128244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.552320588 meters 0.024724881157861953 Centerline is valid? [True, True] Translation: X:224.44, Y:-50.24, Z:1.15 [[ 8.67782210e-01 4.96787089e-01 1.25149787e-02 2.24440034e+02] [-4.96738346e-01 8.67872431e-01 -6.96119806e-03 -5.02359358e+01] [-1.43196383e-02 -1.75866010e-04 9.99897453e-01 1.14966418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.582320588 meters 0.024801570165510746 Centerline is valid? [True, True] Translation: X:224.47, Y:-50.25, Z:1.15 [[ 8.68147051e-01 4.96160891e-01 1.20444171e-02 2.24468065e+02] [-4.96115588e-01 8.68230584e-01 -6.70645378e-03 -5.02508589e+01] [-1.37848113e-02 -1.53234982e-04 9.99904973e-01 1.14849826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.612320588 meters 0.024798224707329064 Centerline is valid? [True, True] Translation: X:224.50, Y:-50.27, Z:1.15 [[ 8.68577065e-01 4.95379807e-01 1.31426491e-02 2.24497469e+02] [-4.95325635e-01 8.68676479e-01 -7.32732198e-03 -5.02665927e+01] [-1.50465175e-02 -1.45547194e-04 9.99886784e-01 1.14745062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.642320588 meters 0.02467014395201737 Centerline is valid? [True, True] Translation: X:224.53, Y:-50.28, Z:1.15 [[ 8.68774521e-01 4.95028438e-01 1.33295860e-02 2.24526316e+02] [-4.94972533e-01 8.68876762e-01 -7.44069334e-03 -5.02823445e+01] [-1.52651223e-02 -1.33494154e-04 9.99883472e-01 1.14777472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.672320588 meters 0.02450742301583113 Centerline is valid? [True, True] Translation: X:224.55, Y:-50.30, Z:1.15 [[ 8.69174033e-01 4.94339570e-01 1.28409637e-02 2.24554129e+02] [-4.94287502e-01 8.69268875e-01 -7.17552495e-03 -5.02975854e+01] [-1.47093960e-02 -1.10347931e-04 9.99891805e-01 1.14873472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.702320588 meters 0.02440402990154787 Centerline is valid? [True, True] Translation: X:224.58, Y:-50.31, Z:1.15 [[ 8.69505365e-01 4.93808093e-01 1.06764746e-02 2.24583056e+02] [-4.93772047e-01 8.69570906e-01 -5.96707761e-03 -5.03128524e+01] [-1.22305429e-02 -8.33387321e-05 9.99925201e-01 1.14945770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.732320588 meters 0.02438458021741602 Centerline is valid? [True, True] Translation: X:224.61, Y:-50.33, Z:1.15 [[ 8.69655556e-01 4.93549164e-01 1.04132912e-02 2.24612759e+02] [-4.93514741e-01 8.69717896e-01 -5.82941053e-03 -5.03270152e+01] [-1.19337264e-02 -6.95334687e-05 9.99928788e-01 1.14910641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.762320588 meters 0.024338566503183296 Centerline is valid? [True, True] Translation: X:224.64, Y:-50.34, Z:1.15 [[ 8.69804808e-01 4.93264086e-01 1.14077823e-02 2.24642694e+02] [-4.93222648e-01 8.69879611e-01 -6.39391702e-03 -5.03419400e+01] [-1.30772869e-02 -6.51168341e-05 9.99914487e-01 1.14858465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.792320588 meters 0.02458722053369581 Centerline is valid? [True, True] Translation: X:224.67, Y:-50.36, Z:1.15 [[ 8.70505059e-01 4.91941904e-01 1.46323277e-02 2.24670586e+02] [-4.91873413e-01 8.70628026e-01 -8.20885497e-03 -5.03580298e+01] [-1.67775943e-02 -5.14032043e-05 9.99859245e-01 1.14920813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.822320588 meters 0.024524442437704484 Centerline is valid? [True, True] Translation: X:224.70, Y:-50.38, Z:1.15 [[ 8.70632226e-01 4.91706324e-01 1.49806051e-02 2.24698620e+02] [-4.91634314e-01 8.70761098e-01 -8.41498919e-03 -5.03757772e+01] [-1.71822315e-02 -3.86187447e-05 9.99852374e-01 1.15013462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.852320588 meters 0.024516609218298315 Centerline is valid? [True, True] Translation: X:224.73, Y:-50.39, Z:1.15 [[ 8.71076699e-01 4.90911433e-01 1.52101828e-02 2.24726925e+02] [-4.90836895e-01 8.71209484e-01 -8.55443214e-03 -5.03929272e+01] [-1.74507240e-02 -1.41523787e-05 9.99847724e-01 1.14999237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.882320588 meters 0.02438611009758648 Centerline is valid? [True, True] Translation: X:224.75, Y:-50.41, Z:1.15 [[ 8.71745638e-01 4.89775456e-01 1.33994450e-02 2.24754877e+02] [-4.89717350e-01 8.71848612e-01 -7.54415313e-03 -5.04094403e+01] [-1.53772285e-02 1.46419019e-05 9.99881763e-01 1.15011701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.912320588 meters 0.02444608612261433 Centerline is valid? [True, True] Translation: X:224.78, Y:-50.43, Z:1.15 [[ 8.71581893e-01 4.90032199e-01 1.46098608e-02 2.24782383e+02] [-4.89963010e-01 8.71704333e-01 -8.23441299e-03 -5.04254879e+01] [-1.67706065e-02 1.86738805e-05 9.99859363e-01 1.14938636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.942320588 meters 0.02439494975922393 Centerline is valid? [True, True] Translation: X:224.81, Y:-50.44, Z:1.15 [[ 8.71702461e-01 4.89724139e-01 1.74667271e-02 2.24809934e+02] [-4.89624978e-01 8.71877438e-01 -9.85467707e-03 -5.04418055e+01] [-2.00549185e-02 3.82003938e-05 9.99798879e-01 1.14982944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.972320588 meters 0.024454566642599224 Centerline is valid? [True, True] Translation: X:224.84, Y:-50.46, Z:1.15 [[ 8.71082082e-01 4.90841667e-01 1.70430353e-02 2.24838019e+02] [-4.90747229e-01 8.71248792e-01 -9.62804479e-03 -5.04591906e+01] [-1.95745695e-02 2.29949258e-05 9.99808399e-01 1.15143941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.002320588 meters 0.024376647865135343 Centerline is valid? [True, True] Translation: X:224.87, Y:-50.48, Z:1.15 [[ 8.70349717e-01 4.92125544e-01 1.74303877e-02 2.24866132e+02] [-4.92026782e-01 8.70524238e-01 -9.85883960e-03 -5.04764195e+01] [-2.00253617e-02 4.42070642e-06 9.99799472e-01 1.15098264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.032320588 meters 0.02432167559745058 Centerline is valid? [True, True] Translation: X:224.89, Y:-50.49, Z:1.15 [[ 8.70187075e-01 4.92494655e-01 1.49489007e-02 2.24893627e+02] [-4.92421912e-01 8.70315468e-01 -8.46443192e-03 -5.04926206e+01] [-1.71789470e-02 4.47300141e-06 9.99852431e-01 1.15026693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.062320588 meters 0.024138489685406717 Centerline is valid? [True, True] Translation: X:224.92, Y:-50.51, Z:1.15 [[ 8.69981451e-01 4.92894621e-01 1.36809313e-02 2.24920808e+02] [-4.92833608e-01 8.70089014e-01 -7.75513492e-03 -5.05098502e+01] [-1.57260923e-02 4.40078250e-06 9.99876337e-01 1.14914457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.092320588 meters 0.024248101592152425 Centerline is valid? [True, True] Translation: X:224.95, Y:-50.53, Z:1.15 [[ 8.69988688e-01 4.92881733e-01 1.36850495e-02 2.24948081e+02] [-4.92820522e-01 8.70096315e-01 -7.76762066e-03 -5.05280411e+01] [-1.57358294e-02 1.34688929e-05 9.99876184e-01 1.14884246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.122320588 meters 0.024231030788908675 Centerline is valid? [True, True] Translation: X:224.97, Y:-50.55, Z:1.15 [[ 8.69602443e-01 4.93584441e-01 1.28837266e-02 2.24973467e+02] [-4.93530152e-01 8.69697878e-01 -7.32051702e-03 -5.05476062e+01] [-1.48182430e-02 7.43193139e-06 9.99890204e-01 1.15064707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.152320588 meters 0.02422365734698782 Centerline is valid? [True, True] Translation: X:225.00, Y:-50.56, Z:1.15 [[ 8.69281523e-01 4.94170094e-01 1.20645181e-02 2.25001653e+02] [-4.94122420e-01 8.69365239e-01 -6.86410089e-03 -5.05643298e+01] [-1.38805060e-02 5.48721387e-06 9.99903661e-01 1.15182653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18232058799998 meters 0.023956798430115916 Centerline is valid? [True, True] Translation: X:225.03, Y:-50.58, Z:1.15 [[ 8.68505566e-01 4.95593920e-01 9.20590001e-03 2.25028621e+02] [-4.95566177e-01 8.68554355e-01 -5.24377629e-03 -5.05825103e+01] [-1.05946082e-02 -7.88377809e-06 9.99943876e-01 1.15054880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21232058799998 meters 0.024128846820829233 Centerline is valid? [True, True] Translation: X:225.06, Y:-50.60, Z:1.15 [[ 8.67413756e-01 4.97512246e-01 8.65687570e-03 2.25056737e+02] [-4.97487743e-01 8.67456953e-01 -4.93774823e-03 -5.06004138e+01] [-9.96605723e-03 -2.36188129e-05 9.99950337e-01 1.14997947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24232058799998 meters 0.024183847131032863 Centerline is valid? [True, True] Translation: X:225.08, Y:-50.62, Z:1.15 [[ 8.66338038e-01 4.99350692e-01 1.03581340e-02 2.25084422e+02] [-4.99315677e-01 8.66399956e-01 -5.91353206e-03 -5.06177203e+01] [-1.19272131e-02 -4.88609177e-05 9.99928867e-01 1.15024851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27232058799999 meters 0.024471135747780443 Centerline is valid? [True, True] Translation: X:225.11, Y:-50.64, Z:1.15 [[ 8.64606558e-01 5.02267913e-01 1.35071673e-02 2.25111331e+02] [-5.02208609e-01 8.64712051e-01 -7.71886712e-03 -5.06352570e+01] [-1.55567496e-02 -1.09632589e-04 9.99878980e-01 1.15155258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.302320588 meters 0.024459186293990055 Centerline is valid? [True, True] Translation: X:225.14, Y:-50.65, Z:1.15 [[ 8.63603662e-01 5.04015351e-01 1.25395790e-02 2.25139373e+02] [-5.03964288e-01 8.63694686e-01 -7.17534415e-03 -5.06532529e+01] [-1.44468514e-02 -1.22846542e-04 9.99895631e-01 1.15259457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.332320588 meters 0.024426396327584327 Centerline is valid? [True, True] Translation: X:225.17, Y:-50.67, Z:1.15 [[ 8.62936542e-01 5.05221097e-01 9.60041833e-03 2.25166658e+02] [-5.05191172e-01 8.62989937e-01 -5.49977989e-03 -5.06711137e+01] [-1.10636692e-02 -1.04085550e-04 9.99938790e-01 1.15334684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.362320588 meters 0.02443347903326179 Centerline is valid? [True, True] Translation: X:225.20, Y:-50.69, Z:1.15 [[ 8.61733765e-01 5.07288014e-01 8.59008483e-03 2.25195025e+02] [-5.07264091e-01 8.61776571e-01 -4.92773403e-03 -5.06883875e+01] [-9.90251426e-03 -1.11046777e-04 9.99950963e-01 1.15276348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.392320588 meters 0.024697097478613206 Centerline is valid? [True, True] Translation: X:225.22, Y:-50.70, Z:1.15 [[ 8.60981357e-01 5.08549345e-01 9.41631161e-03 2.25223265e+02] [-5.08520620e-01 8.61032837e-01 -5.40682071e-03 -5.07035865e+01] [-1.08573886e-02 -1.33216783e-04 9.99941048e-01 1.15267407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.422320588 meters 0.02481225578248402 Centerline is valid? [True, True] Translation: X:225.25, Y:-50.72, Z:1.15 [[ 8.59833509e-01 5.10461982e-01 1.07192640e-02 2.25251751e+02] [-5.10424827e-01 8.59900305e-01 -6.16122423e-03 -5.07190736e+01] [-1.23625691e-02 -1.73751416e-04 9.99923565e-01 1.15356649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.452320588 meters 0.02506224868189297 Centerline is valid? [True, True] Translation: X:225.28, Y:-50.73, Z:1.15 [[ 8.59110165e-01 5.11641106e-01 1.23734657e-02 2.25279787e+02] [-5.11591618e-01 8.59199239e-01 -7.11925486e-03 -5.07341805e+01] [-1.42737758e-02 -2.13937127e-04 9.99898102e-01 1.15288879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.482320588 meters 0.02520532507877406 Centerline is valid? [True, True] Translation: X:225.31, Y:-50.75, Z:1.15 [[ 8.57221537e-01 5.14778535e-01 1.32021371e-02 2.25308681e+02] [-5.14722447e-01 8.57323150e-01 -7.60391063e-03 -5.07484343e+01] [-1.52328278e-02 -2.77200375e-04 9.99883935e-01 1.15286829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.512320588 meters 0.025437041542826076 Centerline is valid? [True, True] Translation: X:225.34, Y:-50.76, Z:1.15 [[ 8.56319313e-01 5.16300400e-01 1.22934999e-02 2.25338521e+02] [-5.16251795e-01 8.56407509e-01 -7.08965901e-03 -5.07635797e+01] [-1.41886394e-02 -2.75529437e-04 9.99899298e-01 1.15198603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.542320588 meters 0.025564576633371895 Centerline is valid? [True, True] Translation: X:225.37, Y:-50.78, Z:1.15 [[ 8.55741358e-01 5.17253548e-01 1.24697736e-02 2.25368582e+02] [-5.17203517e-01 8.55832159e-01 -7.19987422e-03 -5.07782404e+01] [-1.43961938e-02 -2.88180626e-04 9.99896328e-01 1.15131029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.572320588 meters 0.025414255706526664 Centerline is valid? [True, True] Translation: X:225.40, Y:-50.79, Z:1.15 [[ 8.55338682e-01 5.17953463e-01 1.09520967e-02 2.25399041e+02] [-5.17914843e-01 8.55408758e-01 -6.33020386e-03 -5.07902326e+01] [-1.26472704e-02 -2.57785195e-04 9.99919987e-01 1.15269896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.602320588 meters 0.025414255706526664 Centerline is valid? [True, True] Translation: X:225.43, Y:-50.81, Z:1.15 [[ 8.55067837e-01 5.18400542e-01 1.09486125e-02 2.25427348e+02] [-5.18361882e-01 8.55137891e-01 -6.33622959e-03 -5.08062491e+01] [-1.26472783e-02 -2.57437246e-04 9.99919987e-01 1.15286286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.632320588 meters 0.025589121659559854 Centerline is valid? [True, True] Translation: X:225.46, Y:-50.82, Z:1.15 [[ 8.55263362e-01 5.18071723e-01 1.12370866e-02 2.25457523e+02] [-5.18030869e-01 8.55337142e-01 -6.51096641e-03 -5.08205584e+01] [-1.29846451e-02 -2.52566708e-04 9.99915664e-01 1.15317261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.662320588 meters 0.025311979926057646 Centerline is valid? [True, True] Translation: X:225.49, Y:-50.83, Z:1.15 [[ 8.55772755e-01 5.17243836e-01 1.05738629e-02 2.25486911e+02] [-5.17207524e-01 8.55838049e-01 -6.13288386e-03 -5.08346425e+01] [-1.22217106e-02 -2.20526523e-04 9.99925288e-01 1.15347793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.692320588 meters 0.025049817811392348 Centerline is valid? [True, True] Translation: X:225.52, Y:-50.85, Z:1.15 [[ 8.56802349e-01 5.15554692e-01 9.64851142e-03 2.25515596e+02] [-5.15524280e-01 8.56856656e-01 -5.60242360e-03 -5.08488177e+01] [-1.11557470e-02 -1.73872202e-04 9.99937758e-01 1.15446675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.722320588 meters 0.024743567617201055 Centerline is valid? [True, True] Translation: X:225.54, Y:-50.86, Z:1.15 [[ 8.59702248e-01 5.10732908e-01 7.99633544e-03 2.25543885e+02] [-5.10711760e-01 8.59739431e-01 -4.64859724e-03 -5.08634551e+01] [-9.24895647e-03 -8.74130444e-05 9.99957224e-01 1.15233200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.752320588 meters 0.02475650232341353 Centerline is valid? [True, True] Translation: X:225.57, Y:-50.88, Z:1.15 [[ 8.60642946e-01 5.09147814e-01 7.88809702e-03 2.25571803e+02] [-5.09127122e-01 8.60679092e-01 -4.59072333e-03 -5.08793647e+01] [-9.12647693e-03 -6.50704865e-05 9.99958351e-01 1.15159237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.782320588 meters 0.024715855171954428 Centerline is valid? [True, True] Translation: X:225.60, Y:-50.90, Z:1.15 [[ 8.61762329e-01 5.07240538e-01 8.52786431e-03 2.25600151e+02] [-5.07216196e-01 8.61804523e-01 -4.96941861e-03 -5.08955390e+01] [-9.87004260e-03 -4.30131436e-05 9.99951289e-01 1.15214092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.812320588 meters 0.024636377023672586 Centerline is valid? [True, True] Translation: X:225.63, Y:-50.91, Z:1.15 [[ 8.63817107e-01 5.03713513e-01 9.62825047e-03 2.25629842e+02] [-5.03682192e-01 8.63870764e-01 -5.61717097e-03 -5.09104073e+01] [-1.11470090e-02 2.63007834e-06 9.99937870e-01 1.15383014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.842320588 meters 0.024613527084448417 Centerline is valid? [True, True] Translation: X:225.66, Y:-50.93, Z:1.15 [[ 8.64118064e-01 5.03209923e-01 8.92996370e-03 2.25658062e+02] [-5.03182885e-01 8.64164205e-01 -5.21643686e-03 -5.09266347e+01] [-1.03419178e-02 1.42124315e-05 9.99946521e-01 1.15464098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.872320588 meters 0.024443146113974523 Centerline is valid? [True, True] Translation: X:225.69, Y:-50.94, Z:1.16 [[ 8.64488317e-01 5.02593245e-01 7.74472062e-03 2.25685319e+02] [-5.02572840e-01 8.64523007e-01 -4.52885776e-03 -5.09434756e+01] [-8.97166247e-03 2.28583842e-05 9.99959754e-01 1.15606773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.902320588 meters 0.024682390698600034 Centerline is valid? [True, True] Translation: X:225.71, Y:-50.96, Z:1.16 [[ 8.65020435e-01 5.01679454e-01 7.57446995e-03 2.25711991e+02] [-5.01659850e-01 8.65053596e-01 -4.43511567e-03 -5.09623346e+01] [-8.77732887e-03 3.66582258e-05 9.99961478e-01 1.15523814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93232058799998 meters 0.024609687217949736 Centerline is valid? [True, True] Translation: X:225.74, Y:-50.98, Z:1.16 [[ 8.64897450e-01 5.01876444e-01 8.51095725e-03 2.25740623e+02] [-5.01851647e-01 8.64939323e-01 -4.98909954e-03 -5.09796972e+01] [-9.86537314e-03 4.38215500e-05 9.99951335e-01 1.15545492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96232058799998 meters 0.024823616037338254 Centerline is valid? [True, True] Translation: X:225.77, Y:-51.00, Z:1.15 [[ 8.64560576e-01 5.02430444e-01 9.93273099e-03 2.25768495e+02] [-5.02396646e-01 8.64617630e-01 -5.82784543e-03 -5.09963892e+01] [-1.15161013e-02 4.83546684e-05 9.99933686e-01 1.15444773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99232058799998 meters 0.024842210803426048 Centerline is valid? [True, True] Translation: X:225.80, Y:-51.01, Z:1.15 [[ 8.64056631e-01 5.03263180e-01 1.15026419e-02 2.25795757e+02] [-5.03217836e-01 8.64133189e-01 -6.75573918e-03 -5.10141903e+01] [-1.33397294e-02 4.90066497e-05 9.99911021e-01 1.15377214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02232058799999 meters 0.02472778786503563 Centerline is valid? [True, True] Translation: X:225.82, Y:-51.03, Z:1.15 [[ 8.63434962e-01 5.04341559e-01 1.09388776e-02 2.25823592e+02] [-5.04300533e-01 8.63504250e-01 -6.43284332e-03 -5.10317891e+01] [-1.26901175e-02 3.78600185e-05 9.99919476e-01 1.15462360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.052320588 meters 0.024732536551646766 Centerline is valid? [True, True] Translation: X:225.85, Y:-51.05, Z:1.16 [[ 8.62640465e-01 5.05707971e-01 1.05298182e-02 2.25851664e+02] [-5.05669966e-01 8.62704728e-01 -6.19984352e-03 -5.10490767e+01] [-1.22194342e-02 2.36230893e-05 9.99925340e-01 1.15595467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.082320588 meters 0.02485983019701357 Centerline is valid? [True, True] Translation: X:225.88, Y:-51.07, Z:1.16 [[ 8.60642336e-01 5.09124057e-01 9.35221784e-03 2.25878811e+02] [-5.09094216e-01 8.60693147e-01 -5.51231929e-03 -5.10655544e+01] [-1.08558442e-02 -1.70246491e-05 9.99941073e-01 1.15551067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.112320588 meters 0.024643666450485307 Centerline is valid? [True, True] Translation: X:225.91, Y:-51.08, Z:1.16 [[ 8.59694304e-01 5.10754653e-01 7.44230091e-03 2.25906845e+02] [-5.10735772e-01 8.59726517e-01 -4.39182111e-03 -5.10816006e+01] [-8.64148651e-03 -2.54257043e-05 9.99962661e-01 1.15598346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.142320588 meters 0.024585710196622385 Centerline is valid? [True, True] Translation: X:225.93, Y:-51.10, Z:1.16 [[ 8.59234245e-01 5.11548803e-01 5.85953590e-03 2.25934753e+02] [-5.11537088e-01 8.59254224e-01 -3.46207198e-03 -5.10977552e+01] [-6.80584975e-03 -2.26391274e-05 9.99976840e-01 1.15578033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.172320588 meters 0.0246013623109137 Centerline is valid? [True, True] Translation: X:225.96, Y:-51.11, Z:1.16 [[ 8.58400378e-01 5.12955613e-01 5.03290793e-03 2.25963854e+02] [-5.12946969e-01 8.58415132e-01 -2.97806722e-03 -5.11135694e+01] [-5.84794062e-03 -2.52408381e-05 9.99982900e-01 1.15694932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.202320588 meters 0.02450867732828194 Centerline is valid? [True, True] Translation: X:225.99, Y:-51.13, Z:1.16 [[ 8.58244519e-01 5.13199712e-01 6.51166177e-03 2.25992941e+02] [-5.13185219e-01 8.58269220e-01 -3.85696157e-03 -5.11293607e+01] [-7.56815044e-03 -3.14724464e-05 9.99971361e-01 1.15744438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.232320588 meters 0.02459708982608104 Centerline is valid? [True, True] Translation: X:226.02, Y:-51.15, Z:1.16 [[ 8.57936664e-01 5.13685730e-01 8.46470057e-03 2.26021357e+02] [-5.13661224e-01 8.57978420e-01 -5.01776827e-03 -5.11452478e+01] [-9.84008638e-03 -4.30610825e-05 9.99951584e-01 1.15827207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.262320588 meters 0.024530781592074852 Centerline is valid? [True, True] Translation: X:226.05, Y:-51.16, Z:1.16 [[ 8.58388359e-01 5.12914610e-01 9.38229309e-03 2.26049551e+02] [-5.12884382e-01 8.58439632e-01 -5.56861487e-03 -5.11624021e+01] [-1.09103562e-02 -3.19974119e-05 9.99940480e-01 1.15839239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.292320588 meters 0.02453141352091064 Centerline is valid? [True, True] Translation: X:226.08, Y:-51.18, Z:1.16 [[ 8.60058306e-01 5.10124773e-01 8.51035958e-03 2.26076174e+02] [-5.10099712e-01 8.60100411e-01 -5.05640662e-03 -5.11799585e+01] [-9.89916205e-03 7.67253666e-06 9.99951002e-01 1.15764258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.322320588 meters 0.024572178803903163 Centerline is valid? [True, True] Translation: X:226.10, Y:-51.20, Z:1.16 [[ 8.61204472e-01 5.08193164e-01 8.15873289e-03 2.26104850e+02] [-5.08169984e-01 8.61243117e-01 -4.85393375e-03 -5.11956024e+01] [-9.49338850e-03 3.42062914e-05 9.99954936e-01 1.15781598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.352320588 meters 0.02447387009815631 Centerline is valid? [True, True] Translation: X:226.13, Y:-51.21, Z:1.16 [[ 8.62063937e-01 5.06726515e-01 8.60279750e-03 2.26133962e+02] [-5.06700610e-01 8.62106859e-01 -5.12407150e-03 -5.12111752e+01] [-1.00130336e-02 5.82345105e-05 9.99949867e-01 1.15785713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.382320588 meters 0.02477592961515372 Centerline is valid? [True, True] Translation: X:226.16, Y:-51.23, Z:1.16 [[ 8.62926826e-01 5.05248740e-01 9.00021736e-03 2.26162175e+02] [-5.05220241e-01 8.62973756e-01 -5.36700558e-03 -5.12277029e+01] [-1.04786242e-02 8.42411099e-05 9.99945094e-01 1.15791914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.412320588 meters 0.025076099697586098 Centerline is valid? [True, True] Translation: X:226.19, Y:-51.25, Z:1.16 [[ 8.65278492e-01 5.01181412e-01 1.05034760e-02 2.26187759e+02] [-5.01142228e-01 8.65342225e-01 -6.26900978e-03 -5.12483824e+01] [-1.22310125e-02 1.60703946e-04 9.99925185e-01 1.15862849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.442320588 meters 0.02538115549037439 Centerline is valid? [True, True] Translation: X:226.21, Y:-51.27, Z:1.16 [[ 8.66418243e-01 4.99211174e-01 1.03745849e-02 2.26214401e+02] [-4.99172727e-01 8.66480333e-01 -6.19848729e-03 -5.12672618e+01] [-1.20837279e-02 1.91772610e-04 9.99926971e-01 1.15848185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.472320588 meters 0.025492543130779567 Centerline is valid? [True, True] Translation: X:226.24, Y:-51.29, Z:1.16 [[ 8.67617007e-01 4.97122831e-01 1.04699784e-02 2.26239948e+02] [-4.97083446e-01 8.67680148e-01 -6.26173643e-03 -5.12867424e+01] [-1.21974446e-02 2.28336073e-04 9.99925582e-01 1.15819561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.502320588 meters 0.025661989504426108 Centerline is valid? [True, True] Translation: X:226.27, Y:-51.30, Z:1.16 [[ 8.67637812e-01 4.97060928e-01 1.16215870e-02 2.26266601e+02] [-4.97012304e-01 8.67715602e-01 -6.95728196e-03 -5.13046285e+01] [-1.35424254e-02 2.60329157e-04 9.99908263e-01 1.15799489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.532320588 meters 0.025707643999389677 Centerline is valid? [True, True] Translation: X:226.29, Y:-51.32, Z:1.16 [[ 8.67463619e-01 4.97338484e-01 1.27005038e-02 2.26293057e+02] [-4.97280332e-01 8.67556540e-01 -7.61057468e-03 -5.13233524e+01] [-1.48034368e-02 2.86185885e-04 9.99890382e-01 1.15896892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.562320588 meters 0.02533271315041865 Centerline is valid? [True, True] Translation: X:226.32, Y:-51.34, Z:1.16 [[ 8.66129424e-01 4.99686672e-01 1.15347706e-02 2.26317660e+02] [-4.99638816e-01 8.66206198e-01 -6.91927639e-03 -5.13447268e+01] [-1.34489600e-02 2.29769736e-04 9.99909532e-01 1.16112700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.592320588 meters 0.025201601649566176 Centerline is valid? [True, True] Translation: X:226.34, Y:-51.36, Z:1.16 [[ 8.65057283e-01 5.01558563e-01 1.07193646e-02 2.26343825e+02] [-5.01517293e-01 8.65123674e-01 -6.43694549e-03 -5.13635775e+01] [-1.25020812e-02 1.92379853e-04 9.99921827e-01 1.16135382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.622320588 meters 0.025065062516034936 Centerline is valid? [True, True] Translation: X:226.37, Y:-51.38, Z:1.16 [[ 8.63367187e-01 5.04484533e-01 9.61540839e-03 2.26369595e+02] [-5.04451437e-01 8.63420718e-01 -5.78025166e-03 -5.13825296e+01] [-1.12181904e-02 1.39973034e-04 9.99937064e-01 1.16019968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.652320588 meters 0.02486277677208084 Centerline is valid? [True, True] Translation: X:226.40, Y:-51.40, Z:1.16 [[ 8.60775167e-01 5.08830934e-01 1.25376596e-02 2.26395681e+02] [-5.08774997e-01 8.60866463e-01 -7.54555446e-03 -5.14025983e+01] [-1.46326622e-02 1.16178184e-04 9.99892930e-01 1.15883247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68232058799998 meters 0.024721995602300716 Centerline is valid? [True, True] Translation: X:226.42, Y:-51.42, Z:1.16 [[ 8.59155575e-01 5.11549333e-01 1.29991466e-02 2.26423188e+02] [-5.11489371e-01 8.59253905e-01 -7.83260024e-03 -5.14199197e+01] [-1.51763289e-02 8.04968390e-05 9.99884830e-01 1.16012087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71232058799998 meters 0.02466950957813302 Centerline is valid? [True, True] Translation: X:226.45, Y:-51.44, Z:1.16 [[ 8.57873769e-01 5.13723392e-01 1.18689572e-02 2.26450149e+02] [-5.13673509e-01 8.57955870e-01 -7.15900330e-03 -5.14369091e+01] [-1.38607889e-02 4.47522701e-05 9.99903934e-01 1.16173684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74232058799998 meters 0.024422055157295383 Centerline is valid? [True, True] Translation: X:226.48, Y:-51.46, Z:1.16 [[ 8.55632715e-01 5.17483888e-01 1.01529321e-02 2.26476114e+02] [-5.17447569e-01 8.55692951e-01 -6.13086424e-03 -5.14556548e+01] [-1.18604159e-02 -7.84204395e-06 9.99929663e-01 1.16260078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77232058799999 meters 0.024580462299960453 Centerline is valid? [True, True] Translation: X:226.50, Y:-51.47, Z:1.16 [[ 8.54638834e-01 5.19149201e-01 8.75052509e-03 2.26503126e+02] [-5.19122248e-01 8.54683630e-01 -5.29002190e-03 -5.14735609e+01] [-1.02252412e-02 -2.15341070e-05 9.99947721e-01 1.16276985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.802320588 meters 0.024568047563181997 Centerline is valid? [True, True] Translation: X:226.53, Y:-51.49, Z:1.16 [[ 8.53643818e-01 5.20776543e-01 9.16646541e-03 2.26530894e+02] [-5.20746986e-01 8.53693031e-01 -5.54852291e-03 -5.14921720e+01] [-1.07148882e-02 -3.69469489e-05 9.99942593e-01 1.16284740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.832320588 meters 0.024522296527964452 Centerline is valid? [True, True] Translation: X:226.56, Y:-51.51, Z:1.16 [[ 8.52947432e-01 5.21880508e-01 1.10187801e-02 2.26557612e+02] [-5.21837812e-01 8.53018600e-01 -6.67575872e-03 -5.15093188e+01] [-1.28831727e-02 -5.59448135e-05 9.99917007e-01 1.16270045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.862320588 meters 0.02466501875036695 Centerline is valid? [True, True] Translation: X:226.58, Y:-51.53, Z:1.16 [[ 8.51672232e-01 5.23934926e-01 1.21079615e-02 2.26584658e+02] [-5.23883473e-01 8.51758291e-01 -7.34310365e-03 -5.15266411e+01] [-1.41603651e-02 -8.92434605e-05 9.99899733e-01 1.16293036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.892320588 meters 0.024651017730935112 Centerline is valid? [True, True] Translation: X:226.61, Y:-51.54, Z:1.16 [[ 8.51117882e-01 5.24827110e-01 1.24441097e-02 2.26613428e+02] [-5.24772718e-01 8.51208843e-01 -7.55639964e-03 -5.15435095e+01] [-1.45583396e-02 -9.89424257e-05 9.99894017e-01 1.16328308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.922320588 meters 0.024479879192695068 Centerline is valid? [True, True] Translation: X:226.64, Y:-51.56, Z:1.16 [[ 8.50406575e-01 5.26006259e-01 1.12282043e-02 2.26641116e+02] [-5.25961988e-01 8.50480691e-01 -6.82508521e-03 -5.15589338e+01] [-1.31394085e-02 -1.01511307e-04 9.99913669e-01 1.16469650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.952320588 meters 0.02455011089895581 Centerline is valid? [True, True] Translation: X:226.67, Y:-51.58, Z:1.16 [[ 8.49783043e-01 5.27025363e-01 1.06323326e-02 2.26669577e+02] [-5.26985642e-01 8.49849549e-01 -6.47125276e-03 -5.15765317e+01] [-1.24463974e-02 -1.03925745e-04 9.99922535e-01 1.16420375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.982320588 meters 0.024688963286057235 Centerline is valid? [True, True] Translation: X:226.70, Y:-51.59, Z:1.16 [[ 8.49319176e-01 5.27784163e-01 1.00406476e-02 2.26696960e+02] [-5.27748705e-01 8.49378518e-01 -6.11861677e-03 -5.15940464e+01] [-1.17576194e-02 -1.02280200e-04 9.99930872e-01 1.16418800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.012320588 meters 0.024637814132351946 Centerline is valid? [True, True] Translation: X:226.72, Y:-51.61, Z:1.16 [[ 8.48476435e-01 5.29143410e-01 9.74638607e-03 2.26723436e+02] [-5.29110007e-01 8.48532403e-01 -5.94650928e-03 -5.16131165e+01] [-1.14166806e-02 -1.11437408e-04 9.99934821e-01 1.16476026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.042320588 meters 0.024819845917364348 Centerline is valid? [True, True] Translation: X:226.75, Y:-51.63, Z:1.16 [[ 8.48014729e-01 5.29831729e-01 1.22212045e-02 2.26751296e+02] [-5.29779185e-01 8.48102775e-01 -7.46309460e-03 -5.16296451e+01] [-1.43190218e-02 -1.45725631e-04 9.99897467e-01 1.16392306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.072320588 meters 0.02502594512067418 Centerline is valid? [True, True] Translation: X:226.78, Y:-51.65, Z:1.16 [[ 8.47330359e-01 5.30929150e-01 1.20623303e-02 2.26779955e+02] [-5.30877945e-01 8.47416199e-01 -7.37520091e-03 -5.16463824e+01] [-1.41375233e-02 -1.54393499e-04 9.99900048e-01 1.16403557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.102320588 meters 0.024835118204677414 Centerline is valid? [True, True] Translation: X:226.81, Y:-51.66, Z:1.16 [[ 8.46990190e-01 5.31441443e-01 1.33270793e-02 2.26807793e+02] [-5.31378880e-01 8.47095014e-01 -8.15616043e-03 -5.16628157e+01] [-1.56238241e-02 -1.73540600e-04 9.99877926e-01 1.16431316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.132320588 meters 0.02496861182623428 Centerline is valid? [True, True] Translation: X:226.84, Y:-51.68, Z:1.16 [[ 8.46521214e-01 5.32220043e-01 1.19858048e-02 2.26835179e+02] [-5.32169408e-01 8.46606047e-01 -7.34317482e-03 -5.16800573e+01] [-1.40554397e-02 -1.62325383e-04 9.99901204e-01 1.16475135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.162320588 meters 0.024756465082655853 Centerline is valid? [True, True] Translation: X:226.86, Y:-51.70, Z:1.17 [[ 8.46196577e-01 5.32756570e-01 1.10358909e-02 2.26863319e+02] [-5.32713596e-01 8.46268524e-01 -6.76834613e-03 -5.16963276e+01] [-1.29452080e-02 -1.51617818e-04 9.99916196e-01 1.16517330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.192320588 meters 0.024853639400390953 Centerline is valid? [True, True] Translation: X:226.89, Y:-51.71, Z:1.17 [[ 8.45253726e-01 5.34240565e-01 1.15393615e-02 2.26891230e+02] [-5.34193622e-01 8.45332472e-01 -7.08426789e-03 -5.17119213e+01] [-1.35393002e-02 -1.76249478e-04 9.99908324e-01 1.16590827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.222320588 meters 0.024938767251180074 Centerline is valid? [True, True] Translation: X:226.92, Y:-51.73, Z:1.17 [[ 8.44739723e-01 5.35030468e-01 1.25378751e-02 2.26920014e+02] [-5.34975023e-01 8.44832740e-01 -7.70498134e-03 -5.17258504e+01] [-1.47148071e-02 -1.98746189e-04 9.99891712e-01 1.16551111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.252320588 meters 0.024984299075073976 Centerline is valid? [True, True] Translation: X:226.95, Y:-51.74, Z:1.17 [[ 8.44417743e-01 5.35553706e-01 1.18702566e-02 2.26948794e+02] [-5.35503932e-01 8.44501150e-01 -7.30388296e-03 -5.17423818e+01] [-1.39360669e-02 -1.89040711e-04 9.99902870e-01 1.16623068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.282320588 meters 0.025002551356967752 Centerline is valid? [True, True] Translation: X:226.98, Y:-51.76, Z:1.17 [[ 8.44396722e-01 5.35576505e-01 1.23281384e-02 2.26976950e+02] [-5.35522691e-01 8.44486691e-01 -7.59443045e-03 -5.17589079e+01] [-1.44783473e-02 -1.89285648e-04 9.99895165e-01 1.16514041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.312320588 meters 0.02521417436829075 Centerline is valid? [True, True] Translation: X:227.01, Y:-51.78, Z:1.16 [[ 8.44245349e-01 5.35807920e-01 1.26358277e-02 2.27006130e+02] [-5.35751278e-01 8.44339882e-01 -7.79307857e-03 -5.17753816e+01] [-1.48445265e-02 -1.90390505e-04 9.99889796e-01 1.16377478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.342320588 meters 0.02513491764889514 Centerline is valid? [True, True] Translation: X:227.03, Y:-51.79, Z:1.16 [[ 8.44461453e-01 5.35430136e-01 1.41217279e-02 2.27034301e+02] [-5.35359213e-01 8.44579499e-01 -8.71683659e-03 -5.17899912e+01] [-1.65941789e-02 -1.99164652e-04 9.99862287e-01 1.16273833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.372320588 meters 0.02504798427254997 Centerline is valid? [True, True] Translation: X:227.06, Y:-51.80, Z:1.16 [[ 8.43806194e-01 5.36426559e-01 1.54160331e-02 2.27063723e+02] [-5.36342029e-01 8.43946973e-01 -9.52543094e-03 -5.18041443e+01] [-1.81200086e-02 -2.30648853e-04 9.99835793e-01 1.16409708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.402320588 meters 0.02511306792611954 Centerline is valid? [True, True] Translation: X:227.09, Y:-51.82, Z:1.16 [[ 8.43470720e-01 5.36960565e-01 1.51820682e-02 2.27092370e+02] [-5.36878465e-01 8.43607313e-01 -9.39229818e-03 -5.18204886e+01] [-1.78509975e-02 -2.28796934e-04 9.99840632e-01 1.16450944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43232058799998 meters 0.025116020128322408 Centerline is valid? [True, True] Translation: X:227.12, Y:-51.84, Z:1.17 [[ 8.43548328e-01 5.36847581e-01 1.48624703e-02 2.27120934e+02] [-5.36768694e-01 8.43679222e-01 -9.20537222e-03 -5.18369936e+01] [-1.74810392e-02 -2.12532418e-04 9.99847172e-01 1.16520045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46232058799998 meters 0.024967553338425114 Centerline is valid? [True, True] Translation: X:227.15, Y:-51.85, Z:1.16 [[ 8.44948822e-01 5.34606290e-01 1.60499878e-02 2.27149484e+02] [-5.34513828e-01 8.45101227e-01 -9.94405128e-03 -5.18538188e+01] [-1.88800168e-02 -1.76726014e-04 9.99821741e-01 1.16309484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49232058799998 meters 0.024967553338425114 Centerline is valid? [True, True] Translation: X:227.18, Y:-51.87, Z:1.16 [[ 8.44663620e-01 5.35056971e-01 1.60438802e-02 2.27177274e+02] [-5.34964404e-01 8.44815960e-01 -9.95390400e-03 -5.18706805e+01] [-1.88800318e-02 -1.75204227e-04 9.99821741e-01 1.16325867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52232058799999 meters 0.025233765769527676 Centerline is valid? [True, True] Translation: X:227.20, Y:-51.89, Z:1.16 [[ 8.44902783e-01 5.34669585e-01 1.63622102e-02 2.27204698e+02] [-5.34573002e-01 8.45061187e-01 -1.01634530e-02 -5.18884015e+01] [-1.92611580e-02 -1.59666096e-04 9.99814474e-01 1.16169182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.552320588 meters 0.025126960737927192 Centerline is valid? [True, True] Translation: X:227.23, Y:-51.91, Z:1.16 [[ 8.45522551e-01 5.33716524e-01 1.54365849e-02 2.27231623e+02] [-5.33630225e-01 8.45663442e-01 -9.59821458e-03 -5.19065008e+01] [-1.81768813e-02 -1.21921407e-04 9.99834779e-01 1.16143005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.582320588 meters 0.025017809246229344 Centerline is valid? [True, True] Translation: X:227.26, Y:-51.92, Z:1.16 [[ 8.45337190e-01 5.34003928e-01 1.56473595e-02 2.27259512e+02] [-5.33915085e-01 8.45481987e-01 -9.74120091e-03 -5.19247750e+01] [-1.84314002e-02 -1.19761888e-04 9.99830120e-01 1.16201182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.612320588 meters 0.02502616946857426 Centerline is valid? [True, True] Translation: X:227.29, Y:-51.94, Z:1.16 [[ 8.44629125e-01 5.35167048e-01 1.40667024e-02 2.27286808e+02] [-5.35095261e-01 8.44746244e-01 -8.76617303e-03 -5.19415712e+01] [-1.65741610e-02 -1.22860729e-04 9.99862632e-01 1.16138283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.642320588 meters 0.025176398736538146 Centerline is valid? [True, True] Translation: X:227.32, Y:-51.96, Z:1.16 [[ 8.43434296e-01 5.37058089e-01 1.36819869e-02 2.27315423e+02] [-5.36990255e-01 8.43545249e-01 -8.53690327e-03 -5.19580627e+01] [-1.61261880e-02 -1.46776615e-04 9.99869954e-01 1.16033923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.672320588 meters 0.02528814443348834 Centerline is valid? [True, True] Translation: X:227.34, Y:-51.97, Z:1.16 [[ 8.41913163e-01 5.39439518e-01 1.36832574e-02 2.27342913e+02] [-5.39371851e-01 8.42024330e-01 -8.54602184e-03 -5.19745595e+01] [-1.61316976e-02 -1.85355619e-04 9.99869859e-01 1.15963141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.702320588 meters 0.025501702649744353 Centerline is valid? [True, True] Translation: X:227.37, Y:-51.99, Z:1.16 [[ 8.39520920e-01 5.43172176e-01 1.29850749e-02 2.27369950e+02] [-5.43111556e-01 8.39621302e-01 -8.11830074e-03 -5.19920965e+01] [-1.53121806e-02 -2.36860920e-04 9.99882734e-01 1.15934540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.732320588 meters 0.025651326419206033 Centerline is valid? [True, True] Translation: X:227.40, Y:-52.01, Z:1.16 [[ 8.38864425e-01 5.44173717e-01 1.34700454e-02 2.27397570e+02] [-5.44108453e-01 8.38972526e-01 -8.43156041e-03 -5.20096119e+01] [-1.58892316e-02 -2.56229500e-04 9.99873725e-01 1.16006931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.762320588 meters 0.02568068122752375 Centerline is valid? [True, True] Translation: X:227.42, Y:-52.03, Z:1.16 [[ 8.38234546e-01 5.45120609e-01 1.43655036e-02 2.27424469e+02] [-5.45046375e-01 8.38357585e-01 -9.00048826e-03 -5.20269393e+01] [-1.69497806e-02 -2.85345485e-04 9.99856301e-01 1.16070337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.792320588 meters 0.025690186247052653 Centerline is valid? [True, True] Translation: X:227.45, Y:-52.04, Z:1.16 [[ 8.38033092e-01 5.45446862e-01 1.37207091e-02 2.27451555e+02] [-5.45379045e-01 8.38145362e-01 -8.60523332e-03 -5.20437419e+01] [-1.61936462e-02 -2.71516953e-04 9.99868837e-01 1.16161082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.822320588 meters 0.025710337309760467 Centerline is valid? [True, True] Translation: X:227.48, Y:-52.06, Z:1.16 [[ 8.37314331e-01 5.46561131e-01 1.32530019e-02 2.27480274e+02] [-5.46497841e-01 8.37419163e-01 -8.32196846e-03 -5.20606163e+01] [-1.56467822e-02 -2.74633458e-04 9.99877544e-01 1.16062275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.852320588 meters 0.02608265899392463 Centerline is valid? [True, True] Translation: X:227.51, Y:-52.08, Z:1.16 [[ 8.36598493e-01 5.47648475e-01 1.35686834e-02 2.27509380e+02] [-5.47582121e-01 8.36708468e-01 -8.52995375e-03 -5.20764528e+01] [-1.60244485e-02 -2.93821961e-04 9.99871557e-01 1.15942634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.882320588 meters 0.0261973478095075 Centerline is valid? [True, True] Translation: X:227.54, Y:-52.09, Z:1.16 [[ 8.34838692e-01 5.50289397e-01 1.50312238e-02 2.27539308e+02] [-5.50208238e-01 8.34973916e-01 -9.45807650e-03 -5.20887219e+01] [-1.77553590e-02 -3.74334935e-04 9.99842291e-01 1.15943884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.912320588 meters 0.026601439109957468 Centerline is valid? [True, True] Translation: X:227.57, Y:-52.10, Z:1.16 [[ 8.33591698e-01 5.52126281e-01 1.67765273e-02 2.27567923e+02] [-5.52025347e-01 8.33760376e-01 -1.05665254e-02 -5.21040494e+01] [-1.98216601e-02 -4.52900493e-04 9.99803429e-01 1.16004251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.942320588 meters 0.02644048854687204 Centerline is valid? [True, True] Translation: X:227.60, Y:-52.12, Z:1.16 [[ 8.33037344e-01 5.52969597e-01 1.65350584e-02 2.27596526e+02] [-5.52871491e-01 8.33201306e-01 -1.04258254e-02 -5.21196131e+01] [-1.95421967e-02 -4.56660494e-04 9.99808929e-01 1.16197893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.972320588 meters 0.026907902640330984 Centerline is valid? [True, True] Translation: X:227.62, Y:-52.13, Z:1.16 [[ 8.31828373e-01 5.54857674e-01 1.39470230e-02 2.27624900e+02] [-5.54787994e-01 8.31945184e-01 -8.80300223e-03 -5.21343856e+01] [-1.64875719e-02 -4.15053874e-04 9.99863985e-01 1.15972154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.002320588 meters 0.027031056247241773 Centerline is valid? [True, True] Translation: X:227.65, Y:-52.15, Z:1.16 [[ 8.31479729e-01 5.55382351e-01 1.38529709e-02 2.27653772e+02] [-5.55313514e-01 8.31595017e-01 -8.75379619e-03 -5.21505955e+01] [-1.63817655e-02 -4.14137853e-04 9.99865724e-01 1.15823223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.032320588 meters 0.02695185082584934 Centerline is valid? [True, True] Translation: X:227.68, Y:-52.17, Z:1.16 [[ 8.30843322e-01 5.56317375e-01 1.45035486e-02 2.27682570e+02] [-5.56241918e-01 8.30969782e-01 -9.17329011e-03 -5.21655723e+01] [-1.71552713e-02 -4.45914880e-04 9.99852738e-01 1.15882036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.062320588 meters 0.0269174718068349 Centerline is valid? [True, True] Translation: X:227.71, Y:-52.18, Z:1.16 [[ 8.30695039e-01 5.56477236e-01 1.66984192e-02 2.27712571e+02] [-5.56377045e-01 8.30862700e-01 -1.05715031e-02 -5.21786228e+01] [-1.97568945e-02 -5.08921925e-04 9.99804684e-01 1.15936260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.092320588 meters 0.02662849612082475 Centerline is valid? [True, True] Translation: X:227.74, Y:-52.19, Z:1.16 [[ 8.30782497e-01 5.56320722e-01 1.75412985e-02 2.27741517e+02] [-5.56209858e-01 8.30967499e-01 -1.11180064e-02 -5.21945294e+01] [-2.07614263e-02 -5.19998024e-04 9.99784323e-01 1.15991969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.122320588 meters 0.026552297094825345 Centerline is valid? [True, True] Translation: X:227.77, Y:-52.21, Z:1.16 [[ 8.30988840e-01 5.56077253e-01 1.53504634e-02 2.27769454e+02] [-5.55992137e-01 8.31130491e-01 -9.73906819e-03 -5.22105690e+01] [-1.81739125e-02 -4.41679999e-04 9.99834743e-01 1.15970402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.152320588 meters 0.026462279961123065 Centerline is valid? [True, True] Translation: X:227.80, Y:-52.23, Z:1.16 [[ 8.32334687e-01 5.54116782e-01 1.31742341e-02 2.27798283e+02] [-5.54053711e-01 8.32438874e-01 -8.36697755e-03 -5.22256941e+01] [-1.56030273e-02 -3.35107665e-04 9.99878209e-01 1.15860692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18232058799998 meters 0.026365883237705213 Centerline is valid? [True, True] Translation: X:227.83, Y:-52.24, Z:1.16 [[ 8.32808484e-01 5.53349846e-01 1.52963231e-02 2.27826086e+02] [-5.53264535e-01 8.32948867e-01 -9.72314821e-03 -5.22410376e+01] [-1.81213576e-02 -3.65392788e-04 9.99835728e-01 1.15754062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21232058799998 meters 0.025955734575446438 Centerline is valid? [True, True] Translation: X:227.85, Y:-52.26, Z:1.16 [[ 8.33248922e-01 5.52726466e-01 1.37726947e-02 2.27854509e+02] [-5.52657070e-01 8.33362681e-01 -8.76385190e-03 -5.22563016e+01] [-1.63216627e-02 -3.09106973e-04 9.99866745e-01 1.15965564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24232058799998 meters 0.025862014000264045 Centerline is valid? [True, True] Translation: X:227.88, Y:-52.27, Z:1.16 [[ 8.33389020e-01 5.52537185e-01 1.28608139e-02 2.27884397e+02] [-5.52476524e-01 8.33488201e-01 -8.19198617e-03 -5.22700529e+01] [-1.52457136e-02 -2.78186442e-04 9.99883739e-01 1.15924736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27232058799999 meters 0.025910346585359834 Centerline is valid? [True, True] Translation: X:227.91, Y:-52.29, Z:1.16 [[ 8.33295251e-01 5.52660096e-01 1.36324135e-02 2.27913718e+02] [-5.52591789e-01 8.33406704e-01 -8.69372298e-03 -5.22862163e+01] [-1.61660186e-02 -2.88721674e-04 9.99869280e-01 1.15804524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.302320588 meters 0.025911774873313954 Centerline is valid? [True, True] Translation: X:227.94, Y:-52.30, Z:1.16 [[ 8.33188817e-01 5.52770111e-01 1.55434635e-02 2.27942781e+02] [-5.52681158e-01 8.33333727e-01 -9.92157966e-03 -5.23000635e+01] [-1.84372450e-02 -3.24030168e-04 9.99829967e-01 1.15905683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.332320588 meters 0.025919548001695786 Centerline is valid? [True, True] Translation: X:227.97, Y:-52.32, Z:1.16 [[ 8.33071011e-01 5.52924302e-01 1.63525697e-02 2.27971340e+02] [-5.52825638e-01 8.33231423e-01 -1.04502968e-02 -5.23162979e+01] [-1.94036980e-02 -3.34280516e-04 9.99811675e-01 1.15937156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.362320588 meters 0.02576609592698466 Centerline is valid? [True, True] Translation: X:228.00, Y:-52.33, Z:1.16 [[ 8.33056179e-01 5.52963314e-01 1.57790007e-02 2.27999425e+02] [-5.52871274e-01 8.33205541e-01 -1.00935652e-02 -5.23326393e+01] [-1.87285221e-02 -3.15249338e-04 9.99824556e-01 1.15985481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.392320588 meters 0.025592746737131494 Centerline is valid? [True, True] Translation: X:228.03, Y:-52.35, Z:1.16 [[ 8.33728998e-01 5.51973961e-01 1.48561511e-02 2.28027589e+02] [-5.51892043e-01 8.33861305e-01 -9.51302397e-03 -5.23483647e+01] [-1.76389111e-02 -2.67707639e-04 9.99844386e-01 1.15996546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.422320588 meters 0.025616869994471703 Centerline is valid? [True, True] Translation: X:228.06, Y:-52.36, Z:1.16 [[ 8.35651022e-01 5.49057163e-01 1.49532725e-02 2.28056863e+02] [-5.48973529e-01 8.35784776e-01 -9.58499751e-03 -5.23621421e+01] [-1.77604291e-02 -1.99237818e-04 9.99842251e-01 1.15725870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.452320588 meters 0.025476154321765688 Centerline is valid? [True, True] Translation: X:228.09, Y:-52.38, Z:1.16 [[ 8.36053725e-01 5.48426802e-01 1.55631531e-02 2.28085698e+02] [-5.48335876e-01 8.36198547e-01 -9.98785009e-03 -5.23785725e+01] [-1.84914907e-02 -1.83455936e-04 9.99829001e-01 1.15685227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.482320588 meters 0.025213475766871923 Centerline is valid? [True, True] Translation: X:228.11, Y:-52.39, Z:1.16 [[ 8.36405794e-01 5.47903514e-01 1.50694307e-02 2.28113381e+02] [-5.47818010e-01 8.36541520e-01 -9.68058320e-03 -5.23947074e+01] [-1.79102300e-02 -1.58409649e-04 9.99839586e-01 1.15777437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.512320588 meters 0.025334969222027583 Centerline is valid? [True, True] Translation: X:228.14, Y:-52.41, Z:1.16 [[ 8.36311738e-01 5.48035946e-01 1.54686268e-02 2.28143491e+02] [-5.47945652e-01 8.36454767e-01 -9.94909470e-03 -5.24093645e+01] [-1.83912682e-02 -1.55422135e-04 9.99830854e-01 1.15699665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.542320588 meters 0.025461696281702407 Centerline is valid? [True, True] Translation: X:228.17, Y:-52.42, Z:1.16 [[ 8.35946954e-01 5.48556363e-01 1.66915118e-02 2.28171911e+02] [-5.48451126e-01 8.36113561e-01 -1.07459356e-02 -5.24248225e+01] [-1.98507507e-02 -1.71446294e-04 9.99802940e-01 1.15585955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.572320588 meters 0.025585748479067322 Centerline is valid? [True, True] Translation: X:228.20, Y:-52.44, Z:1.16 [[ 8.35660566e-01 5.48955736e-01 1.78610947e-02 2.28199765e+02] [-5.48835081e-01 8.35851402e-01 -1.15103388e-02 -5.24406681e+01] [-2.12478875e-02 -1.84059141e-04 9.99774221e-01 1.15506504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.602320588 meters 0.025626556452762767 Centerline is valid? [True, True] Translation: X:228.23, Y:-52.46, Z:1.15 [[ 8.34402351e-01 5.50859154e-01 1.80806202e-02 2.28227397e+02] [-5.50735707e-01 8.34598192e-01 -1.16636069e-02 -5.24565391e+01] [-2.15150576e-02 -2.25502159e-04 9.99768499e-01 1.15351754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.632320588 meters 0.025701823745803026 Centerline is valid? [True, True] Translation: X:228.25, Y:-52.47, Z:1.15 [[ 8.33901909e-01 5.51672539e-01 1.62792984e-02 2.28254822e+02] [-5.51572412e-01 8.34060768e-01 -1.05123740e-02 -5.24727712e+01] [-1.93773121e-02 -2.12923172e-04 9.99812220e-01 1.15296257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.662320588 meters 0.02582358580780357 Centerline is valid? [True, True] Translation: X:228.28, Y:-52.49, Z:1.15 [[ 8.33033359e-01 5.52922670e-01 1.82193507e-02 2.28283578e+02] [-5.52797300e-01 8.33232532e-01 -1.17767510e-02 -5.24876684e+01] [-2.16925884e-02 -2.61181465e-04 9.99764654e-01 1.15123712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.692320588 meters 0.025938459351638573 Centerline is valid? [True, True] Translation: X:228.31, Y:-52.50, Z:1.15 [[ 8.33096700e-01 5.52783294e-01 1.95068821e-02 2.28311840e+02] [-5.52639249e-01 8.33325002e-01 -1.26214797e-02 -5.25029661e+01] [-2.32325157e-02 -2.65355581e-04 9.99730053e-01 1.15108041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.722320588 meters 0.026066931319943823 Centerline is valid? [True, True] Translation: X:228.34, Y:-52.52, Z:1.15 [[ 8.32879447e-01 5.53116791e-01 1.93298503e-02 2.28340969e+02] [-5.52975096e-01 8.33103684e-01 -1.25217703e-02 -5.25186643e+01] [-2.30297709e-02 -2.59800704e-04 9.99734746e-01 1.15126669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.752320588 meters 0.025866895422322865 Centerline is valid? [True, True] Translation: X:228.37, Y:-52.53, Z:1.15 [[ 8.32908524e-01 5.53089777e-01 1.88438336e-02 2.28370932e+02] [-5.52954841e-01 8.33121624e-01 -1.22189810e-02 -5.25309880e+01] [-2.24573987e-02 -2.42495556e-04 9.99747771e-01 1.15102993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.782320588 meters 0.025799570999290804 Centerline is valid? [True, True] Translation: X:228.40, Y:-52.55, Z:1.15 [[ 8.32726257e-01 5.53349070e-01 1.92818031e-02 2.28400075e+02] [-5.53207518e-01 8.32949427e-01 -1.25177749e-02 -5.25459800e+01] [-2.29874659e-02 -2.42958661e-04 9.99735724e-01 1.14939462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.812320588 meters 0.02588061134982301 Centerline is valid? [True, True] Translation: X:228.43, Y:-52.56, Z:1.15 [[ 8.32711001e-01 5.53365876e-01 1.94575482e-02 2.28429258e+02] [-5.53221399e-01 8.32938265e-01 -1.26463583e-02 -5.25613545e+01] [-2.32049996e-02 -2.33570424e-04 9.99730700e-01 1.14818403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.842320588 meters 0.025888753982805532 Centerline is valid? [True, True] Translation: X:228.46, Y:-52.58, Z:1.15 [[ 8.33047175e-01 5.52825798e-01 2.03971021e-02 2.28458666e+02] [-5.52666501e-01 8.33296820e-01 -1.32721201e-02 -5.25773730e+01] [-2.43340107e-02 -2.16492939e-04 9.99703861e-01 1.14810745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.872320588 meters 0.025812256173355332 Centerline is valid? [True, True] Translation: X:228.49, Y:-52.59, Z:1.15 [[ 8.34087262e-01 5.51206709e-01 2.16703237e-02 2.28487903e+02] [-5.51026005e-01 8.34368705e-01 -1.41140519e-02 -5.25922377e+01] [-2.58608000e-02 -1.68560959e-04 9.99665539e-01 1.15041125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.902320588 meters 0.026045639353518547 Centerline is valid? [True, True] Translation: X:228.52, Y:-52.61, Z:1.15 [[ 8.34578785e-01 5.50441198e-01 2.21977219e-02 2.28517383e+02] [-5.50250877e-01 8.34873924e-01 -1.44742278e-02 -5.26082293e+01] [-2.64995105e-02 -1.34432477e-04 9.99648817e-01 1.14954769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93232058799998 meters 0.02564463789751883 Centerline is valid? [True, True] Translation: X:228.55, Y:-52.62, Z:1.15 [[ 8.35491794e-01 5.49110303e-01 2.07686782e-02 2.28545985e+02] [-5.48943218e-01 8.35749884e-01 -1.35453078e-02 -5.26227190e+01] [-2.47952885e-02 -8.38315714e-05 9.99692546e-01 1.15079580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96232058799998 meters 0.02577461959425336 Centerline is valid? [True, True] Translation: X:228.58, Y:-52.63, Z:1.15 [[ 8.37228526e-01 5.46530822e-01 1.87737874e-02 2.28577684e+02] [-5.46393326e-01 8.37438989e-01 -1.22585779e-02 -5.26338440e+01] [-2.24215922e-02 5.35900449e-06 9.99748604e-01 1.14796146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99232058799998 meters 0.025780344526875568 Centerline is valid? [True, True] Translation: X:228.61, Y:-52.65, Z:1.15 [[ 8.37549868e-01 5.45987756e-01 2.01888239e-02 2.28606479e+02] [-5.45828282e-01 8.37793154e-01 -1.31953677e-02 -5.26486042e+01] [-2.41185677e-02 3.21474348e-05 9.99709105e-01 1.14708800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02232058799999 meters 0.026000922925801105 Centerline is valid? [True, True] Translation: X:228.64, Y:-52.66, Z:1.15 [[ 8.38204783e-01 5.44914003e-01 2.19424380e-02 2.28635080e+02] [-5.44724881e-01 8.38491934e-01 -1.43555344e-02 -5.26637284e+01] [-2.62210890e-02 8.02856335e-05 9.99656165e-01 1.14708986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.052320588 meters 0.026229981515886253 Centerline is valid? [True, True] Translation: X:228.67, Y:-52.68, Z:1.15 [[ 8.39495234e-01 5.42875078e-01 2.31171349e-02 2.28665348e+02] [-5.42663983e-01 8.39813445e-01 -1.51386659e-02 -5.26756574e+01] [-2.76324851e-02 1.64001351e-04 9.99618137e-01 1.14822938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.082320588 meters 0.025976191177561257 Centerline is valid? [True, True] Translation: X:228.70, Y:-52.69, Z:1.15 [[ 8.40384953e-01 5.41519772e-01 2.25713772e-02 2.28695099e+02] [-5.41317589e-01 8.40687986e-01 -1.47979137e-02 -5.26903616e+01] [-2.69888484e-02 2.17660525e-04 9.99635711e-01 1.14884346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.112320588 meters 0.026175150910805845 Centerline is valid? [True, True] Translation: X:228.72, Y:-52.71, Z:1.15 [[ 8.41119801e-01 5.40400141e-01 2.20265375e-02 2.28724665e+02] [-5.40206793e-01 8.41408117e-01 -1.44568834e-02 -5.27056771e+01] [-2.63458093e-02 2.61085700e-04 9.99652855e-01 1.14800710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.142320588 meters 0.026492697121225147 Centerline is valid? [True, True] Translation: X:228.75, Y:-52.72, Z:1.15 [[ 8.43518380e-01 5.36693530e-01 2.08996901e-02 2.28754889e+02] [-5.36518281e-01 8.43777178e-01 -1.37189059e-02 -5.27186048e+01] [-2.49975296e-02 3.59083485e-04 9.99687448e-01 1.14614430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.172320588 meters 0.02672194797926589 Centerline is valid? [True, True] Translation: X:228.78, Y:-52.73, Z:1.15 [[ 8.44364925e-01 5.35329882e-01 2.16746478e-02 2.28782857e+02] [-5.35140575e-01 8.44642964e-01 -1.42418027e-02 -5.27338379e+01] [-2.59314013e-02 4.26295210e-04 9.99663634e-01 1.14508504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.202320588 meters 0.02718995900135112 Centerline is valid? [True, True] Translation: X:228.81, Y:-52.75, Z:1.15 [[ 8.45737151e-01 5.33121929e-01 2.25760979e-02 2.28813624e+02] [-5.32915697e-01 8.46038263e-01 -1.48363740e-02 -5.27460508e+01] [-2.70098390e-02 5.16515752e-04 9.99635034e-01 1.14536591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.232320588 meters 0.027311519816683998 Centerline is valid? [True, True] Translation: X:228.84, Y:-52.76, Z:1.15 [[ 8.46421575e-01 5.32076521e-01 2.15660119e-02 2.28842773e+02] [-5.31887895e-01 8.46696107e-01 -1.41764197e-02 -5.27604602e+01] [-2.58027984e-02 5.28526894e-04 9.99666913e-01 1.14517255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.262320588 meters 0.027520491732219744 Centerline is valid? [True, True] Translation: X:228.87, Y:-52.77, Z:1.15 [[ 8.46957418e-01 5.31287969e-01 1.99054230e-02 2.28871919e+02] [-5.31126974e-01 8.47191142e-01 -1.30884161e-02 -5.27741370e+01] [-2.38174160e-02 5.13023992e-04 9.99716193e-01 1.14609063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.292320588 meters 0.027167190183780922 Centerline is valid? [True, True] Translation: X:228.90, Y:-52.79, Z:1.15 [[ 8.46673545e-01 5.31763012e-01 1.92874990e-02 2.28900414e+02] [-5.31611903e-01 8.46893064e-01 -1.26855332e-02 -5.27897210e+01] [-2.30801465e-02 4.87041325e-04 9.99733499e-01 1.14602942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.322320588 meters 0.02716304825900752 Centerline is valid? [True, True] Translation: X:228.93, Y:-52.81, Z:1.15 [[ 8.46752682e-01 5.31635955e-01 1.93159438e-02 2.28929197e+02] [-5.31484288e-01 8.46972825e-01 -1.27076876e-02 -5.28052593e+01] [-2.31159431e-02 4.94147904e-04 9.99732669e-01 1.14548800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.352320588 meters 0.027378600499689296 Centerline is valid? [True, True] Translation: X:228.96, Y:-52.82, Z:1.14 [[ 8.47095183e-01 5.31132078e-01 1.81236721e-02 2.28958488e+02] [-5.30998372e-01 8.47288904e-01 -1.19265579e-02 -5.28196817e+01] [-2.16905638e-02 4.79289358e-04 9.99764617e-01 1.14411053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.382320588 meters 0.02747383162929638 Centerline is valid? [True, True] Translation: X:228.99, Y:-52.84, Z:1.14 [[ 8.46896445e-01 5.31415993e-01 1.90644786e-02 2.28986748e+02] [-5.31268039e-01 8.47110850e-01 -1.25490126e-02 -5.28357892e+01] [-2.28184726e-02 4.99366004e-04 9.99739500e-01 1.14321354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.412320588 meters 0.02747383162929638 Centerline is valid? [True, True] Translation: X:229.01, Y:-52.85, Z:1.14 [[ 8.46831140e-01 5.31520107e-01 1.90629383e-02 2.29013249e+02] [-5.31372127e-01 8.47045528e-01 -1.25513523e-02 -5.28531884e+01] [-2.28184728e-02 4.99361941e-04 9.99739500e-01 1.14337320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.442320588 meters 0.02766247296243958 Centerline is valid? [True, True] Translation: X:229.04, Y:-52.87, Z:1.14 [[ 8.46780233e-01 5.31622850e-01 1.84494307e-02 2.29042175e+02] [-5.31484173e-01 8.46981057e-01 -1.21516743e-02 -5.28686624e+01] [-2.20864260e-02 4.84217213e-04 9.99755948e-01 1.14366679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.472320588 meters 0.027588014025537098 Centerline is valid? [True, True] Translation: X:229.07, Y:-52.88, Z:1.14 [[ 8.46617627e-01 5.31882105e-01 1.84396424e-02 2.29072794e+02] [-5.31743657e-01 8.46818280e-01 -1.21443027e-02 -5.28782473e+01] [-2.20743636e-02 4.76417794e-04 9.99756218e-01 1.14389390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.502320588 meters 0.027281897593496952 Centerline is valid? [True, True] Translation: X:229.10, Y:-52.89, Z:1.14 [[ 8.46397705e-01 5.32291645e-01 1.66291515e-02 2.29100711e+02] [-5.32179131e-01 8.46560942e-01 -1.09519178e-02 -5.28916035e+01] [-1.99072045e-02 4.19990723e-04 9.99801744e-01 1.14440410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.532320588 meters 0.02718644412806626 Centerline is valid? [True, True] Translation: X:229.13, Y:-52.91, Z:1.14 [[ 8.46422299e-01 5.32287147e-01 1.54817373e-02 2.29125791e+02] [-5.32189848e-01 8.46563788e-01 -1.01842084e-02 -5.29052493e+01] [-1.85272014e-02 3.80917718e-04 9.99828284e-01 1.14398680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.562320588 meters 0.027320440526834525 Centerline is valid? [True, True] Translation: X:229.15, Y:-52.92, Z:1.14 [[ 8.46132175e-01 5.32687022e-01 1.74607904e-02 2.29151206e+02] [-5.32563556e-01 8.46312216e-01 -1.14756743e-02 -5.29185313e+01] [-2.08902230e-02 4.10956631e-04 9.99781691e-01 1.14233141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.592320588 meters 0.02743110295803626 Centerline is valid? [True, True] Translation: X:229.18, Y:-52.93, Z:1.14 [[ 8.46058077e-01 5.32750118e-01 1.90536737e-02 2.29175837e+02] [-5.32603370e-01 8.46272486e-01 -1.25111769e-02 -5.29329231e+01] [-2.27899308e-02 4.37131440e-04 9.99740180e-01 1.14227113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.622320588 meters 0.027263851024510462 Centerline is valid? [True, True] Translation: X:229.20, Y:-52.94, Z:1.14 [[ 8.45385210e-01 5.33770593e-01 2.03175143e-02 2.29202536e+02] [-5.33604376e-01 8.45629218e-01 -1.33265153e-02 -5.29430244e+01] [-2.42943857e-02 4.24524387e-04 9.99704758e-01 1.14327879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.652320588 meters 0.027283012634002693 Centerline is valid? [True, True] Translation: X:229.23, Y:-52.96, Z:1.14 [[ 8.45423529e-01 5.33742328e-01 1.94469645e-02 2.29229394e+02] [-5.33590318e-01 8.45647072e-01 -1.27437224e-02 -5.29552364e+01] [-2.32471326e-02 3.97130745e-04 9.99729670e-01 1.14309010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68232058799998 meters 0.02733202818173974 Centerline is valid? [True, True] Translation: X:229.26, Y:-52.97, Z:1.14 [[ 8.45830275e-01 5.33160379e-01 1.76396441e-02 2.29255826e+02] [-5.33035419e-01 8.46014112e-01 -1.15483593e-02 -5.29670762e+01] [-2.10805154e-02 3.65396847e-04 9.99777714e-01 1.14222149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71232058799998 meters 0.027328782967116275 Centerline is valid? [True, True] Translation: X:229.28, Y:-52.98, Z:1.14 [[ 8.46635139e-01 5.31911733e-01 1.66988163e-02 2.29281945e+02] [-5.31799750e-01 8.46799726e-01 -1.09201895e-02 -5.29786200e+01] [-1.99491300e-02 3.64989783e-04 9.99800930e-01 1.14205326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74232058799998 meters 0.02768545006803358 Centerline is valid? [True, True] Translation: X:229.31, Y:-52.99, Z:1.14 [[ 8.48288083e-01 5.29280720e-01 1.64088017e-02 2.29309415e+02] [-5.29172290e-01 8.48446669e-01 -1.07208788e-02 -5.29898062e+01] [-1.95963476e-02 4.11310584e-04 9.99807889e-01 1.14074839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77232058799999 meters 0.028068350711142314 Centerline is valid? [True, True] Translation: X:229.33, Y:-53.00, Z:1.14 [[ 8.49430551e-01 5.27446488e-01 1.63689389e-02 2.29334320e+02] [-5.27338436e-01 8.49588139e-01 -1.06849572e-02 -5.30045309e+01] [-1.95425995e-02 4.44158439e-04 9.99808927e-01 1.14133198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.802320588 meters 0.028300131416290453 Centerline is valid? [True, True] Translation: X:229.36, Y:-53.02, Z:1.14 [[ 8.50555613e-01 5.25629354e-01 1.63991083e-02 2.29359250e+02] [-5.25520757e-01 8.50713555e-01 -1.06948764e-02 -5.30193518e+01] [-1.95724847e-02 4.78515387e-04 9.99808326e-01 1.14197905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.832320588 meters 0.029051274970500952 Centerline is valid? [True, True] Translation: X:229.39, Y:-53.03, Z:1.14 [[ 8.53384812e-01 5.21069155e-01 1.48761258e-02 2.29385287e+02] [-5.20979131e-01 8.53514298e-01 -9.69989948e-03 -5.30312848e+01] [-1.77513045e-02 5.27595808e-04 9.99842294e-01 1.14209582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.862320588 meters 0.02954507187439577 Centerline is valid? [True, True] Translation: X:229.41, Y:-53.04, Z:1.14 [[ 8.54926875e-01 5.18558128e-01 1.40536773e-02 2.29410721e+02] [-5.18477611e-01 8.55042208e-01 -9.15363794e-03 -5.30441754e+01] [-1.67631807e-02 5.39174025e-04 9.99859343e-01 1.14179476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.892320588 meters 0.029996712380612474 Centerline is valid? [True, True] Translation: X:229.44, Y:-53.06, Z:1.14 [[ 8.56252152e-01 5.16376514e-01 1.36948062e-02 2.29436884e+02] [-5.16299912e-01 8.56361478e-01 -8.91174544e-03 -5.30572106e+01] [-1.63295206e-02 5.60073955e-04 9.99866508e-01 1.14165124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.922320588 meters 0.030059809129719825 Centerline is valid? [True, True] Translation: X:229.46, Y:-53.07, Z:1.14 [[ 8.57010359e-01 5.15134032e-01 1.30450770e-02 2.29462693e+02] [-5.15064503e-01 8.57109461e-01 -8.48116662e-03 -5.30708351e+01] [-1.55499965e-02 5.49391538e-04 9.99878941e-01 1.14194945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.952320588 meters 0.030303331664595316 Centerline is valid? [True, True] Translation: X:229.49, Y:-53.09, Z:1.14 [[ 8.57487983e-01 5.14303394e-01 1.43658935e-02 2.29486720e+02] [-5.14219096e-01 8.57608093e-01 -9.33166949e-03 -5.30867387e+01] [-1.71196158e-02 6.14577687e-04 9.99853260e-01 1.14131982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.982320588 meters 0.030222090191850792 Centerline is valid? [True, True] Translation: X:229.51, Y:-53.10, Z:1.14 [[ 8.57445055e-01 5.14376478e-01 1.43114098e-02 2.29509786e+02] [-5.14292969e-01 8.57564269e-01 -9.28799790e-03 -5.31037338e+01] [-1.70504813e-02 6.03690415e-04 9.99854448e-01 1.14221271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.012320588 meters 0.030371371923539687 Centerline is valid? [True, True] Translation: X:229.53, Y:-53.12, Z:1.14 [[ 8.57895660e-01 5.13661631e-01 1.29137750e-02 2.29534121e+02] [-5.13593677e-01 8.57992672e-01 -8.37316097e-03 -5.31187714e+01] [-1.53808959e-02 5.50865254e-04 9.99881555e-01 1.14247209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.042320588 meters 0.0302183051012593 Centerline is valid? [True, True] Translation: X:229.56, Y:-53.13, Z:1.14 [[ 8.58130502e-01 5.13304838e-01 1.14098258e-02 2.29558770e+02] [-5.13251853e-01 8.58206215e-01 -7.39112629e-03 -5.31336212e+01] [-1.35858843e-02 4.86436685e-04 9.99907589e-01 1.14226032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.072320588 meters 0.030091427198339373 Centerline is valid? [True, True] Translation: X:229.58, Y:-53.15, Z:1.14 [[ 8.58043001e-01 5.13463542e-01 1.08351134e-02 2.29584326e+02] [-5.13415856e-01 8.58111290e-01 -7.01241422e-03 -5.31477661e+01] [-1.28983522e-02 4.54033913e-04 9.99916710e-01 1.14178862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.102320588 meters 0.029650542444306704 Centerline is valid? [True, True] Translation: X:229.61, Y:-53.16, Z:1.14 [[ 8.57707575e-01 5.13976014e-01 1.28985795e-02 2.29606912e+02] [-5.13908622e-01 8.57804396e-01 -8.33938766e-03 -5.31633266e+01] [-1.53507034e-02 5.24064748e-04 9.99882034e-01 1.14253585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.132320588 meters 0.029531718946317793 Centerline is valid? [True, True] Translation: X:229.63, Y:-53.18, Z:1.14 [[ 8.57232856e-01 5.14736444e-01 1.40792209e-02 2.29630242e+02] [-5.14656406e-01 8.57348291e-01 -9.09348769e-03 -5.31793694e+01] [-1.67515455e-02 5.49275203e-04 9.99859532e-01 1.14250585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.162320588 meters 0.029369975747256288 Centerline is valid? [True, True] Translation: X:229.65, Y:-53.20, Z:1.14 [[ 8.56579552e-01 5.15830889e-01 1.37827789e-02 2.29653681e+02] [-5.15754455e-01 8.56690279e-01 -8.89425755e-03 -5.31963371e+01] [-1.63955054e-02 5.10109536e-04 9.99865455e-01 1.14281763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.192320588 meters 0.02866338602625789 Centerline is valid? [True, True] Translation: X:229.68, Y:-53.21, Z:1.14 [[ 8.55593617e-01 5.17521200e-01 1.14617027e-02 2.29678515e+02] [-5.17468583e-01 8.55670295e-01 -7.38994943e-03 -5.32117428e+01] [-1.36318940e-02 3.91722508e-04 9.99907005e-01 1.14199523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.222320588 meters 0.02823389847901824 Centerline is valid? [True, True] Translation: X:229.70, Y:-53.23, Z:1.14 [[ 8.54986428e-01 5.18540208e-01 1.06892849e-02 2.29703643e+02] [-5.18494609e-01 8.55053176e-01 -6.88526919e-03 -5.32259822e+01] [-1.27101959e-02 3.44475135e-04 9.99919163e-01 1.14130404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.252320588 meters 0.027687089816209525 Centerline is valid? [True, True] Translation: X:229.73, Y:-53.24, Z:1.14 [[ 8.53191591e-01 5.21474864e-01 1.13170626e-02 2.29730371e+02] [-5.21424097e-01 8.53266587e-01 -7.28300950e-03 -5.32368609e+01] [-1.34543777e-02 3.12813339e-04 9.99909437e-01 1.14068381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.282320588 meters 0.027491994460124923 Centerline is valid? [True, True] Translation: X:229.76, Y:-53.25, Z:1.14 [[ 8.52506454e-01 5.22590500e-01 1.14854279e-02 2.29755558e+02] [-5.22538405e-01 8.52583769e-01 -7.38455525e-03 -5.32508463e+01] [-1.36513878e-02 2.93803826e-04 9.99906772e-01 1.14067406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.312320588 meters 0.0270400497512052 Centerline is valid? [True, True] Translation: X:229.78, Y:-53.27, Z:1.14 [[ 8.51303218e-01 5.24546335e-01 1.15747096e-02 2.29781090e+02] [-5.24493592e-01 8.51381860e-01 -7.44315426e-03 -5.32653130e+01] [-1.37587771e-02 2.65520136e-04 9.99905308e-01 1.14142740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.342320588 meters 0.02676593348916558 Centerline is valid? [True, True] Translation: X:229.81, Y:-53.28, Z:1.14 [[ 8.49910088e-01 5.26826395e-01 1.03340392e-02 2.29809048e+02] [-5.26784626e-01 8.49972889e-01 -6.63679250e-03 -5.32753363e+01] [-1.22800906e-02 1.96863953e-04 9.99924577e-01 1.14095692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.372320588 meters 0.026649395569776 Centerline is valid? [True, True] Translation: X:229.83, Y:-53.29, Z:1.14 [[ 8.49911538e-01 5.26830161e-01 1.00179036e-02 2.29834017e+02] [-5.26790996e-01 8.49970557e-01 -6.42643946e-03 -5.32879690e+01] [-1.19005653e-02 1.84563614e-04 9.99929169e-01 1.14052846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40232058799998 meters 0.02652515944498094 Centerline is valid? [True, True] Translation: X:229.86, Y:-53.30, Z:1.14 [[ 8.50345771e-01 5.26127479e-01 1.00967902e-02 2.29858948e+02] [-5.26087729e-01 8.50405691e-01 -6.47001965e-03 -5.33006051e+01] [-1.19904230e-02 1.89956412e-04 9.99928094e-01 1.13972414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43232058799998 meters 0.02667073407231557 Centerline is valid? [True, True] Translation: X:229.88, Y:-53.31, Z:1.14 [[ 8.50964692e-01 5.25142651e-01 9.18091087e-03 2.29883760e+02] [-5.25109801e-01 8.51014197e-01 -5.87653980e-03 -5.33134488e+01] [-1.08991072e-02 1.79741603e-04 9.99940587e-01 1.14010167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46232058799998 meters 0.026881316157875784 Centerline is valid? [True, True] Translation: X:229.91, Y:-53.32, Z:1.14 [[ 8.52518315e-01 5.22626324e-01 8.61675320e-03 2.29911642e+02] [-5.22597309e-01 8.52561838e-01 -5.51044640e-03 -5.33224684e+01] [-1.02262193e-02 1.94664439e-04 9.99947692e-01 1.14063655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49232058799998 meters 0.027087638143691986 Centerline is valid? [True, True] Translation: X:229.94, Y:-53.33, Z:1.14 [[ 8.53755343e-01 5.20625252e-01 7.15271173e-03 2.29938130e+02] [-5.20605228e-01 8.53785287e-01 -4.56955098e-03 -5.33337586e+01] [-8.48590367e-03 1.77539450e-04 9.99963978e-01 1.14222150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52232058799999 meters 0.02719815887009963 Centerline is valid? [True, True] Translation: X:229.96, Y:-53.35, Z:1.14 [[ 8.54467214e-01 5.19449117e-01 7.64163220e-03 2.29964671e+02] [-5.19426255e-01 8.54501361e-01 -4.87754469e-03 -5.33457957e+01] [-9.06342139e-03 1.98437636e-04 9.99958907e-01 1.14169207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.552320588 meters 0.027269829791152188 Centerline is valid? [True, True] Translation: X:229.99, Y:-53.36, Z:1.14 [[ 8.54904126e-01 5.18745343e-01 6.49647902e-03 2.29990147e+02] [-5.18728839e-01 8.54928792e-01 -4.14148476e-03 -5.33575681e+01] [-7.70240290e-03 1.70661395e-04 9.99970321e-01 1.14171674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.582320588 meters 0.02702361262421017 Centerline is valid? [True, True] Translation: X:230.02, Y:-53.37, Z:1.14 [[ 8.55165363e-01 5.18337052e-01 4.34768218e-03 2.30018042e+02] [-5.18329671e-01 8.55176407e-01 -2.76847793e-03 -5.33672810e+01] [-5.15303992e-03 1.13973765e-04 9.99986717e-01 1.14311960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.612320588 meters 0.02687474597751381 Centerline is valid? [True, True] Translation: X:230.04, Y:-53.38, Z:1.14 [[ 8.55127140e-01 5.18409276e-01 3.06540227e-03 2.30043530e+02] [-5.18405617e-01 8.55132631e-01 -1.94939208e-03 -5.33807613e+01] [-3.63190844e-03 7.78563189e-05 9.99993402e-01 1.14309659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.642320588 meters 0.026793104396295158 Centerline is valid? [True, True] Translation: X:230.07, Y:-53.39, Z:1.14 [[ 8.54939887e-01 5.18710496e-01 4.14863472e-03 2.30070208e+02] [-5.18703808e-01 8.54949946e-01 -2.63596998e-03 -5.33911477e+01] [-4.91418033e-03 1.01683245e-04 9.99987920e-01 1.14251086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.672320588 meters 0.026918677838333033 Centerline is valid? [True, True] Translation: X:230.10, Y:-53.40, Z:1.14 [[ 8.54914803e-01 5.18745433e-01 4.88420079e-03 2.30095672e+02] [-5.18736180e-01 8.54928747e-01 -3.10051436e-03 -5.34034065e+01] [-5.78402132e-03 1.17063961e-04 9.99983266e-01 1.14180183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.702320588 meters 0.026840621566749275 Centerline is valid? [True, True] Translation: X:230.12, Y:-53.42, Z:1.14 [[ 8.55251673e-01 5.18190236e-01 4.84306407e-03 2.30121426e+02] [-5.18181148e-01 8.55265377e-01 -3.07116680e-03 -5.34157377e+01] [-5.73355367e-03 1.17036048e-04 9.99983556e-01 1.14240265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.732320588 meters 0.02641376605790099 Centerline is valid? [True, True] Translation: X:230.15, Y:-53.43, Z:1.14 [[ 8.54376290e-01 5.19642556e-01 3.57346275e-03 2.30148864e+02] [-5.19637632e-01 8.54383759e-01 -2.26353367e-03 -5.34259642e+01] [-4.22933696e-03 7.70037727e-05 9.99991053e-01 1.14268998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.762320588 meters 0.026324967781975323 Centerline is valid? [True, True] Translation: X:230.17, Y:-53.44, Z:1.14 [[ 8.53807463e-01 5.20572520e-01 4.13132178e-03 2.30174468e+02] [-5.20565959e-01 8.53817454e-01 -2.61484189e-03 -5.34388968e+01] [-4.88860948e-03 8.19460326e-05 9.99988047e-01 1.14293494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.792320588 meters 0.025989166641894785 Centerline is valid? [True, True] Translation: X:230.20, Y:-53.45, Z:1.14 [[ 8.52912541e-01 5.22033323e-01 4.62679067e-03 2.30202559e+02] [-5.22025129e-01 8.52925087e-01 -2.92598236e-03 -5.34483522e+01] [-5.47376613e-03 8.03060553e-05 9.99985016e-01 1.14439488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.822320588 meters 0.025872569482111373 Centerline is valid? [True, True] Translation: X:230.23, Y:-53.46, Z:1.14 [[ 8.52678541e-01 5.22416374e-01 4.52075043e-03 2.30227656e+02] [-5.22408576e-01 8.52690522e-01 -2.85540144e-03 -5.34613402e+01] [-5.34650951e-03 7.30607423e-05 9.99985705e-01 1.14429213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.852320588 meters 0.025834178429405375 Centerline is valid? [True, True] Translation: X:230.25, Y:-53.47, Z:1.14 [[ 8.52700309e-01 5.22377815e-01 4.85812294e-03 2.30252876e+02] [-5.22368826e-01 8.52714145e-01 -3.06539988e-03 -5.34742812e+01] [-5.74388704e-03 7.61354420e-05 9.99983501e-01 1.14330077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.882320588 meters 0.02595639078317851 Centerline is valid? [True, True] Translation: X:230.28, Y:-53.49, Z:1.14 [[ 8.52951921e-01 5.21968173e-01 4.71664820e-03 2.30277875e+02] [-5.21959713e-01 8.52964959e-01 -2.97278136e-03 -5.34860016e+01] [-5.57483289e-03 7.37392307e-05 9.99984458e-01 1.14177840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.912320588 meters 0.026219561023802827 Centerline is valid? [True, True] Translation: X:230.31, Y:-53.49, Z:1.14 [[ 8.52966510e-01 5.21909591e-01 7.64933755e-03 2.30307699e+02] [-5.21887357e-01 8.53000800e-01 -4.81887250e-03 -5.34925115e+01] [-9.03990682e-03 1.18244301e-04 9.99959132e-01 1.13933192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.942320588 meters 0.026227548326868657 Centerline is valid? [True, True] Translation: X:230.33, Y:-53.50, Z:1.14 [[ 8.53459803e-01 5.21107838e-01 7.27918483e-03 2.30333765e+02] [-5.21087716e-01 8.53490836e-01 -4.58081463e-03 -5.35036471e+01] [-8.59981596e-03 1.16447352e-04 9.99963014e-01 1.13965035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.972320588 meters 0.026359622660771135 Centerline is valid? [True, True] Translation: X:230.36, Y:-53.52, Z:1.14 [[ 8.54446571e-01 5.19476913e-01 8.04949815e-03 2.30359121e+02] [-5.19452277e-01 8.54484474e-01 -5.06122915e-03 -5.35165652e+01] [-9.50736289e-03 1.43219753e-04 9.99954794e-01 1.13899165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.002320588 meters 0.026482435343062223 Centerline is valid? [True, True] Translation: X:230.38, Y:-53.53, Z:1.14 [[ 8.55470088e-01 5.17815580e-01 6.16058217e-03 2.30383954e+02] [-5.17801144e-01 8.55492262e-01 -3.86845646e-03 -5.35301469e+01] [-7.27347740e-03 1.19392297e-04 9.99973541e-01 1.14065948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.032320588 meters 0.026969413325073015 Centerline is valid? [True, True] Translation: X:230.41, Y:-53.54, Z:1.14 [[ 8.57703782e-01 5.14116684e-01 5.31575117e-03 2.30410167e+02] [-5.14105884e-01 8.57720245e-01 -3.33483280e-03 -5.35425219e+01] [-6.27392058e-03 1.27439745e-04 9.99980311e-01 1.13976502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.062320588 meters 0.027147338328298135 Centerline is valid? [True, True] Translation: X:230.44, Y:-53.56, Z:1.14 [[ 8.58916356e-01 5.12096708e-01 4.43340607e-03 2.30435366e+02] [-5.12089184e-01 8.58927790e-01 -2.77832922e-03 -5.35566000e+01] [-5.23074893e-03 1.16053111e-04 9.99986313e-01 1.13944302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.092320588 meters 0.027762618204270936 Centerline is valid? [True, True] Translation: X:230.46, Y:-53.57, Z:1.14 [[ 8.60279234e-01 5.09777713e-01 6.80611158e-03 2.30460204e+02] [-5.09759928e-01 8.60306134e-01 -4.26271874e-03 -5.35705548e+01] [-8.02837855e-03 1.97645464e-04 9.99967753e-01 1.13823360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.122320588 meters 0.027666770173641372 Centerline is valid? [True, True] Translation: X:230.48, Y:-53.58, Z:1.14 [[ 8.60898762e-01 5.08737430e-01 6.28875800e-03 2.30484322e+02] [-5.08722254e-01 8.60921711e-01 -3.93402172e-03 -5.35844966e+01] [-7.41551239e-03 1.87563287e-04 9.99972487e-01 1.13978642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15232058799998 meters 0.027598602060833786 Centerline is valid? [True, True] Translation: X:230.51, Y:-53.60, Z:1.14 [[ 8.60363811e-01 5.09617218e-01 8.02520326e-03 2.30509523e+02] [-5.09592585e-01 8.60401209e-01 -5.01571541e-03 -5.35966634e+01] [-9.46098952e-03 2.25755947e-04 9.99955218e-01 1.14115933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18232058799998 meters 0.027503277739446892 Centerline is valid? [True, True] Translation: X:230.53, Y:-53.61, Z:1.14 [[ 8.60432581e-01 5.09518470e-01 6.83391290e-03 2.30534104e+02] [-5.09500636e-01 8.60459698e-01 -4.26721025e-03 -5.36112203e+01] [-8.05452907e-03 1.89763763e-04 9.99967544e-01 1.14183419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21232058799998 meters 0.027310565815817988 Centerline is valid? [True, True] Translation: X:230.56, Y:-53.63, Z:1.14 [[ 8.60048219e-01 5.10173515e-01 6.32821102e-03 2.30558141e+02] [-5.10158270e-01 8.60071483e-01 -3.94757112e-03 -5.36265781e+01] [-7.45666007e-03 1.66712327e-04 9.99972185e-01 1.14097271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24232058799998 meters 0.027505757005839883 Centerline is valid? [True, True] Translation: X:230.58, Y:-53.64, Z:1.14 [[ 8.60498256e-01 5.09423723e-01 5.49752171e-03 2.30581910e+02] [-5.09412229e-01 8.60515804e-01 -3.42509874e-03 -5.36411324e+01] [-6.47553086e-03 1.46786703e-04 9.99979023e-01 1.14093317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27232058799999 meters 0.027566931178779192 Centerline is valid? [True, True] Translation: X:230.61, Y:-53.66, Z:1.14 [[ 8.60517484e-01 5.09373606e-01 6.94182894e-03 2.30605797e+02] [-5.09355310e-01 8.60545464e-01 -4.32113821e-03 -5.36562638e+01] [-8.17483316e-03 1.82557552e-04 9.99966569e-01 1.14143124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.302320588 meters 0.027566931178779192 Centerline is valid? [True, True] Translation: X:230.63, Y:-53.67, Z:1.14 [[ 8.60758017e-01 5.08967012e-01 6.94387054e-03 2.30628841e+02] [-5.08948729e-01 8.60786005e-01 -4.31785775e-03 -5.36709991e+01] [-8.17483374e-03 1.82556584e-04 9.99966569e-01 1.14156975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.332320588 meters 0.027577376841829333 Centerline is valid? [True, True] Translation: X:230.65, Y:-53.69, Z:1.14 [[ 8.61328281e-01 5.07994868e-01 7.40309718e-03 2.30653323e+02] [-5.07974083e-01 8.61360072e-01 -4.59971887e-03 -5.36861936e+01] [-8.71336589e-03 2.01286445e-04 9.99962018e-01 1.14192666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.362320588 meters 0.02792139140105223 Centerline is valid? [True, True] Translation: X:230.68, Y:-53.70, Z:1.14 [[ 8.62307248e-01 5.06330256e-01 7.47536202e-03 2.30677637e+02] [-5.06309038e-01 8.62339623e-01 -4.64036463e-03 -5.37006911e+01] [-8.79585788e-03 2.16576703e-04 9.99961292e-01 1.14306508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.392320588 meters 0.028187208128181648 Centerline is valid? [True, True] Translation: X:230.70, Y:-53.72, Z:1.14 [[ 8.63494793e-01 5.04325226e-01 5.72781663e-03 2.30702083e+02] [-5.04312751e-01 8.63513772e-01 -3.55177975e-03 -5.37151361e+01] [-6.73730067e-03 1.78332359e-04 9.99977288e-01 1.14305766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.422320588 meters 0.02816180888177583 Centerline is valid? [True, True] Translation: X:230.73, Y:-53.73, Z:1.14 [[ 8.63769292e-01 5.03859555e-01 5.30654794e-03 2.30725959e+02] [-5.03848864e-01 8.63785576e-01 -3.28653311e-03 -5.37288486e+01] [-6.23967068e-03 1.65108228e-04 9.99980519e-01 1.14202346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.452320588 meters 0.028216733090106326 Centerline is valid? [True, True] Translation: X:230.75, Y:-53.74, Z:1.14 [[ 8.64284204e-01 5.02984755e-01 4.37617562e-03 2.30750594e+02] [-5.02977489e-01 8.64295272e-01 -2.70699491e-03 -5.37422824e+01] [-5.14388507e-03 1.38495121e-04 9.99986761e-01 1.14242398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.482320588 meters 0.028317614002776385 Centerline is valid? [True, True] Translation: X:230.78, Y:-53.76, Z:1.14 [[ 8.64790324e-01 5.02111868e-01 4.62252501e-03 2.30775873e+02] [-5.02103760e-01 8.64802665e-01 -2.85727020e-03 -5.37559252e+01] [-5.43224123e-03 1.49952432e-04 9.99985234e-01 1.14209463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.512320588 meters 0.02858310837043495 Centerline is valid? [True, True] Translation: X:230.80, Y:-53.77, Z:1.14 [[ 8.65014269e-01 5.01702023e-01 6.73756628e-03 2.30799363e+02] [-5.01684776e-01 8.65040479e-01 -4.16591157e-03 -5.37718048e+01] [-7.91831382e-03 2.23438520e-04 9.99968625e-01 1.14186083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.542320588 meters 0.029259278188367325 Centerline is valid? [True, True] Translation: X:230.82, Y:-53.79, Z:1.14 [[ 8.66589545e-01 4.98968917e-01 7.25131043e-03 2.30822558e+02] [-4.98948891e-01 8.66619842e-01 -4.47800386e-03 -5.37896062e+01] [-8.51851423e-03 2.62558027e-04 9.99963682e-01 1.14134379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.572320588 meters 0.02969576954851946 Centerline is valid? [True, True] Translation: X:230.85, Y:-53.80, Z:1.14 [[ 8.68207560e-01 4.96163394e-01 6.12521201e-03 2.30847234e+02] [-4.96149063e-01 8.68229133e-01 -3.77880665e-03 -5.38049472e+01] [-7.19299304e-03 2.41770304e-04 9.99974101e-01 1.14177529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.602320588 meters 0.030363622017916893 Centerline is valid? [True, True] Translation: X:230.87, Y:-53.82, Z:1.14 [[ 8.69680113e-01 4.93592213e-01 4.81957489e-03 2.30871954e+02] [-4.93583319e-01 8.69693443e-01 -2.97013156e-03 -5.38200029e+01] [-5.65758649e-03 2.04202580e-04 9.99983975e-01 1.14139767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.632320588 meters 0.03102818756011505 Centerline is valid? [True, True] Translation: X:230.90, Y:-53.83, Z:1.14 [[ 8.70908963e-01 4.91415384e-01 5.33840870e-03 2.30896957e+02] [-4.91404448e-01 8.70925291e-01 -3.28716640e-03 -5.38348608e+01] [-6.26471929e-03 2.39504898e-04 9.99980348e-01 1.14145167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.662320588 meters 0.03182029024584318 Centerline is valid? [True, True] Translation: X:230.92, Y:-53.85, Z:1.14 [[ 8.72932235e-01 4.87836298e-01 2.24926203e-03 2.30921077e+02] [-4.87834351e-01 8.72935126e-01 -1.38243055e-03 -5.38505299e+01] [-2.63785963e-03 1.09500906e-04 9.99996515e-01 1.14315910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.692320588 meters 0.03185635452826152 Centerline is valid? [True, True] Translation: X:230.94, Y:-53.87, Z:1.14 [[ 8.73729461e-01 4.86408648e-01 1.85919909e-03 2.30944363e+02] [-4.86407318e-01 8.73731434e-01 -1.14127482e-03 -5.38674960e+01] [-2.17956663e-03 9.28373877e-05 9.99997620e-01 1.14303820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.722320588 meters 0.032099689283973346 Centerline is valid? [True, True] Translation: X:230.97, Y:-53.88, Z:1.14 [[ 8.74181267e-01 4.85597925e-01 1.32946364e-03 2.30967636e+02] [-4.85597243e-01 8.74182275e-01 -8.16666860e-04 -5.38835985e+01] [-1.55876528e-03 6.83309946e-05 9.99998783e-01 1.14440935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.752320588 meters 0.03162683898707857 Centerline is valid? [True, True] Translation: X:230.99, Y:-53.90, Z:1.15 [[ 8.74521063e-01 4.84987229e-01 5.45855066e-04 2.30987951e+02] [-4.84987116e-01 8.74521233e-01 -3.32810237e-04 -5.39029664e+01] [-6.38770559e-04 2.63168879e-05 9.99999796e-01 1.14595963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.782320588 meters 0.03211751847759339 Centerline is valid? [True, True] Translation: X:231.01, Y:-53.92, Z:1.15 [[ 8.74801597e-01 4.84480211e-01 1.04468495e-03 2.31010181e+02] [-4.84479794e-01 8.74802219e-01 -6.38389630e-04 -5.39192688e+01] [-1.22317985e-03 5.23355192e-05 9.99999251e-01 1.14528389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.812320588 meters 0.032089354161973935 Centerline is valid? [True, True] Translation: X:231.03, Y:-53.94, Z:1.15 [[ 8.74785667e-01 4.84507148e-01 1.69110786e-03 2.31033019e+02] [-4.84506052e-01 8.74787298e-01 -1.03408194e-03 -5.39360884e+01] [-1.98037977e-03 8.52480651e-05 9.99998035e-01 1.14524577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.842320588 meters 0.03171312311010177 Centerline is valid? [True, True] Translation: X:231.05, Y:-53.95, Z:1.14 [[ 8.74794788e-01 4.84484823e-01 2.92143907e-03 2.31054736e+02] [-4.84481551e-01 8.74799654e-01 -1.78652949e-03 -5.39538596e+01] [-3.42122031e-03 1.47463358e-04 9.99994137e-01 1.14412113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.872320588 meters 0.032102786675724734 Centerline is valid? [True, True] Translation: X:231.08, Y:-53.97, Z:1.14 [[ 8.74732502e-01 4.84588454e-01 4.13273127e-03 2.31075681e+02] [-4.84581916e-01 8.74742241e-01 -2.52573016e-03 -5.39726757e+01] [-4.83901429e-03 2.06691426e-04 9.99988271e-01 1.14375221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90232058799998 meters 0.0316785959445568 Centerline is valid? [True, True] Translation: X:231.10, Y:-53.99, Z:1.15 [[ 8.74203429e-01 4.85543323e-01 4.00579295e-03 2.31098298e+02] [-4.85537199e-01 8.74212585e-01 -2.44626746e-03 -5.39906892e+01] [-4.68968344e-03 1.93573914e-04 9.99988985e-01 1.14589702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93232058799998 meters 0.030805670654068324 Centerline is valid? [True, True] Translation: X:231.12, Y:-54.01, Z:1.15 [[ 8.73273801e-01 4.87224466e-01 2.27772500e-03 2.31120325e+02] [-4.87222498e-01 8.73276766e-01 -1.38870151e-03 -5.40094241e+01] [-2.66569367e-03 1.02957781e-04 9.99996442e-01 1.14785688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96232058799998 meters 0.03027494912364629 Centerline is valid? [True, True] Translation: X:231.14, Y:-54.03, Z:1.15 [[ 8.72760007e-01 4.88143368e-01 2.45407000e-03 2.31143479e+02] [-4.88141091e-01 8.72763450e-01 -1.49502626e-03 -5.40272851e+01] [-2.87160975e-03 1.06866724e-04 9.99995871e-01 1.14683156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99232058799998 meters 0.03002812266470028 Centerline is valid? [True, True] Translation: X:231.17, Y:-54.04, Z:1.15 [[ 8.72371904e-01 4.88839172e-01 1.87745320e-03 2.31166347e+02] [-4.88837844e-01 8.72373921e-01 -1.14213413e-03 -5.40443581e+01] [-2.19616111e-03 7.85955490e-05 9.99997585e-01 1.14616105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02232058799999 meters 0.02944933502394526 Centerline is valid? [True, True] Translation: X:231.19, Y:-54.06, Z:1.15 [[ 8.71178858e-01 4.90954357e-01 3.34908148e-03 2.31188636e+02] [-4.90950147e-01 8.71185286e-01 -2.03739215e-03 -5.40625971e+01] [-3.91793706e-03 1.30700920e-04 9.99992316e-01 1.14588232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.052320588 meters 0.029194649744819588 Centerline is valid? [True, True] Translation: X:231.21, Y:-54.08, Z:1.15 [[ 8.70885894e-01 4.91470412e-01 3.82025745e-03 2.31213143e+02] [-4.91464947e-01 8.70894261e-01 -2.32220992e-03 -5.40776740e+01] [-4.46833775e-03 1.44857234e-04 9.99990006e-01 1.14722014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.082320588 meters 0.028969867096239877 Centerline is valid? [True, True] Translation: X:231.24, Y:-54.09, Z:1.15 [[ 8.70522839e-01 4.92114276e-01 3.67785149e-03 2.31237714e+02] [-4.92109225e-01 8.70530598e-01 -2.23349750e-03 -5.40925867e+01] [-4.30081826e-03 1.34405933e-04 9.99990742e-01 1.14814795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.112320588 meters 0.028883229869288967 Centerline is valid? [True, True] Translation: X:231.26, Y:-54.11, Z:1.15 [[ 8.70527783e-01 4.92110493e-01 2.93970470e-03 2.31262941e+02] [-4.92107274e-01 8.70532740e-01 -1.78307873e-03 -5.41072471e+01] [-3.43658094e-03 1.05569512e-04 9.99994089e-01 1.14874741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.142320588 meters 0.029164122460205968 Centerline is valid? [True, True] Translation: X:231.29, Y:-54.12, Z:1.15 [[ 8.71241769e-01 4.90853344e-01 8.80301154e-04 2.31287060e+02] [-4.90853055e-01 8.71242213e-01 -5.33636727e-04 -5.41221018e+01] [-1.02889290e-03 3.28280953e-05 9.99999470e-01 1.14667291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.172320588 meters 0.02915251595132393 Centerline is valid? [True, True] Translation: X:231.31, Y:-54.14, Z:1.15 [[ 8.71742206e-01 4.89964727e-01 3.04398926e-04 2.31310785e+02] [-4.89964693e-01 8.71742259e-01 -1.82245924e-04 -5.41383932e+01] [-3.54651481e-04 9.72673795e-06 9.99999937e-01 1.14751207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.202320588 meters 0.02924172844156557 Centerline is valid? [True, True] Translation: X:231.33, Y:-54.16, Z:1.15 [[ 8.72224334e-01 4.89105004e-01 1.00253766e-03 2.31333585e+02] [-4.89104631e-01 8.72224910e-01 -6.05188620e-04 -5.41561664e+01] [-1.17043910e-03 3.75144277e-05 9.99999314e-01 1.14827416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.232320588 meters 0.029544669740968536 Centerline is valid? [True, True] Translation: X:231.36, Y:-54.17, Z:1.15 [[ 8.73132190e-01 4.87483259e-01 -5.01758826e-04 2.31358108e+02] [-4.87483163e-01 8.73132333e-01 3.06224618e-04 -5.41715041e+01] [ 5.87381229e-04 -2.27755914e-05 9.99999827e-01 1.14928977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.262320588 meters 0.029722403975121974 Centerline is valid? [True, True] Translation: X:231.38, Y:-54.19, Z:1.15 [[ 8.73797545e-01 4.86289295e-01 -7.55958788e-04 2.31381717e+02] [-4.86289079e-01 8.73797872e-01 4.59711437e-04 -5.41872428e+01] [ 8.84107931e-04 -3.40802230e-05 9.99999609e-01 1.14946367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.292320588 meters 0.02985726678918533 Centerline is valid? [True, True] Translation: X:231.41, Y:-54.20, Z:1.15 [[ 8.74297857e-01 4.85389796e-01 5.17681320e-05 2.31405221e+02] [-4.85389795e-01 8.74297859e-01 -2.88745765e-05 -5.42042138e+01] [-5.92761913e-05 1.17257320e-07 9.99999998e-01 1.14891781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.322320588 meters 0.03009184955453712 Centerline is valid? [True, True] Translation: X:231.43, Y:-54.22, Z:1.15 [[ 8.74793506e-01 4.84492399e-01 1.85404291e-03 2.31427010e+02] [-4.84491117e-01 8.74795467e-01 -1.11711890e-03 -5.42242219e+01] [-2.16314395e-03 7.89810431e-05 9.99997657e-01 1.14819083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.352320588 meters 0.03003173237270067 Centerline is valid? [True, True] Translation: X:231.45, Y:-54.24, Z:1.15 [[ 8.74871923e-01 4.84347667e-01 2.54084529e-03 2.31449818e+02] [-4.84345262e-01 8.74875606e-01 -1.52987699e-03 -5.42399118e+01] [-2.96391591e-03 1.07800049e-04 9.99995602e-01 1.14807447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.382320588 meters 0.0301714627837839 Centerline is valid? [True, True] Translation: X:231.47, Y:-54.25, Z:1.15 [[ 8.75228333e-01 4.83708377e-01 1.25359089e-03 2.31472925e+02] [-4.83707794e-01 8.75229229e-01 -7.52636190e-04 -5.42547683e+01] [-1.46123582e-03 5.23568313e-05 9.99998931e-01 1.14861278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.412320588 meters 0.030029924444410442 Centerline is valid? [True, True] Translation: X:231.50, Y:-54.27, Z:1.15 [[ 8.74927514e-01 4.84253671e-01 4.76641699e-04 2.31497158e+02] [-4.84253588e-01 8.74927644e-01 -2.84740430e-04 -5.42712264e+01] [-5.54913597e-04 1.83117833e-05 9.99999846e-01 1.14889175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.442320588 meters 0.028968461062835602 Centerline is valid? [True, True] Translation: X:231.52, Y:-54.29, Z:1.15 [[ 8.73648407e-01 4.86554191e-01 1.86520468e-03 2.31517023e+02] [-4.86552908e-01 8.73650396e-01 -1.11975271e-03 -5.42932886e+01] [-2.17435718e-03 7.07494082e-05 9.99997634e-01 1.14817519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.472320588 meters 0.029047430756856528 Centerline is valid? [True, True] Translation: X:231.54, Y:-54.31, Z:1.15 [[ 8.73346671e-01 4.87095160e-01 1.97437384e-03 2.31540293e+02] [-4.87093726e-01 8.73348899e-01 -1.18410075e-03 -5.43094695e+01] [-2.30108696e-03 7.24253369e-05 9.99997350e-01 1.14926213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.502320588 meters 0.028451611048323652 Centerline is valid? [True, True] Translation: X:231.56, Y:-54.32, Z:1.15 [[ 8.72231721e-01 4.89090681e-01 1.45979352e-03 2.31564748e+02] [-4.89089903e-01 8.72232941e-01 -8.74059817e-04 -5.43244075e+01] [-1.70077451e-03 4.84124273e-05 9.99998553e-01 1.15111916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.532320588 meters 0.027899269533363098 Centerline is valid? [True, True] Translation: X:231.59, Y:-54.34, Z:1.15 [[ 8.71579257e-01 4.90253281e-01 1.14825534e-03 2.31589412e+02] [-4.90252802e-01 8.71580013e-01 -6.86571955e-04 -5.43400960e+01] [-1.33739056e-03 3.54664750e-05 9.99999105e-01 1.15243104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.562320588 meters 0.027577837932999026 Centerline is valid? [True, True] Translation: X:231.61, Y:-54.36, Z:1.15 [[ 8.71057056e-01 4.91180070e-01 1.32051967e-03 2.31613219e+02] [-4.91179438e-01 8.71058056e-01 -7.88979304e-04 -5.43567763e+01] [-1.53778021e-03 3.86338810e-05 9.99998817e-01 1.15348511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.592320588 meters 0.026793021704986025 Centerline is valid? [True, True] Translation: X:231.64, Y:-54.38, Z:1.15 [[ 8.68555749e-01 4.95579538e-01 3.43986789e-03 2.31635805e+02] [-4.95575267e-01 8.68562556e-01 -2.05933858e-03 -5.43758930e+01] [-4.00830651e-03 8.39369153e-05 9.99991963e-01 1.15289801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.622320588 meters 0.026565858899331888 Centerline is valid? [True, True] Translation: X:231.66, Y:-54.39, Z:1.15 [[ 8.68251413e-01 4.96121264e-01 1.78172503e-03 2.31660028e+02] [-4.96120125e-01 8.68253240e-01 -1.06381009e-03 -5.43912267e+01] [-2.07476734e-03 3.97049692e-05 9.99997847e-01 1.15286292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65232058799998 meters 0.02661441908369444 Centerline is valid? [True, True] Translation: X:231.68, Y:-54.41, Z:1.15 [[ 8.67631654e-01 4.97200033e-01 2.72767702e-03 2.31684707e+02] [-4.97197369e-01 8.67635940e-01 -1.62831322e-03 -5.44063047e+01] [-3.17622800e-03 5.65822527e-05 9.99994954e-01 1.15158058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68232058799998 meters 0.026442844610486238 Centerline is valid? [True, True] Translation: X:231.71, Y:-54.42, Z:1.15 [[ 8.67034861e-01 4.98223549e-01 4.88325110e-03 2.31707616e+02] [-4.98215038e-01 8.67048607e-01 -2.91354571e-03 -5.44220279e+01] [-5.68561315e-03 9.32365616e-05 9.99983832e-01 1.15129311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71232058799998 meters 0.026336433247150112 Centerline is valid? [True, True] Translation: X:231.73, Y:-54.44, Z:1.15 [[ 8.66928206e-01 4.98409463e-01 4.84696585e-03 2.31731083e+02] [-4.98401099e-01 8.66941751e-01 -2.88870503e-03 -5.44371042e+01] [-5.64179498e-03 8.85667573e-05 9.99984081e-01 1.15144660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74232058799998 meters 0.026409527152772175 Centerline is valid? [True, True] Translation: X:231.76, Y:-54.45, Z:1.15 [[ 8.67740409e-01 4.97005124e-01 3.53395175e-03 2.31755002e+02] [-4.97000679e-01 8.67747603e-01 -2.10303082e-03 -5.44504451e+01] [-4.11179525e-03 6.85084039e-05 9.99991544e-01 1.15229745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77232058799999 meters 0.026146901452078312 Centerline is valid? [True, True] Translation: X:231.78, Y:-54.46, Z:1.15 [[ 8.68126883e-01 4.96342075e-01 5.09671937e-04 2.31781469e+02] [-4.96341984e-01 8.68127032e-01 -3.00896792e-04 -5.44625333e+01] [-5.91807724e-04 8.24501392e-06 9.99999825e-01 1.15370955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.802320588 meters 0.0265222652787373 Centerline is valid? [True, True] Translation: X:231.81, Y:-54.48, Z:1.15 [[ 8.68565566e-01 4.95572481e-01 1.33164225e-03 2.31806045e+02] [-4.95571852e-01 8.68566587e-01 -7.89471448e-04 -5.44766411e+01] [-1.54786029e-03 2.57833000e-05 9.99998802e-01 1.15368214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.832320588 meters 0.0264417621274714 Centerline is valid? [True, True] Translation: X:231.83, Y:-54.49, Z:1.15 [[ 8.68917013e-01 4.94949916e-01 2.79368031e-03 2.31830097e+02] [-4.94947145e-01 8.68921502e-01 -1.65743773e-03 -5.44918296e+01] [-3.24783756e-03 5.74517512e-05 9.99994724e-01 1.15314366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.862320588 meters 0.026659535877327774 Centerline is valid? [True, True] Translation: X:231.85, Y:-54.51, Z:1.15 [[ 8.69751741e-01 4.93483085e-01 2.52073914e-03 2.31854469e+02] [-4.93480827e-01 8.69755392e-01 -1.49380260e-03 -5.45062475e+01] [-2.92959277e-03 5.53009723e-05 9.99995707e-01 1.15377726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.892320588 meters 0.02714674391281954 Centerline is valid? [True, True] Translation: X:231.88, Y:-54.52, Z:1.15 [[ 8.71287064e-01 4.90762446e-01 3.32772451e-03 2.31879044e+02] [-4.90758487e-01 8.71293415e-01 -1.97299039e-03 -5.45202900e+01] [-3.86769404e-03 8.59319612e-05 9.99992517e-01 1.15281266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.922320588 meters 0.027638724807010375 Centerline is valid? [True, True] Translation: X:231.90, Y:-54.54, Z:1.15 [[ 8.72656312e-01 4.88320359e-01 3.76657590e-03 2.31903952e+02] [-4.88315279e-01 8.72664435e-01 -2.23005665e-03 -5.45353709e+01] [-4.37593889e-03 1.06796450e-04 9.99990420e-01 1.15293755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.952320588 meters 0.02813087682599161 Centerline is valid? [True, True] Translation: X:231.93, Y:-54.55, Z:1.15 [[ 8.74199464e-01 4.85549617e-01 4.10682292e-03 2.31927498e+02] [-4.85543542e-01 8.74209101e-01 -2.43251057e-03 -5.45510794e+01] [-4.77132654e-03 1.32458088e-04 9.99988608e-01 1.15303237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.982320588 meters 0.029182589182461912 Centerline is valid? [True, True] Translation: X:231.95, Y:-54.57, Z:1.15 [[ 8.77134792e-01 4.80230237e-01 3.67093345e-03 2.31950231e+02] [-4.80225336e-01 8.77142462e-01 -2.17446722e-03 -5.45705485e+01] [-4.26417651e-03 1.44425599e-04 9.99990898e-01 1.15255674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.012320588 meters 0.029639831434402318 Centerline is valid? [True, True] Translation: X:231.97, Y:-54.59, Z:1.15 [[ 8.78318884e-01 4.78065082e-01 3.11714625e-03 2.31973525e+02] [-4.78061548e-01 8.78324406e-01 -1.84257166e-03 -5.45879666e+01] [-3.61873480e-03 1.28177725e-04 9.99993444e-01 1.15300631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.042320588 meters 0.030552473570929918 Centerline is valid? [True, True] Translation: X:232.00, Y:-54.61, Z:1.15 [[ 8.79865999e-01 4.75192958e-01 5.24181102e-03 2.31995611e+02] [-4.75182922e-01 8.79881581e-01 -3.09724789e-03 -5.46077494e+01] [-6.08396336e-03 2.34344032e-04 9.99981465e-01 1.15242677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.072320588 meters 0.030509799448105966 Centerline is valid? [True, True] Translation: X:232.02, Y:-54.63, Z:1.15 [[ 8.80202469e-01 4.74571110e-01 5.08682734e-03 2.32017759e+02] [-4.74561669e-01 8.80217138e-01 -3.00208439e-03 -5.46255427e+01] [-5.90221512e-03 2.28428816e-04 9.99982556e-01 1.15340099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.102320588 meters 0.02975115661070133 Centerline is valid? [True, True] Translation: X:232.04, Y:-54.65, Z:1.15 [[ 8.78977794e-01 4.76845751e-01 4.02075176e-03 2.32037819e+02] [-4.76839888e-01 8.78986975e-01 -2.37044886e-03 -5.46478477e+01] [-4.66452689e-03 1.66317092e-04 9.99989107e-01 1.15368741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.132320588 meters 0.028929332643583723 Centerline is valid? [True, True] Translation: X:232.06, Y:-54.67, Z:1.15 [[ 8.77605387e-01 4.79367449e-01 3.95396704e-03 2.32059783e+02] [-4.79361815e-01 8.77614282e-01 -2.32884057e-03 -5.46671195e+01] [-4.58642831e-03 1.48422213e-04 9.99989471e-01 1.15363875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.162320588 meters 0.02781093626103155 Centerline is valid? [True, True] Translation: X:232.08, Y:-54.69, Z:1.15 [[ 8.74393769e-01 4.85198184e-01 4.27294407e-03 2.32079948e+02] [-4.85191668e-01 8.74404200e-01 -2.51794610e-03 -5.46894771e+01] [-4.95798312e-03 1.28479521e-04 9.99987701e-01 1.15459601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.192320588 meters 0.026756221477807804 Centerline is valid? [True, True] Translation: X:232.10, Y:-54.71, Z:1.15 [[ 8.71326457e-01 4.90692039e-01 3.39536308e-03 2.32099739e+02] [-4.90687968e-01 8.71333069e-01 -2.00010268e-03 -5.47126879e+01] [-3.93992659e-03 7.66785684e-05 9.99992236e-01 1.15359196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.222320588 meters 0.026756221477807804 Centerline is valid? [True, True] Translation: X:232.12, Y:-54.73, Z:1.15 [[ 8.71565918e-01 4.90266570e-01 3.39728039e-03 2.32123182e+02] [-4.90262509e-01 8.71572536e-01 -1.99684690e-03 -5.47268710e+01] [-3.93996356e-03 7.48244949e-05 9.99992236e-01 1.15373011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.252320588 meters 0.026026528843911403 Centerline is valid? [True, True] Translation: X:232.14, Y:-54.75, Z:1.15 [[ 8.68660185e-01 4.95402027e-01 2.51276840e-03 2.32143765e+02] [-4.95399832e-01 8.68663819e-01 -1.47538246e-03 -5.47481997e+01] [-2.91365846e-03 3.67809611e-05 9.99995755e-01 1.15439920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.282320588 meters 0.02561209957970109 Centerline is valid? [True, True] Translation: X:232.17, Y:-54.77, Z:1.16 [[ 8.65820545e-01 5.00345674e-01 2.99843801e-03 2.32166201e+02] [-5.00342583e-01 8.65825736e-01 -1.75899963e-03 -5.47666244e+01] [-3.47623265e-03 2.27318046e-05 9.99993958e-01 1.15618717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.312320588 meters 0.02529304137024837 Centerline is valid? [True, True] Translation: X:232.19, Y:-54.78, Z:1.16 [[ 8.65178913e-01 5.01459728e-01 1.89456760e-03 2.32189725e+02] [-5.01458501e-01 8.65180988e-01 -1.10934696e-03 -5.47833990e+01] [-2.19543669e-03 9.73657282e-06 9.99997590e-01 1.15677119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.342320588 meters 0.02522032545703 Centerline is valid? [True, True] Translation: X:232.21, Y:-54.80, Z:1.16 [[ 8.63312268e-01 5.04669533e-01 7.68538444e-04 2.32211290e+02] [-5.04669334e-01 8.63312610e-01 -4.48193971e-04 -5.48042708e+01] [-8.89678771e-04 -9.26431306e-07 9.99999604e-01 1.15504040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.372320588 meters 0.025304393585215426 Centerline is valid? [True, True] Translation: X:232.23, Y:-54.82, Z:1.15 [[ 8.61452355e-01 5.07827901e-01 3.26533825e-03 2.32234702e+02] [-5.07824309e-01 8.61458544e-01 -1.90995553e-03 -5.48210629e+01] [-3.78288224e-03 -1.28824578e-05 9.99992845e-01 1.15305443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40232058799998 meters 0.025484070543963372 Centerline is valid? [True, True] Translation: X:232.26, Y:-54.83, Z:1.15 [[ 8.59847619e-01 5.10534278e-01 4.10168078e-03 2.32260166e+02] [-5.10528650e-01 8.59857401e-01 -2.39742022e-03 -5.48344101e+01] [-4.75082578e-03 -3.26094881e-05 9.99988714e-01 1.15427215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43232058799998 meters 0.025557245648508288 Centerline is valid? [True, True] Translation: X:232.28, Y:-54.85, Z:1.15 [[ 8.58396062e-01 5.12984993e-01 1.61181189e-03 2.32284085e+02] [-5.12984134e-01 8.58397575e-01 -9.39049293e-04 -5.48495299e+01] [-1.86529361e-03 -2.07577130e-05 9.99998260e-01 1.15346858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46232058799998 meters 0.025738489368882556 Centerline is valid? [True, True] Translation: X:232.31, Y:-54.86, Z:1.15 [[ 8.58019008e-01 5.13612808e-01 2.29481622e-03 2.32310103e+02] [-5.13611068e-01 8.58022076e-01 -1.33718581e-03 -5.48622356e+01] [-2.65579873e-03 -3.13121685e-05 9.99996473e-01 1.15210156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49232058799998 meters 0.02568412370914183 Centerline is valid? [True, True] Translation: X:232.34, Y:-54.88, Z:1.15 [[ 8.58650947e-01 5.12558256e-01 1.60808416e-03 2.32335159e+02] [-5.12557404e-01 8.58652452e-01 -9.34740890e-04 -5.48750275e+01] [-1.85989457e-03 -2.16192947e-05 9.99998270e-01 1.15361491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52232058799999 meters 0.02541411530071354 Centerline is valid? [True, True] Translation: X:232.36, Y:-54.89, Z:1.16 [[ 8.60748696e-01 5.09030139e-01 -1.29500642e-05 2.32360442e+02] [-5.09030139e-01 8.60748696e-01 1.02092234e-05 -5.48887762e+01] [ 1.63435538e-05 -2.19560273e-06 1.00000000e+00 1.15541567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.552320588 meters 0.02532834369580145 Centerline is valid? [True, True] Translation: X:232.39, Y:-54.90, Z:1.16 [[ 8.63503788e-01 5.04341463e-01 9.46875172e-04 2.32385030e+02] [-5.04341165e-01 8.63504307e-01 -5.47943986e-04 -5.49011802e+01] [-1.09398166e-03 -4.39641973e-06 9.99999402e-01 1.15515124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.582320588 meters 0.02521486664147856 Centerline is valid? [True, True] Translation: X:232.41, Y:-54.91, Z:1.16 [[ 8.64976497e-01 5.01804157e-01 2.87181499e-03 2.32410520e+02] [-5.01801389e-01 8.64981265e-01 -1.66664309e-03 -5.49140859e+01] [-3.32039459e-03 5.26354121e-07 9.99994487e-01 1.15590416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.612320588 meters 0.02551214370992317 Centerline is valid? [True, True] Translation: X:232.44, Y:-54.93, Z:1.15 [[ 8.67148735e-01 4.98033540e-01 3.95794346e-03 2.32437221e+02] [-4.98028250e-01 8.67157767e-01 -2.29559342e-03 -5.49262739e+01] [-4.57544393e-03 1.94532788e-05 9.99989532e-01 1.15448296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.642320588 meters 0.02543354764486869 Centerline is valid? [True, True] Translation: X:232.46, Y:-54.94, Z:1.15 [[ 8.68699920e-01 4.95336855e-01 1.36010042e-03 2.32461955e+02] [-4.95336231e-01 8.68700984e-01 -7.85911250e-04 -5.49386418e+01] [-1.57081138e-03 9.01402197e-06 9.99998766e-01 1.15495102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.672320588 meters 0.025402374221048508 Centerline is valid? [True, True] Translation: X:232.49, Y:-54.95, Z:1.16 [[ 8.69365445e-01 4.94169391e-01 5.80706619e-04 2.32485974e+02] [-4.94169278e-01 8.69365638e-01 -3.33476410e-04 -5.49537606e+01] [-6.69640214e-04 2.94549664e-06 9.99999776e-01 1.15538062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.702320588 meters 0.02543152184771825 Centerline is valid? [True, True] Translation: X:232.51, Y:-54.97, Z:1.16 [[ 8.69699039e-01 4.93582187e-01 -4.53500902e-04 2.32508176e+02] [-4.93582116e-01 8.69699157e-01 2.65341242e-04 -5.49710935e+01] [ 5.25377064e-04 -6.92708839e-06 9.99999862e-01 1.15548259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.732320588 meters 0.02544514772179014 Centerline is valid? [True, True] Translation: X:232.53, Y:-54.98, Z:1.16 [[ 8.70012450e-01 4.93029685e-01 2.56353749e-04 2.32532408e+02] [-4.93029664e-01 8.70012488e-01 -1.45232683e-04 -5.49848949e+01] [-2.94634986e-04 -3.57604219e-08 9.99999957e-01 1.15593970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.762320588 meters 0.025454174538610666 Centerline is valid? [True, True] Translation: X:232.56, Y:-55.00, Z:1.15 [[ 8.70332406e-01 4.92464666e-01 2.33879610e-04 2.32558156e+02] [-4.92464649e-01 8.70332438e-01 -1.32098574e-04 -5.49964254e+01] [-2.68606891e-04 -2.07769582e-07 9.99999964e-01 1.15492348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.792320588 meters 0.02536698538592325 Centerline is valid? [True, True] Translation: X:232.58, Y:-55.01, Z:1.15 [[ 8.70040590e-01 4.92980080e-01 -1.15968316e-04 2.32580127e+02] [-4.92980075e-01 8.70040597e-01 6.98097480e-05 -5.50140938e+01] [ 1.35311958e-04 -3.56724529e-06 9.99999991e-01 1.15230618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.822320588 meters 0.025332113366100223 Centerline is valid? [True, True] Translation: X:232.60, Y:-55.03, Z:1.15 [[ 8.68879274e-01 4.95021509e-01 1.58513921e-03 2.32601128e+02] [-4.95020673e-01 8.68880720e-01 -9.09990972e-04 -5.50342059e+01] [-1.82776200e-03 5.99561815e-06 9.99998330e-01 1.15405852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.852320588 meters 0.025329835504759732 Centerline is valid? [True, True] Translation: X:232.63, Y:-55.05, Z:1.15 [[ 8.68547041e-01 4.95599619e-01 2.65625364e-03 2.32625048e+02] [-4.95597273e-01 8.68551102e-01 -1.52510471e-03 -5.50488307e+01] [-3.06293334e-03 8.19312697e-06 9.99995309e-01 1.15497089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.882320588 meters 0.025257825358520745 Centerline is valid? [True, True] Translation: X:232.65, Y:-55.06, Z:1.16 [[ 8.67102091e-01 4.98125515e-01 2.22144204e-03 2.32649024e+02] [-4.98123887e-01 8.67104937e-01 -1.27345946e-03 -5.50637647e+01] [-2.56056601e-03 -2.33397580e-06 9.99996722e-01 1.15531326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.912320588 meters 0.0252745706659133 Centerline is valid? [True, True] Translation: X:232.67, Y:-55.08, Z:1.16 [[ 8.64991877e-01 5.01782288e-01 1.89429108e-03 2.32670850e+02] [-5.01781117e-01 8.64993951e-01 -1.08447790e-03 -5.50815219e+01] [-2.18272212e-03 -1.24549206e-05 9.99997618e-01 1.15509806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.942320588 meters 0.025303301704935506 Centerline is valid? [True, True] Translation: X:232.69, Y:-55.10, Z:1.16 [[ 8.64352469e-01 5.02881198e-01 2.30419400e-03 2.32694734e+02] [-5.02879472e-01 8.64355540e-01 -1.31794900e-03 -5.50965278e+01] [-2.65441462e-03 -1.95593851e-05 9.99996477e-01 1.15574466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.972320588 meters 0.025512267841614505 Centerline is valid? [True, True] Translation: X:232.72, Y:-55.11, Z:1.16 [[ 8.62605727e-01 5.05875305e-01 1.23937808e-03 2.32719908e+02] [-5.05874808e-01 8.62606617e-01 -7.09311009e-04 -5.51095620e+01] [-1.42791865e-03 -1.51144085e-05 9.99998980e-01 1.15655959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.002320588 meters 0.02541667835167414 Centerline is valid? [True, True] Translation: X:232.74, Y:-55.13, Z:1.16 [[ 8.62159931e-01 5.06634833e-01 1.18309408e-03 2.32743566e+02] [-5.06634384e-01 8.62160742e-01 -6.74669050e-04 -5.51257046e+01] [-1.36182811e-03 -1.77235210e-05 9.99999073e-01 1.15648931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.032320588 meters 0.025590359323501687 Centerline is valid? [True, True] Translation: X:232.77, Y:-55.14, Z:1.16 [[ 8.62550721e-01 5.05953076e-01 4.21181222e-03 2.32767602e+02] [-5.05947358e-01 8.62561002e-01 -2.40597049e-03 -5.51411339e+01] [-4.85025314e-03 -5.56836875e-05 9.99988236e-01 1.15729178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.062320588 meters 0.02553191667028872 Centerline is valid? [True, True] Translation: X:232.79, Y:-55.15, Z:1.16 [[ 8.63067158e-01 5.05070765e-01 4.31312081e-03 2.32793845e+02] [-5.05064774e-01 8.63077934e-01 -2.46053247e-03 -5.51513716e+01] [-4.96530241e-03 -5.48006177e-05 9.99987671e-01 1.15939493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.092320588 meters 0.025210473641690902 Centerline is valid? [True, True] Translation: X:232.82, Y:-55.16, Z:1.16 [[ 8.63287565e-01 5.04704959e-01 2.73586555e-03 2.32819031e+02] [-5.04702556e-01 8.63291899e-01 -1.55773978e-03 -5.51641892e+01] [-3.14804955e-03 -3.60209553e-05 9.99995044e-01 1.16001149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.122320588 meters 0.025465781191230843 Centerline is valid? [True, True] Translation: X:232.84, Y:-55.18, Z:1.16 [[ 8.62810888e-01 5.05526376e-01 6.74799385e-04 2.32843072e+02] [-5.05526232e-01 8.62811152e-01 -3.81459097e-04 -5.51785798e+01] [-7.75062069e-04 -1.20017280e-05 9.99999700e-01 1.15767017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15232058799998 meters 0.025713472788886322 Centerline is valid? [True, True] Translation: X:232.87, Y:-55.19, Z:1.16 [[ 8.62501184e-01 5.06048784e-01 2.51723067e-03 2.32868621e+02] [-5.06046764e-01 8.62504856e-01 -1.43016914e-03 -5.51927234e+01] [-2.89485904e-03 -4.03138577e-05 9.99995809e-01 1.15726593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18232058799998 meters 0.025780212172929366 Centerline is valid? [True, True] Translation: X:232.89, Y:-55.21, Z:1.16 [[ 8.62113788e-01 5.06693990e-01 4.58437349e-03 2.32894632e+02] [-5.06687305e-01 8.62125973e-01 -2.60400141e-03 -5.52051773e+01] [-5.27173932e-03 -7.78983306e-05 9.99986101e-01 1.15816524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21232058799998 meters 0.025755475463393872 Centerline is valid? [True, True] Translation: X:232.92, Y:-55.22, Z:1.16 [[ 8.62184417e-01 5.06579385e-01 3.91878548e-03 2.32919422e+02] [-5.06574515e-01 8.62193320e-01 -2.22246336e-03 -5.52189975e+01] [-4.50460479e-03 -6.89835771e-05 9.99989852e-01 1.15885072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24232058799998 meters 0.025902739447991856 Centerline is valid? [True, True] Translation: X:232.94, Y:-55.23, Z:1.16 [[ 8.61300660e-01 5.08085449e-01 3.21701598e-03 2.32944213e+02] [-5.08082185e-01 8.61306665e-01 -1.82243985e-03 -5.52341611e+01] [-3.69679248e-03 -6.48398628e-05 9.99993165e-01 1.15956156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27232058799999 meters 0.026084765391689614 Centerline is valid? [True, True] Translation: X:232.97, Y:-55.25, Z:1.16 [[ 8.60268816e-01 5.09836982e-01 1.95354359e-03 2.32969791e+02] [-5.09835787e-01 8.60271033e-01 -1.10449939e-03 -5.52464596e+01] [-2.24369160e-03 -4.58200518e-05 9.99997482e-01 1.16023915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.302320588 meters 0.026231411067829655 Centerline is valid? [True, True] Translation: X:233.00, Y:-55.26, Z:1.16 [[ 8.59248339e-01 5.11557481e-01 1.11141295e-03 2.32995720e+02] [-5.11557098e-01 8.59249058e-01 -6.26574295e-04 -5.52594608e+01] [-1.27550930e-03 -3.01682608e-05 9.99999186e-01 1.15952082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.332320588 meters 0.02653618049600534 Centerline is valid? [True, True] Translation: X:233.02, Y:-55.27, Z:1.16 [[ 8.58908844e-01 5.12122398e-01 2.49957817e-03 2.33021020e+02] [-5.12120459e-01 8.58912478e-01 -1.41094171e-03 -5.52731120e+01] [-2.86949373e-03 -6.82148069e-05 9.99995881e-01 1.15989541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.362320588 meters 0.02649107654982461 Centerline is valid? [True, True] Translation: X:233.05, Y:-55.29, Z:1.16 [[ 8.59077895e-01 5.11839075e-01 2.43546123e-03 2.33045779e+02] [-5.11837239e-01 8.59081344e-01 -1.37269104e-03 -5.52852359e+01] [-2.79485622e-03 -6.73112263e-05 9.99996092e-01 1.16167248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.392320588 meters 0.026350807627311113 Centerline is valid? [True, True] Translation: X:233.07, Y:-55.30, Z:1.16 [[ 8.59357262e-01 5.11375458e-01 -4.87273472e-04 2.33071828e+02] [-5.11375383e-01 8.59357400e-01 2.77565673e-04 -5.52965833e+01] [ 5.60682338e-04 1.06515820e-05 9.99999843e-01 1.16231959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.422320588 meters 0.026434210124028357 Centerline is valid? [True, True] Translation: X:233.10, Y:-55.31, Z:1.16 [[ 8.58996450e-01 5.11981490e-01 -2.28604068e-04 2.33097865e+02] [-5.11981473e-01 8.58996481e-01 1.31472107e-04 -5.53096736e+01] [ 2.63681376e-04 4.10697437e-06 9.99999965e-01 1.16189773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.452320588 meters 0.02635439827959547 Centerline is valid? [True, True] Translation: X:233.12, Y:-55.32, Z:1.16 [[ 8.59758014e-01 5.10693184e-01 2.93763080e-03 2.33123697e+02] [-5.10690523e-01 8.59763028e-01 -1.65075553e-03 -5.53211259e+01] [-3.36869595e-03 -8.09699141e-05 9.99994323e-01 1.16205824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.482320588 meters 0.026381441914600005 Centerline is valid? [True, True] Translation: X:233.15, Y:-55.33, Z:1.16 [[ 8.60090508e-01 5.10133514e-01 2.84885862e-03 2.33148599e+02] [-5.10131015e-01 8.60095222e-01 -1.59882607e-03 -5.53341380e+01] [-3.26590445e-03 -7.81560122e-05 9.99994664e-01 1.16302849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.512320588 meters 0.026271352817626024 Centerline is valid? [True, True] Translation: X:233.17, Y:-55.35, Z:1.16 [[ 8.60346995e-01 5.09706047e-01 1.67154498e-03 2.33172797e+02] [-5.09705190e-01 8.60348618e-01 -9.35767359e-04 -5.53476915e+01] [-1.91507769e-03 -4.69105141e-05 9.99998165e-01 1.16307985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.542320588 meters 0.02615132809230531 Centerline is valid? [True, True] Translation: X:233.20, Y:-55.36, Z:1.16 [[ 8.61000971e-01 5.08603310e-01 2.54241549e-05 2.33197664e+02] [-5.08603309e-01 8.61000972e-01 -1.16624218e-05 -5.53614733e+01] [-2.78217679e-05 -2.88945277e-06 1.00000000e+00 1.16241826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.572320588 meters 0.026412799529921812 Centerline is valid? [True, True] Translation: X:233.22, Y:-55.37, Z:1.16 [[ 8.60766132e-01 5.08999999e-01 8.16992812e-04 2.33223263e+02] [-5.08999796e-01 8.60766519e-01 -4.55238197e-04 -5.53743606e+01] [-9.34956300e-04 -2.39955526e-05 9.99999563e-01 1.16226728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.602320588 meters 0.026502730071934825 Centerline is valid? [True, True] Translation: X:233.25, Y:-55.38, Z:1.16 [[ 8.60359290e-01 5.09671993e-01 4.04361245e-03 2.33250640e+02] [-5.09666991e-01 8.60368785e-01 -2.26109380e-03 -5.53847911e+01] [-4.63141411e-03 -1.15542732e-04 9.99989268e-01 1.16300414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.632320588 meters 0.02688253578087042 Centerline is valid? [True, True] Translation: X:233.28, Y:-55.40, Z:1.16 [[ 8.59005683e-01 5.11959640e-01 2.56187999e-03 2.33276906e+02] [-5.11957649e-01 8.59009500e-01 -1.43010471e-03 -5.53968359e+01] [-2.93283514e-03 -8.31059796e-05 9.99995696e-01 1.16288136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.662320588 meters 0.02719682235252294 Centerline is valid? [True, True] Translation: X:233.30, Y:-55.41, Z:1.16 [[ 8.56933375e-01 5.15426610e-01 7.75421489e-04 2.33304183e+02] [-5.15426431e-01 8.56933725e-01 -4.30589671e-04 -5.54072167e+01] [-8.86422199e-04 -3.06860710e-05 9.99999607e-01 1.16223758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.692320588 meters 0.02722417385436217 Centerline is valid? [True, True] Translation: X:233.33, Y:-55.42, Z:1.16 [[ 8.56697561e-01 5.15818111e-01 9.82909395e-04 2.33331401e+02] [-5.15817823e-01 8.56698124e-01 -5.45935332e-04 -5.54180580e+01] [-1.12365997e-03 -3.93007177e-05 9.99999368e-01 1.16327330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.722320588 meters 0.02729159237211673 Centerline is valid? [True, True] Translation: X:233.36, Y:-55.43, Z:1.16 [[ 8.57280962e-01 5.14846622e-01 1.51959792e-03 2.33358706e+02] [-5.14845933e-01 8.57282306e-01 -8.44024477e-04 -5.54259130e+01] [-1.73726756e-03 -5.87926956e-05 9.99998489e-01 1.16430359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.752320588 meters 0.02710503883082667 Centerline is valid? [True, True] Translation: X:233.39, Y:-55.44, Z:1.16 [[ 8.58102526e-01 5.13472990e-01 2.35437572e-03 2.33385121e+02] [-5.13471330e-01 8.58105752e-01 -1.30831104e-03 -5.54382973e+01] [-2.69208573e-03 -8.62394181e-05 9.99996373e-01 1.16171990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.782320588 meters 0.026768628814976877 Centerline is valid? [True, True] Translation: X:233.41, Y:-55.45, Z:1.16 [[ 8.59984001e-01 5.10311532e-01 3.10774610e-03 2.33412686e+02] [-5.10308622e-01 8.59989611e-01 -1.72628405e-03 -5.54486688e+01] [-3.55357201e-03 -1.01332964e-04 9.99993681e-01 1.16291059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.812320588 meters 0.0264500065369563 Centerline is valid? [True, True] Translation: X:233.44, Y:-55.46, Z:1.16 [[ 8.61049581e-01 5.08507821e-01 3.66282059e-03 2.33440713e+02] [-5.08503770e-01 8.61057364e-01 -2.03271174e-03 -5.54582577e+01] [-4.18754846e-03 -1.12292491e-04 9.99991226e-01 1.16392687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.842320588 meters 0.026275024192519113 Centerline is valid? [True, True] Translation: X:233.47, Y:-55.46, Z:1.16 [[ 8.62402720e-01 5.06213777e-01 3.02675010e-03 2.33470254e+02] [-5.06211005e-01 8.62408027e-01 -1.67748489e-03 -5.54648249e+01] [-3.45945955e-03 -8.55066758e-05 9.99994012e-01 1.16326424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.872320588 meters 0.025976768070985815 Centerline is valid? [True, True] Translation: X:233.50, Y:-55.48, Z:1.16 [[ 8.63121350e-01 5.04991294e-01 2.30823802e-03 2.33496882e+02] [-5.04989683e-01 8.63124434e-01 -1.27734963e-03 -5.54755961e+01] [-2.63734708e-03 -6.31286476e-05 9.99996520e-01 1.16347281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90232058799998 meters 0.026026361725302226 Centerline is valid? [True, True] Translation: X:233.52, Y:-55.49, Z:1.16 [[ 8.63072544e-01 5.05072065e-01 2.82706347e-03 2.33522857e+02] [-5.05069652e-01 8.63077171e-01 -1.56335394e-03 -5.54880996e+01] [-3.22958034e-03 -7.85761017e-05 9.99994782e-01 1.16326668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93232058799998 meters 0.025915337033435747 Centerline is valid? [True, True] Translation: X:233.55, Y:-55.50, Z:1.16 [[ 8.63452953e-01 5.04417569e-01 3.45171336e-03 2.33548783e+02] [-5.04413975e-01 8.63459847e-01 -1.90665750e-03 -5.54985581e+01] [-3.94216743e-03 -9.47834070e-05 9.99992225e-01 1.16319748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96232058799998 meters 0.025976262380668982 Centerline is valid? [True, True] Translation: X:233.57, Y:-55.51, Z:1.16 [[ 8.64224547e-01 5.03090245e-01 4.01708838e-03 2.33574374e+02] [-5.03085372e-01 8.64233877e-01 -2.21681278e-03 -5.55092210e+01] [-4.58696075e-03 -1.05114380e-04 9.99989474e-01 1.16281052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99232058799998 meters 0.025823178072714868 Centerline is valid? [True, True] Translation: X:233.60, Y:-55.52, Z:1.16 [[ 8.65141727e-01 5.01502161e-01 5.03730546e-03 2.33600388e+02] [-5.01494482e-01 8.65156383e-01 -2.77800459e-03 -5.55207004e+01] [-5.75123228e-03 -1.22813208e-04 9.99983454e-01 1.16272117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02232058799999 meters 0.025757885282657537 Centerline is valid? [True, True] Translation: X:233.63, Y:-55.53, Z:1.16 [[ 8.65625491e-01 5.00661880e-01 5.49468583e-03 2.33627001e+02] [-5.00652750e-01 8.65642920e-01 -3.02648057e-03 -5.55301418e+01] [-6.27167933e-03 -1.31130846e-04 9.99980324e-01 1.16188489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.052320588 meters 0.02573805313136839 Centerline is valid? [True, True] Translation: X:233.65, Y:-55.54, Z:1.16 [[ 8.66179996e-01 4.99704586e-01 5.24802139e-03 2.33651864e+02] [-4.99696261e-01 8.66195886e-01 -2.88704844e-03 -5.55429530e+01] [-5.98848588e-03 -1.21713063e-04 9.99982061e-01 1.16068293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.082320588 meters 0.02565484247312991 Centerline is valid? [True, True] Translation: X:233.68, Y:-55.56, Z:1.16 [[ 8.66715297e-01 4.98776847e-01 5.12352010e-03 2.33676649e+02] [-4.98768916e-01 8.66730433e-01 -2.81515871e-03 -5.55557029e+01] [-5.84484678e-03 -1.15511446e-04 9.99982912e-01 1.16141716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.112320588 meters 0.02565484247312991 Centerline is valid? [True, True] Translation: X:233.70, Y:-55.57, Z:1.16 [[ 8.66965986e-01 4.98340962e-01 5.12493849e-03 2.33700478e+02] [-4.98333038e-01 8.66981126e-01 -2.81257706e-03 -5.55691551e+01] [-5.84484730e-03 -1.15517525e-04 9.99982912e-01 1.16155566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.142320588 meters 0.025109240832989436 Centerline is valid? [True, True] Translation: X:233.73, Y:-55.58, Z:1.16 [[ 8.68511504e-01 4.95640270e-01 5.33769545e-03 2.33726885e+02] [-4.95631639e-01 8.68527900e-01 -2.92675333e-03 -5.55811264e+01] [-6.08655423e-03 -1.03611810e-04 9.99981471e-01 1.16363086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.172320588 meters 0.024675818873447584 Centerline is valid? [True, True] Translation: X:233.75, Y:-55.60, Z:1.16 [[ 8.71210913e-01 4.90879561e-01 5.36666000e-03 2.33751902e+02] [-4.90870765e-01 8.71227439e-01 -2.93950604e-03 -5.55957155e+01] [-6.11852488e-03 -7.34067598e-05 9.99981279e-01 1.16349968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.202320588 meters 0.024457080683441153 Centerline is valid? [True, True] Translation: X:233.78, Y:-55.61, Z:1.16 [[ 8.73038989e-01 4.87624310e-01 5.04550567e-03 2.33777100e+02] [-4.87616499e-01 8.73053567e-01 -2.76047523e-03 -5.56102278e+01] [-5.75107155e-03 -5.02693071e-05 9.99983461e-01 1.16429488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.232320588 meters 0.024161894377120904 Centerline is valid? [True, True] Translation: X:233.80, Y:-55.63, Z:1.17 [[ 8.76008000e-01 4.82272505e-01 4.81821276e-03 2.33802074e+02] [-4.82265317e-01 8.76021250e-01 -2.63324522e-03 -5.56251590e+01] [-5.49079853e-03 -1.69130196e-05 9.99984925e-01 1.16559446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.262320588 meters 0.0241578572500655 Centerline is valid? [True, True] Translation: X:233.82, Y:-55.64, Z:1.17 [[ 8.79120456e-01 4.76577702e-01 4.57361490e-03 2.33824788e+02] [-4.76571166e-01 8.79132353e-01 -2.49609080e-03 -5.56417546e+01] [-5.21039405e-03 1.47114987e-05 9.99986426e-01 1.16599213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.292320588 meters 0.024205202059859793 Centerline is valid? [True, True] Translation: X:233.85, Y:-55.66, Z:1.16 [[ 8.80370157e-01 4.74258286e-01 5.24068730e-03 2.33848248e+02] [-4.74249675e-01 8.80385755e-01 -2.85797030e-03 -5.56579852e+01] [-5.96924254e-03 3.06775113e-05 9.99982183e-01 1.16487203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.322320588 meters 0.02420709571888294 Centerline is valid? [True, True] Translation: X:233.87, Y:-55.68, Z:1.16 [[ 8.81442928e-01 4.72256445e-01 5.67583495e-03 2.33869992e+02] [-4.72246322e-01 8.81461201e-01 -3.09233817e-03 -5.56785954e+01] [-6.46340492e-03 4.53274278e-05 9.99979111e-01 1.16437157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.352320588 meters 0.024226987448855108 Centerline is valid? [True, True] Translation: X:233.89, Y:-55.70, Z:1.17 [[ 8.82671159e-01 4.69973568e-01 4.05848479e-03 2.33891568e+02] [-4.69968385e-01 8.82680488e-01 -2.20749651e-03 -5.56979824e+01] [-4.61981034e-03 4.11339645e-05 9.99989328e-01 1.16523587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.382320588 meters 0.024116846141063332 Centerline is valid? [True, True] Translation: X:233.91, Y:-55.72, Z:1.17 [[ 8.82598652e-01 4.70121234e-01 2.37578228e-03 2.33913200e+02] [-4.70119464e-01 8.82601850e-01 -1.29032958e-03 -5.57193561e+01] [-2.70348117e-03 2.19416587e-05 9.99996345e-01 1.16538728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.412320588 meters 0.024071774989761804 Centerline is valid? [True, True] Translation: X:233.94, Y:-55.74, Z:1.16 [[ 8.82494517e-01 4.70312883e-01 3.03637609e-03 2.33935410e+02] [-4.70309999e-01 8.82499740e-01 -1.64726672e-03 -5.57379086e+01] [-3.45433187e-03 2.56658157e-05 9.99994033e-01 1.16468524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.442320588 meters 0.024075145876004546 Centerline is valid? [True, True] Translation: X:233.96, Y:-55.76, Z:1.16 [[ 8.82307442e-01 4.70640234e-01 5.59896585e-03 2.33957348e+02] [-4.70630437e-01 8.82325205e-01 -3.03709542e-03 -5.57585697e+01] [-6.36948799e-03 4.46081415e-05 9.99979714e-01 1.16313170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.472320588 meters 0.024122132309137293 Centerline is valid? [True, True] Translation: X:233.98, Y:-55.78, Z:1.16 [[ 8.81868247e-01 4.71464007e-01 5.48497722e-03 2.33979167e+02] [-4.71454642e-01 8.81885304e-01 -2.97173821e-03 -5.57762966e+01] [-6.23818840e-03 3.47635891e-05 9.99980542e-01 1.16445503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.502320588 meters 0.023986566328905987 Centerline is valid? [True, True] Translation: X:234.00, Y:-55.79, Z:1.17 [[ 8.81708010e-01 4.71772774e-01 4.62983273e-03 2.34002664e+02] [-4.71766125e-01 8.81720165e-01 -2.50476024e-03 -5.57918340e+01] [-5.26389457e-03 2.42689199e-05 9.99986145e-01 1.16523128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.532320588 meters 0.023807933908793825 Centerline is valid? [True, True] Translation: X:234.03, Y:-55.81, Z:1.17 [[ 8.80375605e-01 4.74261633e-01 3.83370792e-03 2.34025272e+02] [-4.74257106e-01 8.80383952e-01 -2.07206687e-03 -5.58099827e+01] [-4.35783674e-03 6.03389806e-06 9.99990505e-01 1.16542653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.562320588 meters 0.023917829294948068 Centerline is valid? [True, True] Translation: X:234.05, Y:-55.83, Z:1.16 [[ 8.80140613e-01 4.74693151e-01 4.34891225e-03 2.34048537e+02] [-4.74687347e-01 8.80151358e-01 -2.34736968e-03 -5.58251472e+01] [-4.94198133e-03 1.64177541e-06 9.99987788e-01 1.16367098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.592320588 meters 0.024057070999798345 Centerline is valid? [True, True] Translation: X:234.07, Y:-55.84, Z:1.16 [[ 8.79438804e-01 4.75985752e-01 4.99538061e-03 2.34071010e+02] [-4.75978131e-01 8.79452991e-01 -2.69343971e-03 -5.58422319e+01] [-5.67524135e-03 -8.97653186e-06 9.99983896e-01 1.16343218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.622320588 meters 0.023942018001573657 Centerline is valid? [True, True] Translation: X:234.09, Y:-55.86, Z:1.17 [[ 8.79034589e-01 4.76734361e-01 4.74768685e-03 2.34093452e+02] [-4.76727506e-01 8.79047410e-01 -2.55666241e-03 -5.58582946e+01] [-5.39229065e-03 -1.59582174e-05 9.99985461e-01 1.16546272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65232058799998 meters 0.023877326494730903 Centerline is valid? [True, True] Translation: X:234.12, Y:-55.87, Z:1.17 [[ 8.79297328e-01 4.76239186e-01 5.69629373e-03 2.34117813e+02] [-4.76229328e-01 8.79315778e-01 -3.06428975e-03 -5.58722424e+01] [-6.46817581e-03 -1.83203444e-05 9.99979081e-01 1.16665041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68232058799998 meters 0.023875453651895032 Centerline is valid? [True, True] Translation: X:234.14, Y:-55.89, Z:1.17 [[ 8.79435360e-01 4.75966498e-01 7.02429168e-03 2.34142236e+02] [-4.75951522e-01 8.79463412e-01 -3.77569492e-03 -5.58874282e+01] [-7.97471181e-03 -2.27426960e-05 9.99968201e-01 1.16769003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71232058799998 meters 0.023851914057106415 Centerline is valid? [True, True] Translation: X:234.17, Y:-55.90, Z:1.17 [[ 8.79764797e-01 4.75358893e-01 6.91557098e-03 2.34166091e+02] [-4.75344398e-01 8.79791977e-01 -3.71228126e-03 -5.59013083e+01] [-7.84892977e-03 -2.13435522e-05 9.99969196e-01 1.16749969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74232058799998 meters 0.023935410417528624 Centerline is valid? [True, True] Translation: X:234.19, Y:-55.92, Z:1.17 [[ 8.79792469e-01 4.75327963e-01 5.34219785e-03 2.34190717e+02] [-4.75319333e-01 8.79808688e-01 -2.86435972e-03 -5.59166727e+01] [-6.06162236e-03 -1.92078060e-05 9.99981628e-01 1.16623653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77232058799999 meters 0.023765491296237912 Centerline is valid? [True, True] Translation: X:234.21, Y:-55.93, Z:1.17 [[ 8.80339778e-01 4.74312986e-01 5.39133232e-03 2.34214651e+02] [-4.74304202e-01 8.80356286e-01 -2.88679703e-03 -5.59300653e+01] [-6.11553862e-03 -1.57693216e-05 9.99981300e-01 1.16554539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.802320588 meters 0.023754263907188693 Centerline is valid? [True, True] Translation: X:234.24, Y:-55.94, Z:1.17 [[ 8.81374986e-01 4.72391402e-01 4.94952441e-03 2.34238910e+02] [-4.72383987e-01 8.81388883e-01 -2.64672106e-03 -5.59434361e+01] [-5.61274407e-03 -5.32233866e-06 9.99984248e-01 1.16714591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.832320588 meters 0.023687464602811122 Centerline is valid? [True, True] Translation: X:234.27, Y:-55.96, Z:1.17 [[ 8.83709868e-01 4.67991665e-01 6.37735991e-03 2.34265085e+02] [-4.67979259e-01 8.83732878e-01 -3.40780618e-03 -5.59560637e+01] [-7.23070751e-03 2.70397870e-05 9.99973858e-01 1.16874628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.862320588 meters 0.02385996520016439 Centerline is valid? [True, True] Translation: X:234.29, Y:-55.97, Z:1.17 [[ 8.85331154e-01 4.64913659e-01 6.63603977e-03 2.34290175e+02] [-4.64900166e-01 8.85356023e-01 -3.54240668e-03 -5.59710163e+01] [-7.52217103e-03 5.11070074e-05 9.99971707e-01 1.16890418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.892320588 meters 0.024465587979421843 Centerline is valid? [True, True] Translation: X:234.31, Y:-55.99, Z:1.17 [[ 8.88442800e-01 4.58940155e-01 6.58213858e-03 2.34312441e+02] [-4.58926743e-01 8.88467177e-01 -3.50993323e-03 -5.59910897e+01] [-7.45886338e-03 9.76554915e-05 9.99972178e-01 1.16716493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.922320588 meters 0.024747361533576456 Centerline is valid? [True, True] Translation: X:234.34, Y:-56.01, Z:1.17 [[ 8.90174195e-01 4.55567293e-01 6.95291172e-03 2.34336110e+02] [-4.55552254e-01 8.90201339e-01 -3.70394577e-03 -5.60071961e+01] [-7.87688787e-03 1.29742338e-04 9.99968968e-01 1.16695333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.952320588 meters 0.025626458719358994 Centerline is valid? [True, True] Translation: X:234.36, Y:-56.02, Z:1.17 [[ 8.92705814e-01 4.50579173e-01 7.39853096e-03 2.34360794e+02] [-4.50562006e-01 8.92736454e-01 -3.93740323e-03 -5.60228412e+01] [-8.37905018e-03 1.81445809e-04 9.99964879e-01 1.16655290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.982320588 meters 0.026023559858858836 Centerline is valid? [True, True] Translation: X:234.38, Y:-56.04, Z:1.17 [[ 8.94595697e-01 4.46835376e-01 6.05692501e-03 2.34383405e+02] [-4.46823809e-01 8.94616184e-01 -3.21975039e-03 -5.60419862e+01] [-6.85732152e-03 1.73996536e-04 9.99976473e-01 1.16705647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.012320588 meters 0.02608296231686402 Centerline is valid? [True, True] Translation: X:234.41, Y:-56.06, Z:1.17 [[ 8.95101245e-01 4.45830269e-01 5.39746631e-03 2.34405232e+02] [-4.45821089e-01 8.95117504e-01 -2.86526581e-03 -5.60597453e+01] [-6.10878880e-03 1.58398680e-04 9.99981329e-01 1.16798776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.042320588 meters 0.025965404824870458 Centerline is valid? [True, True] Translation: X:234.43, Y:-56.08, Z:1.17 [[ 8.95749150e-01 4.44541178e-01 4.07445314e-03 2.34425394e+02] [-4.44535948e-01 8.95758408e-01 -2.15974875e-03 -5.60816545e+01] [-4.60982291e-03 1.23352217e-04 9.99989367e-01 1.16902301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.072320588 meters 0.02611243611648612 Centerline is valid? [True, True] Translation: X:234.45, Y:-56.10, Z:1.17 [[ 8.95848460e-01 4.44341023e-01 4.07328078e-03 2.34447392e+02] [-4.44335806e-01 8.95857712e-01 -2.15656529e-03 -5.60989435e+01] [-4.60733043e-03 1.22051198e-04 9.99989379e-01 1.16901472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.102320588 meters 0.025984603454977107 Centerline is valid? [True, True] Translation: X:234.47, Y:-56.12, Z:1.17 [[ 8.96422688e-01 4.43189120e-01 3.12540854e-03 2.34467936e+02] [-4.43186049e-01 8.96428131e-01 -1.65272133e-03 -5.61209484e+01] [-3.53417225e-03 9.63994362e-05 9.99993750e-01 1.16792247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.132320588 meters 0.02614938375172631 Centerline is valid? [True, True] Translation: X:234.49, Y:-56.14, Z:1.17 [[ 8.96698210e-01 4.42625512e-01 3.86985966e-03 2.34490734e+02] [-4.42620808e-01 8.96706553e-01 -2.04416697e-03 -5.61381568e+01] [-4.37492896e-03 1.20120455e-04 9.99990423e-01 1.16695452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.162320588 meters 0.026171974250589612 Centerline is valid? [True, True] Translation: X:234.51, Y:-56.16, Z:1.17 [[ 8.96778422e-01 4.42451706e-01 4.99498058e-03 2.34511103e+02] [-4.42443880e-01 8.96792319e-01 -2.63621914e-03 -5.61586295e+01] [-5.64585987e-03 1.54105849e-04 9.99984050e-01 1.16672711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.192320588 meters 0.02604085339453575 Centerline is valid? [True, True] Translation: X:234.53, Y:-56.18, Z:1.17 [[ 8.96928123e-01 4.42134206e-01 6.10625043e-03 2.34531292e+02] [-4.42122524e-01 8.96948888e-01 -3.21953037e-03 -5.61805044e+01] [-6.90045904e-03 1.87976480e-04 9.99976174e-01 1.16544493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.222320588 meters 0.025575575602487837 Centerline is valid? [True, True] Translation: X:234.55, Y:-56.20, Z:1.16 [[ 8.96401971e-01 4.43230392e-01 3.21361274e-03 2.34551660e+02] [-4.43227172e-01 8.96407726e-01 -1.69196188e-03 -5.62038080e+01] [-3.63063622e-03 9.23174738e-05 9.99993405e-01 1.16485257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.252320588 meters 0.02560664150711019 Centerline is valid? [True, True] Translation: X:234.57, Y:-56.22, Z:1.16 [[ 8.96442910e-01 4.43145445e-01 3.49638722e-03 2.34574143e+02] [-4.43141643e-01 8.96449723e-01 -1.83826759e-03 -5.62203562e+01] [-3.94895527e-03 9.85071706e-05 9.99992198e-01 1.16441191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.282320588 meters 0.025125097008996858 Centerline is valid? [True, True] Translation: X:234.60, Y:-56.24, Z:1.17 [[ 8.95438766e-01 4.45146412e-01 5.83849126e-03 2.34597141e+02] [-4.45135860e-01 8.95457788e-01 -3.06863835e-03 -5.62392996e+01] [-6.59411582e-03 1.48855909e-04 9.99978248e-01 1.16567237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.312320588 meters 0.024874556121831943 Centerline is valid? [True, True] Translation: X:234.62, Y:-56.26, Z:1.17 [[ 8.94556200e-01 4.46894695e-01 7.37126176e-03 2.34620350e+02] [-4.46877964e-01 8.94586554e-01 -3.87077349e-03 -5.62562288e+01] [-8.32405980e-03 1.68569981e-04 9.99965340e-01 1.16723035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.342320588 meters 0.02462776019880097 Centerline is valid? [True, True] Translation: X:234.64, Y:-56.28, Z:1.17 [[ 8.93131317e-01 4.49699840e-01 9.30078742e-03 2.34642452e+02] [-4.49673402e-01 8.93179726e-01 -4.87941735e-03 -5.62758607e+01] [-1.05015480e-02 1.75643719e-04 9.99944842e-01 1.16775299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.372320588 meters 0.02426065979959584 Centerline is valid? [True, True] Translation: X:234.67, Y:-56.29, Z:1.17 [[ 8.92451952e-01 4.51055533e-01 8.85551005e-03 2.34666442e+02] [-4.51031682e-01 8.92495874e-01 -4.64077637e-03 -5.62915679e+01] [-9.99675404e-03 1.47554334e-04 9.99950020e-01 1.16838375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40232058799998 meters 0.024222790592438002 Centerline is valid? [True, True] Translation: X:234.69, Y:-56.31, Z:1.17 [[ 8.91419970e-01 4.53074081e-01 9.71158363e-03 2.34690820e+02] [-4.53045499e-01 8.91472859e-01 -5.09098978e-03 -5.63097494e+01] [-1.09642087e-02 1.38420707e-04 9.99939882e-01 1.16678124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43232058799998 meters 0.024202724719968538 Centerline is valid? [True, True] Translation: X:234.72, Y:-56.33, Z:1.17 [[ 8.91135246e-01 4.53658433e-01 8.48523202e-03 2.34715815e+02] [-4.53636637e-01 8.91175635e-01 -4.44842795e-03 -5.63275222e+01] [-9.57989889e-03 1.14938816e-04 9.99954105e-01 1.16716470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46232058799998 meters 0.023893021689381323 Centerline is valid? [True, True] Translation: X:234.74, Y:-56.35, Z:1.17 [[ 8.90823097e-01 4.54275881e-01 8.22398950e-03 2.34740932e+02] [-4.54255414e-01 8.90861051e-01 -4.31353056e-03 -5.63489130e+01] [-9.28596483e-03 1.06800897e-04 9.99956879e-01 1.16885725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49232058799998 meters 0.024015856170306427 Centerline is valid? [True, True] Translation: X:234.77, Y:-56.36, Z:1.17 [[ 8.90221374e-01 4.55452103e-01 8.32392783e-03 2.34768261e+02] [-4.55431183e-01 8.90260284e-01 -4.36626379e-03 -5.63636560e+01] [-9.39908638e-03 9.59650443e-05 9.99955823e-01 1.16983250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52232058799999 meters 0.023811946202054006 Centerline is valid? [True, True] Translation: X:234.80, Y:-56.38, Z:1.17 [[ 8.89563897e-01 4.56737076e-01 8.20472598e-03 2.34796220e+02] [-4.56716790e-01 8.89601729e-01 -4.30545641e-03 -5.63791727e+01] [-9.26539999e-03 8.27424697e-05 9.99957072e-01 1.17000474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.552320588 meters 0.02363467660282546 Centerline is valid? [True, True] Translation: X:234.82, Y:-56.40, Z:1.17 [[ 8.88366856e-01 4.59104185e-01 5.26090899e-03 2.34821642e+02] [-4.59095880e-01 8.88382432e-01 -2.76181134e-03 -5.63993053e+01] [-5.94165827e-03 3.82400082e-05 9.99982347e-01 1.17018773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.582320588 meters 0.023659213673006295 Centerline is valid? [True, True] Translation: X:234.85, Y:-56.42, Z:1.17 [[ 8.87961616e-01 4.59897315e-01 4.31600790e-03 2.34848666e+02] [-4.59891730e-01 8.87972105e-01 -2.26662956e-03 -5.64160967e+01] [-4.87491147e-03 2.77837070e-05 9.99988117e-01 1.17071288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.612320588 meters 0.023627133225764024 Centerline is valid? [True, True] Translation: X:234.88, Y:-56.43, Z:1.17 [[ 8.86249620e-01 4.63177565e-01 5.30609551e-03 2.34875541e+02] [-4.63169178e-01 8.86265504e-01 -2.78729993e-03 -5.64337045e+01] [-5.99362421e-03 1.26236097e-05 9.99982038e-01 1.17084151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.642320588 meters 0.02357936685320769 Centerline is valid? [True, True] Translation: X:234.90, Y:-56.45, Z:1.17 [[ 8.85626821e-01 4.64364211e-01 5.56895950e-03 2.34903348e+02] [-4.64354990e-01 8.85644330e-01 -2.92628428e-03 -5.64499336e+01] [-6.29097910e-03 5.62171442e-06 9.99980212e-01 1.17019712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.672320588 meters 0.023639768386441492 Centerline is valid? [True, True] Translation: X:234.93, Y:-56.47, Z:1.17 [[ 8.84061025e-01 4.67343899e-01 5.07785876e-03 2.34929781e+02] [-4.67336277e-01 8.84075608e-01 -2.66915610e-03 -5.64688511e+01] [-5.73662489e-03 -1.33707334e-05 9.99983545e-01 1.17082239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.702320588 meters 0.02358819595590683 Centerline is valid? [True, True] Translation: X:234.96, Y:-56.48, Z:1.17 [[ 8.82944305e-01 4.69453602e-01 4.76131497e-03 2.34958437e+02] [-4.69446927e-01 8.82957142e-01 -2.50361966e-03 -5.64841632e+01] [-5.37937033e-03 -2.46279634e-05 9.99985531e-01 1.17209457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.732320588 meters 0.023800432153380017 Centerline is valid? [True, True] Translation: X:234.99, Y:-56.50, Z:1.17 [[ 8.80887228e-01 4.73284080e-01 6.31437091e-03 2.34987643e+02] [-4.73272432e-01 8.80909857e-01 -3.32107776e-03 -5.64969701e+01] [-7.13420480e-03 -6.29226902e-05 9.99974549e-01 1.17287747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.762320588 meters 0.023988280793912367 Centerline is valid? [True, True] Translation: X:235.02, Y:-56.51, Z:1.17 [[ 8.79871487e-01 4.75151187e-01 7.58395079e-03 2.35015769e+02] [-4.75134443e-01 8.79904166e-01 -3.98994926e-03 -5.65124026e+01] [-8.56897902e-03 -9.27536417e-05 9.99963281e-01 1.17323071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.792320588 meters 0.024157693236317657 Centerline is valid? [True, True] Translation: X:235.04, Y:-56.53, Z:1.17 [[ 8.78978227e-01 4.76804162e-01 7.42076748e-03 2.35043642e+02] [-4.76788179e-01 8.79009545e-01 -3.90535447e-03 -5.65283355e+01] [-8.38501471e-03 -1.05412665e-04 9.99964840e-01 1.17368328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.822320588 meters 0.0244037564657835 Centerline is valid? [True, True] Translation: X:235.07, Y:-56.54, Z:1.17 [[ 8.78256463e-01 4.78166552e-01 4.72585139e-03 2.35072356e+02] [-4.78160082e-01 8.78269174e-01 -2.48853680e-03 -5.65437166e+01] [-5.34050466e-03 -7.41399644e-05 9.99985737e-01 1.17193855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.852320588 meters 0.0243713229131009 Centerline is valid? [True, True] Translation: X:235.10, Y:-56.56, Z:1.17 [[ 8.78262941e-01 4.78166468e-01 3.32201885e-03 2.35101127e+02] [-4.78163268e-01 8.78269222e-01 -1.74997750e-03 -5.65576788e+01] [-3.75440747e-03 -5.15270103e-05 9.99992951e-01 1.17113855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.882320588 meters 0.024267421910044187 Centerline is valid? [True, True] Translation: X:235.13, Y:-56.57, Z:1.17 [[ 8.79252000e-01 4.76309040e-01 6.75411996e-03 2.35130409e+02] [-4.76295757e-01 8.79277937e-01 -3.55832238e-03 -5.65720856e+01] [-7.63360978e-03 -8.82966116e-05 9.99970860e-01 1.17204497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.912320588 meters 0.024015797317259002 Centerline is valid? [True, True] Translation: X:235.16, Y:-56.59, Z:1.17 [[ 8.81259344e-01 4.72586107e-01 6.65878460e-03 2.35158498e+02] [-4.72573081e-01 8.81284499e-01 -3.50923329e-03 -5.65872659e+01] [-7.52669855e-03 -5.42177281e-05 9.99971673e-01 1.17473844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.942320588 meters 0.023931840486822276 Centerline is valid? [True, True] Translation: X:235.19, Y:-56.60, Z:1.18 [[ 8.82339363e-01 4.70577961e-01 5.79930142e-03 2.35186693e+02] [-4.70568030e-01 8.82358420e-01 -3.05736736e-03 -5.66020381e+01] [-6.55579213e-03 -3.13302746e-05 9.99978510e-01 1.17536303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.972320588 meters 0.023886896532891267 Centerline is valid? [True, True] Translation: X:235.22, Y:-56.62, Z:1.17 [[ 8.83321065e-01 4.68727580e-01 6.19291252e-03 2.35215318e+02] [-4.68716202e-01 8.83342774e-01 -3.26587474e-03 -5.66168762e+01] [-7.00127008e-03 -1.79024839e-05 9.99975491e-01 1.17454716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.002320588 meters 0.023940901465035552 Centerline is valid? [True, True] Translation: X:235.24, Y:-56.63, Z:1.17 [[ 8.84732840e-01 4.66026011e-01 8.21948149e-03 2.35243621e+02] [-4.66005841e-01 8.84771020e-01 -4.33574081e-03 -5.66315147e+01] [-9.29292701e-03 5.64589624e-06 9.99956820e-01 1.17210343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.032320588 meters 0.023775606160726527 Centerline is valid? [True, True] Translation: X:235.27, Y:-56.65, Z:1.17 [[ 8.85980450e-01 4.63657321e-01 7.78016858e-03 2.35273241e+02] [-4.63639138e-01 8.86014609e-01 -4.10638858e-03 -5.66468159e+01] [-8.79730015e-03 3.09893546e-05 9.99961303e-01 1.17437353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.062320588 meters 0.023775606160726527 Centerline is valid? [True, True] Translation: X:235.30, Y:-56.66, Z:1.17 [[ 8.85889147e-01 4.63831759e-01 7.77936269e-03 2.35302029e+02] [-4.63813569e-01 8.85923303e-01 -4.10791529e-03 -5.66619433e+01] [-8.79730027e-03 3.09835980e-05 9.99961303e-01 1.17453731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.092320588 meters 0.023738179622456883 Centerline is valid? [True, True] Translation: X:235.33, Y:-56.68, Z:1.18 [[ 8.86129685e-01 4.63399293e-01 5.93943553e-03 2.35330082e+02] [-4.63388674e-01 8.86149589e-01 -3.13721563e-03 -5.66786287e+01] [-6.71701186e-03 2.77127476e-05 9.99977440e-01 1.17704602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.122320588 meters 0.023851449589266913 Centerline is valid? [True, True] Translation: X:235.36, Y:-56.70, Z:1.18 [[ 8.86626742e-01 4.62465641e-01 4.30702723e-03 2.35356086e+02] [-4.62460042e-01 8.86637203e-01 -2.27591366e-03 -5.66978151e+01] [-4.87130244e-03 2.60579257e-05 9.99988135e-01 1.17625582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15232058799998 meters 0.023799900587094306 Centerline is valid? [True, True] Translation: X:235.38, Y:-56.71, Z:1.18 [[ 8.86917382e-01 4.61914491e-01 3.54395176e-03 2.35384169e+02] [-4.61910693e-01 8.86924463e-01 -1.87341731e-03 -5.67133542e+01] [-4.00857611e-03 2.45771630e-05 9.99991965e-01 1.17515432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18232058799998 meters 0.023905113864318206 Centerline is valid? [True, True] Translation: X:235.41, Y:-56.73, Z:1.17 [[ 8.86706019e-01 4.62323072e-01 3.13263540e-03 2.35412711e+02] [-4.62320104e-01 8.86711552e-01 -1.65658463e-03 -5.67279341e+01] [-3.54362129e-03 2.06232363e-05 9.99993721e-01 1.17480057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21232058799998 meters 0.023837819447495624 Centerline is valid? [True, True] Translation: X:235.44, Y:-56.74, Z:1.18 [[ 8.85528784e-01 4.64566474e-01 4.09428734e-03 2.35441125e+02] [-4.64561427e-01 8.85538249e-01 -2.16558714e-03 -5.67426975e+01] [-4.63170722e-03 1.56417817e-05 9.99989273e-01 1.17769853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24232058799998 meters 0.023684121220860086 Centerline is valid? [True, True] Translation: X:235.47, Y:-56.76, Z:1.18 [[ 8.84759185e-01 4.66026075e-01 4.56964427e-03 2.35468777e+02] [-4.66019800e-01 8.84770986e-01 -2.41847795e-03 -5.67610449e+01] [-5.17016245e-03 1.02258774e-05 9.99986635e-01 1.18136632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27232058799999 meters 0.023764447591047285 Centerline is valid? [True, True] Translation: X:235.50, Y:-56.78, Z:1.18 [[ 8.84686499e-01 4.66171353e-01 3.75072248e-03 2.35496987e+02] [-4.66167125e-01 8.84694450e-01 -1.98552237e-03 -5.67769211e+01] [-4.24383701e-03 8.10131864e-06 9.99990995e-01 1.18264942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.302320588 meters 0.023756691230035702 Centerline is valid? [True, True] Translation: X:235.53, Y:-56.79, Z:1.18 [[ 8.84611489e-01 4.66311360e-01 4.02860662e-03 2.35526141e+02] [-4.66306477e-01 8.84620662e-01 -2.13398596e-03 -5.67926560e+01] [-4.55889055e-03 9.18313494e-06 9.99989608e-01 1.18126810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.332320588 meters 0.023892013414162312 Centerline is valid? [True, True] Translation: X:235.55, Y:-56.81, Z:1.18 [[ 8.84820439e-01 4.65905225e-01 5.01113328e-03 2.35553811e+02] [-4.65897663e-01 8.84834629e-01 -2.65462172e-03 -5.68082906e+01] [-5.67082639e-03 1.41882762e-05 9.99983921e-01 1.18028250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.362320588 meters 0.023912111111241665 Centerline is valid? [True, True] Translation: X:235.58, Y:-56.82, Z:1.18 [[ 8.84560070e-01 4.66408615e-01 4.06031342e-03 2.35581701e+02] [-4.66403651e-01 8.84569389e-01 -2.15176389e-03 -5.68243679e+01] [-4.59523017e-03 9.61940956e-06 9.99989442e-01 1.18006685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.392320588 meters 0.023822516296839635 Centerline is valid? [True, True] Translation: X:235.61, Y:-56.84, Z:1.18 [[ 8.84668761e-01 4.66210577e-01 2.98009771e-03 2.35610796e+02] [-4.66207900e-01 8.84673781e-01 -1.58000062e-03 -5.68385301e+01] [-3.37302730e-03 8.43209965e-06 9.99994311e-01 1.18080383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.422320588 meters 0.023831487930112583 Centerline is valid? [True, True] Translation: X:235.64, Y:-56.85, Z:1.18 [[ 8.84309819e-01 4.66890719e-01 3.03311866e-03 2.35640001e+02] [-4.66887946e-01 8.84315021e-01 -1.60926058e-03 -5.68537574e+01] [-3.43358122e-03 6.95839236e-06 9.99994105e-01 1.18130872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.452320588 meters 0.02392536777069406 Centerline is valid? [True, True] Translation: X:235.67, Y:-56.87, Z:1.18 [[ 8.83188711e-01 4.68992861e-01 4.83694159e-03 2.35666307e+02] [-4.68985841e-01 8.83201957e-01 -2.56606369e-03 -5.68718113e+01] [-5.47546183e-03 -2.13864033e-06 9.99985010e-01 1.18174312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.482320588 meters 0.02406204399004614 Centerline is valid? [True, True] Translation: X:235.69, Y:-56.89, Z:1.18 [[ 8.83392671e-01 4.68617337e-01 3.89622669e-03 2.35694066e+02] [-4.68612775e-01 8.83401263e-01 -2.06780917e-03 -5.68880915e+01] [-4.41094281e-03 8.65860328e-07 9.99990272e-01 1.18196046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.512320588 meters 0.024046885334030512 Centerline is valid? [True, True] Translation: X:235.72, Y:-56.90, Z:1.18 [[ 8.83335643e-01 4.68731382e-01 3.00542791e-03 2.35722380e+02] [-4.68728666e-01 8.83340756e-01 -1.59572722e-03 -5.69040740e+01] [-3.40278438e-03 8.32514715e-07 9.99994211e-01 1.18121123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.542320588 meters 0.023877498087925164 Centerline is valid? [True, True] Translation: X:235.75, Y:-56.92, Z:1.18 [[ 8.83409912e-01 4.68593412e-01 2.67222823e-03 2.35749874e+02] [-4.68591261e-01 8.83413954e-01 -1.41998391e-03 -5.69218279e+01] [-3.02607881e-03 2.24506493e-06 9.99995421e-01 1.17981317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.572320588 meters 0.023806689624287652 Centerline is valid? [True, True] Translation: X:235.78, Y:-56.94, Z:1.18 [[ 8.82920431e-01 4.69513977e-01 2.85259773e-03 2.35778593e+02] [-4.69511528e-01 8.82925039e-01 -1.51647214e-03 -5.69389084e+01] [-3.23063483e-03 -4.03282335e-07 9.99994781e-01 1.18128196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.602320588 meters 0.023891015629175717 Centerline is valid? [True, True] Translation: X:235.81, Y:-56.95, Z:1.18 [[ 8.82074341e-01 4.71098839e-01 3.27723569e-03 2.35807881e+02] [-4.71095615e-01 8.82080429e-01 -1.74289081e-03 -5.69531524e+01] [-3.71185930e-03 -6.53210278e-06 9.99993111e-01 1.18349720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.632320588 meters 0.023935799740305914 Centerline is valid? [True, True] Translation: X:235.84, Y:-56.97, Z:1.18 [[ 8.81105039e-01 4.72903756e-01 3.99350363e-03 2.35836633e+02] [-4.72898987e-01 8.81114089e-01 -2.12384490e-03 -5.69668241e+01] [-4.52310654e-03 -1.71933803e-05 9.99989771e-01 1.18454114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.662320588 meters 0.023845531129965517 Centerline is valid? [True, True] Translation: X:235.86, Y:-56.98, Z:1.18 [[ 8.80524408e-01 4.73977055e-01 4.74532587e-03 2.35864673e+02] [-4.73970333e-01 8.80537195e-01 -2.52435211e-03 -5.69816169e+01] [-5.37492091e-03 -2.63900361e-05 9.99985555e-01 1.18430014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.692320588 meters 0.02403086171475966 Centerline is valid? [True, True] Translation: X:235.89, Y:-57.00, Z:1.19 [[ 8.79797457e-01 4.75329659e-01 4.26029914e-03 2.35892078e+02] [-4.75324250e-01 8.79807771e-01 -2.26789591e-03 -5.70000967e+01] [-4.82624249e-03 -2.97344402e-05 9.99988353e-01 1.18585319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.722320588 meters 0.024068982256030467 Centerline is valid? [True, True] Translation: X:235.92, Y:-57.02, Z:1.19 [[ 8.79914669e-01 4.75101696e-01 5.34349365e-03 2.35920361e+02] [-4.75093181e-01 8.79930893e-01 -2.84475211e-03 -5.70151623e+01] [-6.05345169e-03 -3.55182796e-05 9.99981677e-01 1.18501498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.752320588 meters 0.023978923898206994 Centerline is valid? [True, True] Translation: X:235.95, Y:-57.03, Z:1.18 [[ 8.80735128e-01 4.73568083e-01 6.23734247e-03 2.35950783e+02] [-4.73556428e-01 8.80757214e-01 -3.32250743e-03 -5.70281561e+01] [-7.06701785e-03 -2.74846163e-05 9.99975028e-01 1.18427681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.782320588 meters 0.02391257426968607 Centerline is valid? [True, True] Translation: X:235.98, Y:-57.04, Z:1.18 [[ 8.81234488e-01 4.72637035e-01 6.32535237e-03 2.35980877e+02] [-4.72625014e-01 8.81257189e-01 -3.37100174e-03 -5.70428468e+01] [-7.16752252e-03 -1.88767548e-05 9.99974313e-01 1.18469312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.812320588 meters 0.023815902522847376 Centerline is valid? [True, True] Translation: X:236.01, Y:-57.06, Z:1.19 [[ 8.82002479e-01 4.71204095e-01 6.19096407e-03 2.36010415e+02] [-4.71192533e-01 8.82024206e-01 -3.30099598e-03 -5.70576334e+01] [-7.01602299e-03 -5.64940136e-06 9.99975387e-01 1.18577846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.842320588 meters 0.023679196353553096 Centerline is valid? [True, True] Translation: X:236.04, Y:-57.07, Z:1.19 [[ 8.83496534e-01 4.68416832e-01 4.42107376e-03 2.36040125e+02] [-4.68410897e-01 8.83507595e-01 -2.35798714e-03 -5.70709169e+01] [-5.01057312e-03 1.23943411e-05 9.99987447e-01 1.18807033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.872320588 meters 0.023701828596201072 Centerline is valid? [True, True] Translation: X:236.07, Y:-57.09, Z:1.19 [[ 8.84036192e-01 4.67398134e-01 4.35844203e-03 2.36069604e+02] [-4.67392346e-01 8.84046935e-01 -2.32609388e-03 -5.70857526e+01] [-4.94027926e-03 1.92487315e-05 9.99987797e-01 1.18823189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90232058799998 meters 0.02364700720437849 Centerline is valid? [True, True] Translation: X:236.10, Y:-57.10, Z:1.19 [[ 8.84425018e-01 4.66647178e-01 5.72701307e-03 2.36097995e+02] [-4.66637167e-01 8.84443560e-01 -3.05672183e-03 -5.71017916e+01] [-6.49163044e-03 3.10041016e-05 9.99978929e-01 1.18745152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93232058799998 meters 0.023935078727346452 Centerline is valid? [True, True] Translation: X:236.12, Y:-57.12, Z:1.19 [[ 8.85886493e-01 4.63830928e-01 8.12355958e-03 2.36124451e+02] [-4.63810659e-01 8.85923735e-01 -4.33689782e-03 -5.71198806e+01] [-9.20844159e-03 7.42056755e-05 9.99957599e-01 1.18780626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96232058799998 meters 0.023975043421299642 Centerline is valid? [True, True] Translation: X:236.15, Y:-57.14, Z:1.19 [[ 8.86346167e-01 4.62937078e-01 8.92934302e-03 2.36152476e+02] [-4.62912528e-01 8.86391140e-01 -4.76850409e-03 -5.71360747e+01] [-1.01224079e-02 9.30405771e-05 9.99948763e-01 1.18764113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99232058799998 meters 0.024179596331809654 Centerline is valid? [True, True] Translation: X:236.18, Y:-57.15, Z:1.19 [[ 8.87148795e-01 4.61412929e-01 8.06993190e-03 2.36180237e+02] [-4.61392792e-01 8.87185493e-01 -4.31200288e-03 -5.71535529e+01] [-9.14914038e-03 1.01979750e-04 9.99958141e-01 1.18687939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02232058799999 meters 0.02417614897952388 Centerline is valid? [True, True] Translation: X:236.21, Y:-57.17, Z:1.19 [[ 8.87912553e-01 4.59966039e-01 6.52245611e-03 2.36209087e+02] [-4.59952831e-01 8.87936503e-01 -3.48699067e-03 -5.71698963e+01] [-7.39542416e-03 9.61206374e-05 9.99972649e-01 1.18815564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.052320588 meters 0.024305933469219904 Centerline is valid? [True, True] Translation: X:236.24, Y:-57.19, Z:1.19 [[ 8.88352772e-01 4.59090195e-01 8.09600044e-03 2.36236401e+02] [-4.59069804e-01 8.88389653e-01 -4.32890782e-03 -5.71862134e+01] [-9.17976216e-03 1.28967930e-04 9.99957857e-01 1.18791040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.082320588 meters 0.024298690548708916 Centerline is valid? [True, True] Translation: X:236.26, Y:-57.20, Z:1.19 [[ 8.88540999e-01 4.58678255e-01 1.04475373e-02 2.36262885e+02] [-4.58644178e-01 8.88602401e-01 -5.59385456e-03 -5.72043831e+01] [-1.18494862e-02 1.78666949e-04 9.99929776e-01 1.18959867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.112320588 meters 0.024426190563109195 Centerline is valid? [True, True] Translation: X:236.29, Y:-57.22, Z:1.19 [[ 8.88358320e-01 4.59016663e-01 1.10994933e-02 2.36291106e+02] [-4.58978132e-01 8.88427637e-01 -5.95045630e-03 -5.72210509e+01] [-1.25924552e-02 1.91712652e-04 9.99920694e-01 1.18953772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.142320588 meters 0.02452396862228401 Centerline is valid? [True, True] Translation: X:236.32, Y:-57.24, Z:1.19 [[ 8.88749358e-01 4.58259971e-01 1.10624184e-02 2.36319297e+02] [-4.58221547e-01 8.88818179e-01 -5.93782927e-03 -5.72374733e+01] [-1.25535480e-02 2.08203496e-04 9.99921179e-01 1.18960653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.172320588 meters 0.02453065039504523 Centerline is valid? [True, True] Translation: X:236.35, Y:-57.26, Z:1.19 [[ 8.89096251e-01 4.57644569e-01 8.32495694e-03 2.36345110e+02] [-4.57622734e-01 8.89135209e-01 -4.47361922e-03 -5.72568492e+01] [-9.44933987e-03 1.67788525e-04 9.99955340e-01 1.18884811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.202320588 meters 0.02443414469046537 Centerline is valid? [True, True] Translation: X:236.37, Y:-57.27, Z:1.19 [[ 8.88883479e-01 4.58061949e-01 8.08772135e-03 2.36373035e+02] [-4.58041305e-01 8.88920258e-01 -4.35184720e-03 -5.72749607e+01] [-9.18275495e-03 1.63774639e-04 9.99957824e-01 1.18815414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.232320588 meters 0.02433340156750646 Centerline is valid? [True, True] Translation: X:236.40, Y:-57.29, Z:1.19 [[ 8.88627623e-01 4.58550138e-01 8.52756684e-03 2.36400079e+02] [-4.58527158e-01 8.88668522e-01 -4.59394105e-03 -5.72948200e+01] [-9.68473252e-03 1.72181931e-04 9.99953087e-01 1.18897166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.262320588 meters 0.024354475716810108 Centerline is valid? [True, True] Translation: X:236.43, Y:-57.31, Z:1.19 [[ 8.88107228e-01 4.59548222e-01 8.99905713e-03 2.36427950e+02] [-4.59522622e-01 8.88152803e-01 -4.85372178e-03 -5.73120592e+01] [-1.02230570e-02 1.75355066e-04 9.99947728e-01 1.18983332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.292320588 meters 0.02434240193801928 Centerline is valid? [True, True] Translation: X:236.46, Y:-57.33, Z:1.19 [[ 8.88085513e-01 4.59606089e-01 8.14643210e-03 2.36455179e+02] [-4.59585061e-01 8.88122861e-01 -4.39947765e-03 -5.73306691e+01] [-9.25705930e-03 1.63133870e-04 9.99957139e-01 1.19102124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.322320588 meters 0.02438762071308529 Centerline is valid? [True, True] Translation: X:236.48, Y:-57.35, Z:1.19 [[ 8.87676191e-01 4.60387086e-01 8.64352305e-03 2.36482191e+02] [-4.60363396e-01 8.87718256e-01 -4.67348136e-03 -5.73502874e+01] [-9.82462367e-03 1.69376511e-04 9.99951723e-01 1.18994511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.352320588 meters 0.02409198320488317 Centerline is valid? [True, True] Translation: X:236.51, Y:-57.37, Z:1.19 [[ 8.85908200e-01 4.63790407e-01 8.06968965e-03 2.36507605e+02] [-4.63769857e-01 8.85944943e-01 -4.36776294e-03 -5.73712056e+01] [-9.17502729e-03 1.26958181e-04 9.99957900e-01 1.18989057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.382320588 meters 0.023838952932264686 Centerline is valid? [True, True] Translation: X:236.54, Y:-57.39, Z:1.19 [[ 8.84540138e-01 4.66403705e-01 7.50521143e-03 2.36535566e+02] [-4.66385985e-01 8.84571972e-01 -4.06683548e-03 -5.73877372e+01] [-8.53568681e-03 9.69537934e-05 9.99963566e-01 1.19021194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.412320588 meters 0.02360755046382135 Centerline is valid? [True, True] Translation: X:236.56, Y:-57.41, Z:1.19 [[ 8.81325268e-01 4.72446302e-01 7.76298748e-03 2.36562037e+02] [-4.72427536e-01 8.81359456e-01 -4.21111230e-03 -5.74060858e+01] [-8.83150686e-03 4.39106337e-05 9.99961001e-01 1.19007271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.442320588 meters 0.023590313133248178 Centerline is valid? [True, True] Translation: X:236.59, Y:-57.42, Z:1.19 [[ 8.79674045e-01 4.75515544e-01 7.65129753e-03 2.36588929e+02] [-4.75497380e-01 8.79707319e-01 -4.15624237e-03 -5.74247310e+01] [-8.70726029e-03 1.79666107e-05 9.99962091e-01 1.19065019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.472320588 meters 0.023629809518282474 Centerline is valid? [True, True] Translation: X:236.62, Y:-57.44, Z:1.19 [[ 8.78268144e-01 4.78124370e-01 6.49260331e-03 2.36616438e+02] [-4.78111325e-01 8.78292142e-01 -3.53187056e-03 -5.74435946e+01] [-7.39107585e-03 -2.25776810e-06 9.99972686e-01 1.19200701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.502320588 meters 0.023609339594989013 Centerline is valid? [True, True] Translation: X:236.65, Y:-57.46, Z:1.19 [[ 8.76718567e-01 4.80954329e-01 6.89120883e-03 2.36645343e+02] [-4.80939684e-01 8.76745649e-01 -3.75329694e-03 -5.74600876e+01] [-7.84700177e-03 -2.36706787e-05 9.99969212e-01 1.19437526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.532320588 meters 0.023485702400855648 Centerline is valid? [True, True] Translation: X:236.68, Y:-57.47, Z:1.19 [[ 8.75941719e-01 4.82360030e-01 7.40983926e-03 2.36675095e+02] [-4.82343107e-01 8.75973059e-01 -4.04066643e-03 -5.74742635e+01] [-8.43987555e-03 -3.46965888e-05 9.99964383e-01 1.19458934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.562320588 meters 0.023540985952144017 Centerline is valid? [True, True] Translation: X:236.70, Y:-57.49, Z:1.19 [[ 8.75454727e-01 4.83253430e-01 6.71894489e-03 2.36704049e+02] [-4.83239504e-01 8.75480509e-01 -3.66887347e-03 -5.74902905e+01] [-7.65530097e-03 -3.49269744e-05 9.99970697e-01 1.19320321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.592320588 meters 0.023603595209750403 Centerline is valid? [True, True] Translation: X:236.73, Y:-57.51, Z:1.19 [[ 8.74979941e-01 4.84119906e-01 6.16600722e-03 2.36732485e+02] [-4.84108167e-01 8.75001666e-01 -3.37151246e-03 -5.75079317e+01] [-7.02748288e-03 -3.50086875e-05 9.99975306e-01 1.19204618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.622320588 meters 0.02377498392633117 Centerline is valid? [True, True] Translation: X:236.76, Y:-57.52, Z:1.19 [[ 8.74565400e-01 4.84850324e-01 7.45146952e-03 2.36761555e+02] [-4.84833168e-01 8.74597142e-01 -4.07894065e-03 -5.75241555e+01] [-8.49470964e-03 -4.54192148e-05 9.99963918e-01 1.19197397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65232058799998 meters 0.023684103489166358 Centerline is valid? [True, True] Translation: X:236.79, Y:-57.54, Z:1.19 [[ 8.74403875e-01 4.85118293e-01 8.83772726e-03 2.36791728e+02] [-4.85094117e-01 8.74448534e-01 -4.84340647e-03 -5.75386217e+01] [-1.00777627e-02 -5.20361171e-05 9.99949217e-01 1.19236000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68232058799998 meters 0.023802225811986343 Centerline is valid? [True, True] Translation: X:236.82, Y:-57.55, Z:1.19 [[ 8.73993824e-01 4.85853284e-01 9.02122986e-03 2.36820725e+02] [-4.85828069e-01 8.74040378e-01 -4.95019134e-03 -5.75540185e+01] [-1.02899859e-02 -5.63300258e-05 9.99947055e-01 1.19267961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71232058799998 meters 0.023738348995703977 Centerline is valid? [True, True] Translation: X:236.85, Y:-57.57, Z:1.19 [[ 8.73682366e-01 4.86405158e-01 9.44170658e-03 2.36849792e+02] [-4.86377500e-01 8.73733380e-01 -5.18739916e-03 -5.75704239e+01] [-1.07727119e-02 -6.00944627e-05 9.99941971e-01 1.19317990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74232058799998 meters 0.02366036339638964 Centerline is valid? [True, True] Translation: X:236.88, Y:-57.59, Z:1.19 [[ 8.73880439e-01 4.86072456e-01 8.15757873e-03 2.36877811e+02] [-4.86051748e-01 8.73918512e-01 -4.48688481e-03 -5.75860751e+01] [-9.31001018e-03 -4.40045329e-05 9.99956660e-01 1.19388259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77232058799999 meters 0.023617880315461904 Centerline is valid? [True, True] Translation: X:236.91, Y:-57.60, Z:1.19 [[ 8.73758483e-01 4.86282216e-01 8.70174209e-03 2.36907157e+02] [-4.86258601e-01 8.73801811e-01 -4.79252870e-03 -5.76002460e+01] [-9.93411947e-03 -4.37843278e-05 9.99950654e-01 1.19411340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.802320588 meters 0.02358583591704822 Centerline is valid? [True, True] Translation: X:236.94, Y:-57.61, Z:1.19 [[ 8.73506540e-01 4.86727380e-01 9.09843343e-03 2.36937344e+02] [-4.86701523e-01 8.73553922e-01 -5.01723078e-03 -5.76142662e+01] [-1.03899958e-02 -4.56375010e-05 9.99946021e-01 1.19437574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.832320588 meters 0.023578389191587234 Centerline is valid? [True, True] Translation: X:236.97, Y:-57.63, Z:1.20 [[ 8.73655322e-01 4.86457671e-01 9.23644988e-03 2.36966951e+02] [-4.86430940e-01 8.73704145e-01 -5.09981601e-03 -5.76295877e+01] [-1.05507692e-02 -3.74135957e-05 9.99944338e-01 1.19550881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.862320588 meters 0.023647986123346395 Centerline is valid? [True, True] Translation: X:237.00, Y:-57.64, Z:1.20 [[ 8.74172627e-01 4.85526502e-01 9.28618737e-03 2.36996329e+02] [-4.85499360e-01 8.74221948e-01 -5.13385431e-03 -5.76448533e+01] [-1.06108111e-02 -2.05631095e-05 9.99943704e-01 1.19631948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.892320588 meters 0.023521677333517076 Centerline is valid? [True, True] Translation: X:237.03, Y:-57.66, Z:1.20 [[ 8.75210834e-01 4.83663089e-01 8.71853017e-03 2.37025879e+02] [-4.83639009e-01 8.75254258e-01 -4.82629707e-03 -5.76598556e+01] [-9.96523240e-03 7.40619045e-06 9.99950346e-01 1.19690221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.922320588 meters 0.023521677333517076 Centerline is valid? [True, True] Translation: X:237.05, Y:-57.68, Z:1.20 [[ 8.74951664e-01 4.84131819e-01 8.71594787e-03 2.37054478e+02] [-4.84107715e-01 8.74995076e-01 -4.83096044e-03 -5.76753254e+01] [-9.96523313e-03 7.39927167e-06 9.99950346e-01 1.19706607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.952320588 meters 0.02347480012523927 Centerline is valid? [True, True] Translation: X:237.08, Y:-57.69, Z:1.20 [[ 8.75717447e-01 4.82762169e-01 7.72280395e-03 2.37082790e+02] [-4.82743142e-01 8.75751499e-01 -4.28623959e-03 -5.76914548e+01] [-8.83249146e-03 2.54041496e-05 9.99960992e-01 1.19725163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.982320588 meters 0.023615150769545186 Centerline is valid? [True, True] Translation: X:237.11, Y:-57.71, Z:1.20 [[ 8.76767132e-01 4.80839770e-01 8.51537999e-03 2.37111006e+02] [-4.80816490e-01 8.76808481e-01 -4.73175852e-03 -5.77088773e+01] [-9.74157507e-03 5.43152279e-05 9.99952548e-01 1.19771231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.012320588 meters 0.023621535044234854 Centerline is valid? [True, True] Translation: X:237.14, Y:-57.72, Z:1.20 [[ 8.77102091e-01 4.80237727e-01 7.97798894e-03 2.37140713e+02] [-4.80217217e-01 8.77138371e-01 -4.43881811e-03 -5.77239398e+01] [-9.12948814e-03 6.21289962e-05 9.99958323e-01 1.19858634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.042320588 meters 0.023490269204491238 Centerline is valid? [True, True] Translation: X:237.17, Y:-57.74, Z:1.20 [[ 8.77341529e-01 4.79805991e-01 7.61916591e-03 2.37170309e+02] [-4.79787221e-01 8.77374610e-01 -4.24456388e-03 -5.77389915e+01] [-8.72142989e-03 6.83537281e-05 9.99961965e-01 1.19994198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.072320588 meters 0.023564257230103518 Centerline is valid? [True, True] Translation: X:237.20, Y:-57.76, Z:1.20 [[ 8.77330034e-01 4.79816320e-01 8.26502774e-03 2.37197753e+02] [-4.79794182e-01 8.77368960e-01 -4.60985306e-03 -5.77567996e+01] [-9.46336153e-03 7.88503223e-05 9.99955218e-01 1.19841002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.102320588 meters 0.023581253116870458 Centerline is valid? [True, True] Translation: X:237.23, Y:-57.77, Z:1.20 [[ 8.77063096e-01 4.80313405e-01 7.70446242e-03 2.37225164e+02] [-4.80294137e-01 8.77096932e-01 -4.30277683e-03 -5.77747839e+01] [-8.82424173e-03 7.33986395e-05 9.99961063e-01 1.19830883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.132320588 meters 0.02367144393623893 Centerline is valid? [True, True] Translation: X:237.25, Y:-57.79, Z:1.20 [[ 8.76375772e-01 4.81548639e-01 8.74158260e-03 2.37251523e+02] [-4.81523840e-01 8.76419365e-01 -4.88763161e-03 -5.77946994e+01] [-1.00149246e-02 7.41215019e-05 9.99949847e-01 1.19914700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.162320588 meters 0.02376495146035406 Centerline is valid? [True, True] Translation: X:237.28, Y:-57.81, Z:1.20 [[ 8.76338142e-01 4.81571935e-01 1.09513787e-02 2.37278794e+02] [-4.81532946e-01 8.76406562e-01 -6.12861519e-03 -5.78114052e+01] [-1.25492292e-02 9.72896112e-05 9.99921251e-01 1.19859301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.192320588 meters 0.023604851526026337 Centerline is valid? [True, True] Translation: X:237.31, Y:-57.83, Z:1.20 [[ 8.75996160e-01 4.82216153e-01 9.91511216e-03 2.37306382e+02] [-4.82184163e-01 8.76052267e-01 -5.55499635e-03 -5.78284740e+01] [-1.13648655e-02 8.52454106e-05 9.99935414e-01 1.19953368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.222320588 meters 0.023480873565021446 Centerline is valid? [True, True] Translation: X:237.33, Y:-57.85, Z:1.20 [[ 8.75804506e-01 4.82590029e-01 8.56339952e-03 2.37332522e+02] [-4.82566131e-01 8.75846367e-01 -4.80319204e-03 -5.78479489e+01] [-9.81819494e-03 7.42506578e-05 9.99951798e-01 1.20008495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.252320588 meters 0.02363799554814058 Centerline is valid? [True, True] Translation: X:237.36, Y:-57.87, Z:1.20 [[ 8.75523169e-01 4.83094559e-01 8.87848742e-03 2.37360693e+02] [-4.83068831e-01 8.75568182e-01 -4.98638727e-03 -5.78658849e+01] [-1.01826176e-02 7.67770471e-05 9.99948153e-01 1.20027234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.282320588 meters 0.023719153768194376 Centerline is valid? [True, True] Translation: X:237.39, Y:-57.89, Z:1.20 [[ 8.75058766e-01 4.83937042e-01 8.78037634e-03 2.37387325e+02] [-4.83911860e-01 8.75102813e-01 -4.93742000e-03 -5.78860789e+01] [-1.00731325e-02 7.16044045e-05 9.99949262e-01 1.20090960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.312320588 meters 0.0237219065321984 Centerline is valid? [True, True] Translation: X:237.42, Y:-57.90, Z:1.20 [[ 8.74596833e-01 4.84749703e-01 9.90479874e-03 2.37415019e+02] [-4.84717634e-01 8.74652914e-01 -5.57630035e-03 -5.79034898e+01] [-1.13663710e-02 7.59840159e-05 9.99935398e-01 1.20103161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.342320588 meters 0.023626285204994917 Centerline is valid? [True, True] Translation: X:237.44, Y:-57.92, Z:1.20 [[ 8.74351768e-01 4.85188135e-01 1.00727174e-02 2.37441415e+02] [-4.85154984e-01 8.74409783e-01 -5.67213513e-03 -5.79236714e+01] [-1.15597353e-02 7.26123130e-05 9.99933181e-01 1.20112508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.372320588 meters 0.02368234293501198 Centerline is valid? [True, True] Translation: X:237.47, Y:-57.94, Z:1.20 [[ 8.74359920e-01 4.85175574e-01 9.96960380e-03 2.37469113e+02] [-4.85142997e-01 8.74416752e-01 -5.62288901e-03 -5.79416252e+01] [-1.14456770e-02 7.97453181e-05 9.99934493e-01 1.20233438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40232058799998 meters 0.023749788765275132 Centerline is valid? [True, True] Translation: X:237.50, Y:-57.96, Z:1.20 [[ 8.73789082e-01 4.86218270e-01 9.18886698e-03 2.37496499e+02] [-4.86190581e-01 8.73837393e-01 -5.18937295e-03 -5.79601898e+01] [-1.05527435e-02 6.68768547e-05 9.99944316e-01 1.20317667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43232058799998 meters 0.023690107250238086 Centerline is valid? [True, True] Translation: X:237.52, Y:-57.98, Z:1.20 [[ 8.72938290e-01 4.87741407e-01 9.33073161e-03 2.37522892e+02] [-4.87712872e-01 8.72988154e-01 -5.27608310e-03 -5.79814109e+01] [-1.07189824e-02 5.49770470e-05 9.99942549e-01 1.20295665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46232058799998 meters 0.023637495944820418 Centerline is valid? [True, True] Translation: X:237.55, Y:-58.00, Z:1.20 [[ 8.72237151e-01 4.89012206e-01 8.33152886e-03 2.37550241e+02] [-4.88989465e-01 8.72276941e-01 -4.71612178e-03 -5.79986502e+01] [-9.57364162e-03 3.95467874e-05 9.99954171e-01 1.20426173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49232058799998 meters 0.02372871260344859 Centerline is valid? [True, True] Translation: X:237.58, Y:-58.01, Z:1.20 [[ 8.70883406e-01 4.91434531e-01 7.36171971e-03 2.37578124e+02] [-4.91416821e-01 8.70914520e-01 -4.17212307e-03 -5.80149422e+01] [-8.46175393e-03 1.57598566e-05 9.99964199e-01 1.20409752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52232058799999 meters 0.02363622260636312 Centerline is valid? [True, True] Translation: X:237.61, Y:-58.03, Z:1.21 [[ 8.69728572e-01 4.93482848e-01 6.84753416e-03 2.37606468e+02] [-4.93467546e-01 8.69755528e-01 -3.88616735e-03 -5.80326423e+01] [-7.87343762e-03 8.74903337e-07 9.99969004e-01 1.20513143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.552320588 meters 0.02369491169385398 Centerline is valid? [True, True] Translation: X:237.63, Y:-58.05, Z:1.21 [[ 8.68725931e-01 4.95249963e-01 6.53691661e-03 2.37634035e+02] [-4.95236031e-01 8.68750525e-01 -3.71471623e-03 -5.80514560e+01] [-7.51866281e-03 -1.02463233e-05 9.99971734e-01 1.20624171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.582320588 meters 0.02390718973341498 Centerline is valid? [True, True] Translation: X:237.66, Y:-58.07, Z:1.21 [[ 8.66515130e-01 4.99073560e-01 8.78133462e-03 2.37659534e+02] [-4.99048574e-01 8.66559622e-01 -4.99413157e-03 -5.80713740e+01] [-1.01019890e-02 -5.48219620e-05 9.99948972e-01 1.20764937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.612320588 meters 0.023841640506022707 Centerline is valid? [True, True] Translation: X:237.69, Y:-58.09, Z:1.21 [[ 8.65625089e-01 5.00628573e-01 8.01484183e-03 2.37688390e+02] [-5.00607768e-01 8.65662190e-01 -4.56446562e-03 -5.80869856e+01] [-9.22324744e-03 -6.11761297e-05 9.99957463e-01 1.20822948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.642320588 meters 0.023951581984035086 Centerline is valid? [True, True] Translation: X:237.72, Y:-58.10, Z:1.21 [[ 8.64749642e-01 5.02164289e-01 6.25169398e-03 2.37717578e+02] [-5.02151635e-01 8.64772238e-01 -3.56542912e-03 -5.81014359e+01] [-7.19672257e-03 -5.60947977e-05 9.99974102e-01 1.20533852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.672320588 meters 0.023922707208192014 Centerline is valid? [True, True] Translation: X:237.75, Y:-58.12, Z:1.20 [[ 8.64373406e-01 5.02805088e-01 6.75707194e-03 2.37745425e+02] [-5.02790289e-01 8.64399814e-01 -3.85818850e-03 -5.81188978e+01] [-7.78072854e-03 -6.24746244e-05 9.99969728e-01 1.20472696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.702320588 meters 0.024013955126553188 Centerline is valid? [True, True] Translation: X:237.77, Y:-58.14, Z:1.21 [[ 8.63779550e-01 5.03811117e-01 7.69727104e-03 2.37772527e+02] [-5.03791909e-01 8.63813841e-01 -4.40000700e-03 -5.81380918e+01] [-8.86578171e-03 -7.71868023e-05 9.99960695e-01 1.20560984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.732320588 meters 0.02411873986145187 Centerline is valid? [True, True] Translation: X:237.80, Y:-58.16, Z:1.21 [[ 8.62812380e-01 5.05444429e-01 8.98477021e-03 2.37799477e+02] [-5.05418298e-01 8.62859153e-01 -5.14058816e-03 -5.81564300e+01] [-1.03508729e-02 -1.05704170e-04 9.99946423e-01 1.20906788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.762320588 meters 0.02399976985607015 Centerline is valid? [True, True] Translation: X:237.83, Y:-58.17, Z:1.21 [[ 8.62458842e-01 5.06057462e-01 8.40186102e-03 2.37828857e+02] [-5.06034579e-01 8.62499759e-01 -4.81353629e-03 -5.81713800e+01] [-9.68252907e-03 -1.00155272e-04 9.99953118e-01 1.21016698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.792320588 meters 0.024118867653983224 Centerline is valid? [True, True] Translation: X:237.86, Y:-58.19, Z:1.21 [[ 8.61576262e-01 5.07568636e-01 7.77331641e-03 2.37857952e+02] [-5.07549060e-01 8.61611321e-01 -4.45903463e-03 -5.81863556e+01] [-8.96084354e-03 -1.03541046e-04 9.99959845e-01 1.20709287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.822320588 meters 0.024150233210656836 Centerline is valid? [True, True] Translation: X:237.89, Y:-58.20, Z:1.21 [[ 8.60923813e-01 5.08684277e-01 7.10593476e-03 2.37886665e+02] [-5.08667914e-01 8.60953132e-01 -4.08141408e-03 -5.82033901e+01] [-8.19402795e-03 -1.00774437e-04 9.99966423e-01 1.20619784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.852320588 meters 0.024127405156749424 Centerline is valid? [True, True] Translation: X:237.92, Y:-58.22, Z:1.21 [[ 8.61027017e-01 5.08500589e-01 7.72180328e-03 2.37915180e+02] [-5.08481213e-01 8.61061635e-01 -4.44028559e-03 -5.82198828e+01] [-8.90683639e-03 -1.03186044e-04 9.99960328e-01 1.20590773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.882320588 meters 0.024239183646199522 Centerline is valid? [True, True] Translation: X:237.94, Y:-58.24, Z:1.21 [[ 8.60635952e-01 5.09129150e-01 9.65747625e-03 2.37942152e+02] [-5.09098828e-01 8.60690125e-01 -5.55808380e-03 -5.82367739e+01] [-1.11418769e-02 -1.33123096e-04 9.99937919e-01 1.20696760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.912320588 meters 0.024114033866083746 Centerline is valid? [True, True] Translation: X:237.97, Y:-58.25, Z:1.21 [[ 8.60803876e-01 5.08861852e-01 8.73514577e-03 2.37969565e+02] [-5.08837012e-01 8.60848188e-01 -5.02921208e-03 -5.82532719e+01] [-1.00788086e-02 -1.15600219e-04 9.99949201e-01 1.20866263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.942320588 meters 0.024136501528174734 Centerline is valid? [True, True] Translation: X:238.00, Y:-58.27, Z:1.21 [[ 8.60901257e-01 5.08686604e-01 9.32550548e-03 2.37997970e+02] [-5.08658195e-01 8.60951756e-01 -5.37723484e-03 -5.82703401e+01] [-1.07641376e-02 -1.14226550e-04 9.99942058e-01 1.20902808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.972320588 meters 0.02410265729858207 Centerline is valid? [True, True] Translation: X:238.03, Y:-58.29, Z:1.21 [[ 8.60301231e-01 5.09704026e-01 9.14315773e-03 2.38027650e+02] [-5.09676763e-01 8.60349807e-01 -5.27320595e-03 -5.82856686e+01] [-1.05540883e-02 -1.23509466e-04 9.99944296e-01 1.20975931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.002320588 meters 0.024186957965667277 Centerline is valid? [True, True] Translation: X:238.06, Y:-58.30, Z:1.21 [[ 8.59632411e-01 5.10818426e-01 9.83121996e-03 2.38057561e+02] [-5.10786880e-01 8.59688616e-01 -5.67863892e-03 -5.83005840e+01] [-1.13525413e-02 -1.40116106e-04 9.99935548e-01 1.20885622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.032320588 meters 0.024359029480835494 Centerline is valid? [True, True] Translation: X:238.09, Y:-58.32, Z:1.21 [[ 8.58172578e-01 5.13280010e-01 9.13547809e-03 2.38087085e+02] [-5.13252841e-01 8.58221188e-01 -5.28337400e-03 -5.83155775e+01] [-1.05521111e-02 -1.54763391e-04 9.99944313e-01 1.20962504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.062320588 meters 0.024376777441957 Centerline is valid? [True, True] Translation: X:238.12, Y:-58.33, Z:1.21 [[ 8.57608442e-01 5.14224766e-01 8.98057255e-03 2.38115862e+02] [-5.14198497e-01 8.57655447e-01 -5.20007973e-03 -5.83326851e+01] [-1.03762467e-02 -1.58164628e-04 9.99946153e-01 1.20948414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.092320588 meters 0.024704802979918488 Centerline is valid? [True, True] Translation: X:238.14, Y:-58.35, Z:1.21 [[ 8.56163598e-01 5.16647906e-01 7.67030234e-03 2.38144437e+02] [-5.16628790e-01 8.56197942e-01 -4.44714742e-03 -5.83493598e+01] [-8.86490649e-03 -1.55213275e-04 9.99960694e-01 1.20958706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.122320588 meters 0.024736826126008114 Centerline is valid? [True, True] Translation: X:238.17, Y:-58.36, Z:1.21 [[ 8.55479239e-01 5.17768284e-01 8.44251588e-03 2.38172799e+02] [-5.17745141e-01 8.55520877e-01 -4.89878016e-03 -5.83636052e+01] [-9.75918159e-03 -1.80266852e-04 9.99952362e-01 1.20985170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15232058799998 meters 0.02487756323699958 Centerline is valid? [True, True] Translation: X:238.20, Y:-58.38, Z:1.21 [[ 8.54804725e-01 5.18864656e-01 9.39950046e-03 2.38201817e+02] [-5.18835980e-01 8.54856377e-01 -5.45906176e-03 -5.83767131e+01] [-1.08677371e-02 -2.10367239e-04 9.99940922e-01 1.21016040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18232058799998 meters 0.02498084320236322 Centerline is valid? [True, True] Translation: X:238.23, Y:-58.39, Z:1.21 [[ 8.53569278e-01 5.20904174e-01 8.85041695e-03 2.38232977e+02] [-5.20878802e-01 8.53615132e-01 -5.14579023e-03 -5.83873811e+01] [-1.02353134e-02 -2.17706134e-04 9.99947594e-01 1.21150917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21232058799998 meters 0.025118039649390314 Centerline is valid? [True, True] Translation: X:238.26, Y:-58.40, Z:1.21 [[ 8.52577237e-01 5.22534611e-01 8.34481950e-03 2.38262499e+02] [-5.22512073e-01 8.52618046e-01 -4.85807112e-03 -5.84017743e+01] [-9.65345401e-03 -2.18388083e-04 9.99953380e-01 1.21173132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24232058799998 meters 0.025182355965773437 Centerline is valid? [True, True] Translation: X:238.29, Y:-58.42, Z:1.21 [[ 8.52020670e-01 5.23456373e-01 7.36232116e-03 2.38292757e+02] [-5.23438818e-01 8.52052456e-01 -4.29152104e-03 -5.84157308e+01] [-8.51950785e-03 -1.97260052e-04 9.99963689e-01 1.21220811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27232058799999 meters 0.025345002609759575 Centerline is valid? [True, True] Translation: X:238.32, Y:-58.43, Z:1.21 [[ 8.51375626e-01 5.24501880e-01 7.57108573e-03 2.38322317e+02] [-5.24483311e-01 8.51409264e-01 -4.41839708e-03 -5.84310573e+01] [-8.76355010e-03 -2.09192535e-04 9.99961577e-01 1.21181469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.302320588 meters 0.02515057146001035 Centerline is valid? [True, True] Translation: X:238.36, Y:-58.44, Z:1.21 [[ 8.51208446e-01 5.24757616e-01 8.58057309e-03 2.38355301e+02] [-5.24733723e-01 8.51251660e-01 -5.01303765e-03 -5.84404587e+01] [-9.93485677e-03 -2.35376083e-04 9.99950620e-01 1.21269427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.332320588 meters 0.02526783192328106 Centerline is valid? [True, True] Translation: X:238.39, Y:-58.45, Z:1.21 [[ 8.51077061e-01 5.24964908e-01 8.92650718e-03 2.38386033e+02] [-5.24938998e-01 8.51123838e-01 -5.22121332e-03 -5.84526551e+01] [-1.03385168e-02 -2.42216854e-04 9.99946527e-01 1.21273700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.362320588 meters 0.024993873485299273 Centerline is valid? [True, True] Translation: X:238.42, Y:-58.47, Z:1.21 [[ 8.51299794e-01 5.24595925e-01 9.36888543e-03 2.38416550e+02] [-5.24567293e-01 8.51351312e-01 -5.48621877e-03 -5.84653333e+01] [-1.08542609e-02 -2.44193958e-04 9.99941061e-01 1.21342623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.392320588 meters 0.025047177181171654 Centerline is valid? [True, True] Translation: X:238.45, Y:-58.48, Z:1.21 [[ 8.51289979e-01 5.24590959e-01 1.04736933e-02 2.38447134e+02] [-5.24555092e-01 8.51354365e-01 -6.14010941e-03 -5.84788286e+01] [-1.21378704e-02 -2.67015558e-04 9.99926298e-01 1.21207599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.422320588 meters 0.025158048003671878 Centerline is valid? [True, True] Translation: X:238.48, Y:-58.49, Z:1.21 [[ 8.50984373e-01 5.25089445e-01 1.03281402e-02 2.38475996e+02] [-5.25054519e-01 8.51047005e-01 -6.06195414e-03 -5.84939998e+01] [-1.19728009e-02 -2.64208447e-04 9.99928289e-01 1.21150627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.452320588 meters 0.02483050267040958 Centerline is valid? [True, True] Translation: X:238.51, Y:-58.50, Z:1.21 [[ 8.51413194e-01 5.24408910e-01 9.53250638e-03 2.38507509e+02] [-5.24379052e-01 8.51466525e-01 -5.60060351e-03 -5.85038226e+01] [-1.10536165e-02 -2.30218943e-04 9.99938880e-01 1.21243144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.482320588 meters 0.02482034318801753 Centerline is valid? [True, True] Translation: X:238.54, Y:-58.52, Z:1.21 [[ 8.51531045e-01 5.24216252e-01 9.60211712e-03 2.38538607e+02] [-5.24185866e-01 8.51585152e-01 -5.64858825e-03 -5.85167793e+01] [-1.11381021e-02 -2.23345832e-04 9.99937944e-01 1.21288866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.512320588 meters 0.024331729345934024 Centerline is valid? [True, True] Translation: X:238.57, Y:-58.53, Z:1.22 [[ 8.52516310e-01 5.22570972e-01 1.16412773e-02 2.38570606e+02] [-5.22526054e-01 8.52595755e-01 -6.85575211e-03 -5.85279850e+01] [-1.35079207e-02 -2.38230221e-04 9.99908735e-01 1.21586151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.542320588 meters 0.024305214974434348 Centerline is valid? [True, True] Translation: X:238.60, Y:-58.54, Z:1.22 [[ 8.52941164e-01 5.21876699e-01 1.16654178e-02 2.38599556e+02] [-5.21831436e-01 8.53020903e-01 -6.87683112e-03 -5.85427522e+01] [-1.35397031e-02 -2.21849357e-04 9.99908309e-01 1.21618442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.572320588 meters 0.02415620818621958 Centerline is valid? [True, True] Translation: X:238.63, Y:-58.56, Z:1.22 [[ 8.53996270e-01 5.20155338e-01 1.13487794e-02 2.38628146e+02] [-5.20112252e-01 8.54071654e-01 -6.69738115e-03 -5.85576760e+01] [-1.31763493e-02 -1.83100683e-04 9.99913171e-01 1.21598353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.602320588 meters 0.02389451618478714 Centerline is valid? [True, True] Translation: X:238.66, Y:-58.57, Z:1.21 [[ 8.55495845e-01 5.17727366e-01 9.23217121e-03 2.38657239e+02] [-5.17698644e-01 8.55545651e-01 -5.45458696e-03 -5.85713693e+01] [-1.07225329e-02 -1.13106031e-04 9.99942506e-01 1.21332497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.632320588 meters 0.02390059481151802 Centerline is valid? [True, True] Translation: X:238.69, Y:-58.59, Z:1.21 [[ 8.55872033e-01 5.17101785e-01 9.42374674e-03 2.38686310e+02] [-5.17071742e-01 8.55923906e-01 -5.57494894e-03 -5.85862736e+01] [-1.09488262e-02 -1.01310263e-04 9.99940055e-01 1.21279395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.662320588 meters 0.02380321281053655 Centerline is valid? [True, True] Translation: X:238.72, Y:-58.60, Z:1.21 [[ 8.56605258e-01 5.15856351e-01 1.09388144e-02 2.38716999e+02] [-5.15815675e-01 8.56675094e-01 -6.47865924e-03 -5.85995936e+01] [-1.27130674e-02 -9.27583568e-05 9.99919181e-01 1.21407503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.692320588 meters 0.023697756235578623 Centerline is valid? [True, True] Translation: X:238.75, Y:-58.62, Z:1.22 [[ 8.56982568e-01 5.15232965e-01 1.07642654e-02 2.38746372e+02] [-5.15193429e-01 8.57050166e-01 -6.38313583e-03 -5.86155958e+01] [-1.25143174e-02 -7.54426701e-05 9.99921690e-01 1.21590482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.722320588 meters 0.02365509763359638 Centerline is valid? [True, True] Translation: X:238.77, Y:-58.63, Z:1.22 [[ 8.57275408e-01 5.14725231e-01 1.16966229e-02 2.38774029e+02] [-5.14678390e-01 8.57355196e-01 -6.94426035e-03 -5.86328475e+01] [-1.36025464e-02 -6.68554239e-05 9.99907479e-01 1.21582663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.752320588 meters 0.023685201044042477 Centerline is valid? [True, True] Translation: X:238.80, Y:-58.65, Z:1.22 [[ 8.57505756e-01 5.14356565e-01 1.10091883e-02 2.38801340e+02] [-5.14314951e-01 8.57576423e-01 -6.54292099e-03 -5.86498272e+01] [-1.28066147e-02 -5.15977404e-05 9.99917991e-01 1.21502343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.782320588 meters 0.023598535340997127 Centerline is valid? [True, True] Translation: X:238.83, Y:-58.67, Z:1.21 [[ 8.57708098e-01 5.14057495e-01 9.03941569e-03 2.38829061e+02] [-5.14029359e-01 8.57755729e-01 -5.37843638e-03 -5.86660949e+01] [-1.05184361e-02 -3.33966146e-05 9.99944679e-01 1.21433199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.812320588 meters 0.023550112726590224 Centerline is valid? [True, True] Translation: X:238.86, Y:-58.68, Z:1.21 [[ 8.58920769e-01 5.12004758e-01 1.03072746e-02 2.38857781e+02] [-5.11967936e-01 8.58982612e-01 -6.14044549e-03 -5.86819794e+01] [-1.19977070e-02 -2.83793289e-06 9.99928025e-01 1.21221948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.842320588 meters 0.023707304552971393 Centerline is valid? [True, True] Translation: X:238.89, Y:-58.70, Z:1.21 [[ 8.58923270e-01 5.11980230e-01 1.12721045e-02 2.38885815e+02] [-5.11936086e-01 8.58997231e-01 -6.72307546e-03 -5.86990233e+01] [-1.31247883e-02 4.00887966e-06 9.99913866e-01 1.21265650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.872320588 meters 0.023707304552971393 Centerline is valid? [True, True] Translation: X:238.91, Y:-58.72, Z:1.21 [[ 8.58648818e-01 5.12440463e-01 1.12685002e-02 2.38913904e+02] [-5.12396279e-01 8.58722756e-01 -6.72911627e-03 -5.87154112e+01] [-1.31247890e-02 4.01013977e-06 9.99913866e-01 1.21282036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90232058799998 meters 0.023724390091270125 Centerline is valid? [True, True] Translation: X:238.94, Y:-58.73, Z:1.22 [[ 8.58614213e-01 5.12510376e-01 1.07120187e-02 2.38940815e+02] [-5.12470355e-01 8.58681032e-01 -6.40475594e-03 -5.87340117e+01] [-1.24807111e-02 9.62247476e-06 9.99922113e-01 1.21531876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93232058799998 meters 0.02377080403008307 Centerline is valid? [True, True] Translation: X:238.97, Y:-58.75, Z:1.21 [[ 8.57961333e-01 5.13609454e-01 1.03768714e-02 2.38968731e+02] [-5.13571885e-01 8.58024084e-01 -6.21210486e-03 -5.87516204e+01] [-1.20942014e-02 4.76358650e-07 9.99926862e-01 1.21430947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96232058799998 meters 0.023885739741210343 Centerline is valid? [True, True] Translation: X:238.99, Y:-58.77, Z:1.21 [[ 8.56342427e-01 5.16251166e-01 1.27428915e-02 2.38993922e+02] [-5.16194711e-01 8.56437232e-01 -7.63467840e-03 -5.87713018e+01] [-1.48548984e-02 -3.99141820e-05 9.99889659e-01 1.21338299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99232058799998 meters 0.024085141817353422 Centerline is valid? [True, True] Translation: X:239.02, Y:-58.79, Z:1.21 [[ 8.55161702e-01 5.18155579e-01 1.46033774e-02 2.39020678e+02] [-5.18081558e-01 8.55286379e-01 -8.75840212e-03 -5.87891733e+01] [-1.70282847e-02 -7.58904716e-05 9.99855005e-01 1.21357231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02232058799999 meters 0.024298329057325558 Centerline is valid? [True, True] Translation: X:239.05, Y:-58.81, Z:1.21 [[ 8.54234537e-01 5.19642700e-01 1.59630814e-02 2.39047732e+02] [-5.19554345e-01 8.54383669e-01 -9.58277042e-03 -5.88057136e+01] [-1.86182127e-02 -1.07754825e-04 9.99826660e-01 1.21427186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.052320588 meters 0.024230167076100973 Centerline is valid? [True, True] Translation: X:239.08, Y:-58.82, Z:1.21 [[ 8.52636272e-01 5.22309092e-01 1.43038295e-02 2.39076156e+02] [-5.22238368e-01 8.52756233e-01 -8.59617404e-03 -5.88199801e+01] [-1.66875396e-02 -1.40598796e-04 9.99860743e-01 1.21478698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.082320588 meters 0.02424417336651864 Centerline is valid? [True, True] Translation: X:239.10, Y:-58.84, Z:1.21 [[ 8.51834255e-01 5.23651710e-01 1.29340167e-02 2.39103996e+02] [-5.23593911e-01 8.51932430e-01 -7.78139884e-03 -5.88359906e+01] [-1.50936511e-02 -1.43710319e-04 9.99886074e-01 1.21393633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.112320588 meters 0.02432451692628862 Centerline is valid? [True, True] Translation: X:239.13, Y:-58.85, Z:1.21 [[ 8.49513148e-01 5.27443070e-01 1.14551363e-02 2.39131642e+02] [-5.27397956e-01 8.49590358e-01 -6.90072383e-03 -5.88540574e+01] [-1.33719123e-02 -1.79159867e-04 9.99910576e-01 1.21308146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.142320588 meters 0.024527214564238155 Centerline is valid? [True, True] Translation: X:239.16, Y:-58.87, Z:1.21 [[ 8.48297084e-01 5.29425613e-01 1.00288383e-02 2.39160484e+02] [-5.29391084e-01 8.48356345e-01 -6.04910425e-03 -5.88706143e+01] [-1.17105794e-02 -1.77740097e-04 9.99931413e-01 1.21350973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.172320588 meters 0.024711983733615 Centerline is valid? [True, True] Translation: X:239.19, Y:-58.89, Z:1.21 [[ 8.47158992e-01 5.31234217e-01 1.05758734e-02 2.39189277e+02] [-5.31195884e-01 8.47224978e-01 -6.38509263e-03 -5.88856304e+01] [-1.23521238e-02 -2.08671769e-04 9.99923688e-01 1.21461454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.202320588 meters 0.024956740191618955 Centerline is valid? [True, True] Translation: X:239.22, Y:-58.90, Z:1.22 [[ 8.45645669e-01 5.33601752e-01 1.23520099e-02 2.39219900e+02] [-5.33549610e-01 8.45735829e-01 -7.46466501e-03 -5.88977287e+01] [-1.44296957e-02 -2.77948422e-04 9.99895848e-01 1.21553721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.232320588 meters 0.02540848014310362 Centerline is valid? [True, True] Translation: X:239.25, Y:-58.91, Z:1.21 [[ 8.44341610e-01 5.35647983e-01 1.29801551e-02 2.39248778e+02] [-5.35590522e-01 8.44441315e-01 -7.85231474e-03 -5.89125000e+01] [-1.51670558e-02 -3.22011987e-04 9.99884922e-01 1.21461232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.262320588 meters 0.025882392883198716 Centerline is valid? [True, True] Translation: X:239.28, Y:-58.92, Z:1.21 [[ 8.42288981e-01 5.38898516e-01 1.17328962e-02 2.39279409e+02] [-5.38851780e-01 8.42370628e-01 -7.10523160e-03 -5.89243235e+01] [-1.37124459e-02 -3.37633726e-04 9.99905923e-01 1.21450153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.292320588 meters 0.02574011076261864 Centerline is valid? [True, True] Translation: X:239.31, Y:-58.94, Z:1.22 [[ 8.41914128e-01 5.39492140e-01 1.13503795e-02 2.39309667e+02] [-5.39448425e-01 8.41990569e-01 -6.87587573e-03 -5.89371606e+01] [-1.32663934e-02 -3.34047399e-04 9.99911942e-01 1.21601045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.322320588 meters 0.025619418342635546 Centerline is valid? [True, True] Translation: X:239.34, Y:-58.95, Z:1.22 [[ 8.41417484e-01 5.40274028e-01 1.09814686e-02 2.39340344e+02] [-5.40233051e-01 8.41489078e-01 -6.66202946e-03 -5.89509748e+01] [-1.28401074e-02 -3.27004246e-04 9.99917509e-01 1.21623655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.352320588 meters 0.025562840082382566 Centerline is valid? [True, True] Translation: X:239.37, Y:-58.96, Z:1.22 [[ 8.41677212e-01 5.39866655e-01 1.11115684e-02 2.39370945e+02] [-5.39824581e-01 8.41750494e-01 -6.74743315e-03 -5.89627811e+01] [-1.29958823e-02 -3.19137019e-04 9.99915499e-01 1.21749847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.382320588 meters 0.02562626868271887 Centerline is valid? [True, True] Translation: X:239.40, Y:-58.98, Z:1.22 [[ 8.42057704e-01 5.39263421e-01 1.15665814e-02 2.39399409e+02] [-5.39217677e-01 8.42137081e-01 -7.03093997e-03 -5.89770615e+01] [-1.35321758e-02 -3.16447959e-04 9.99908386e-01 1.21708216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.412320588 meters 0.025458769674134067 Centerline is valid? [True, True] Translation: X:239.43, Y:-58.99, Z:1.22 [[ 8.43061562e-01 5.37705232e-01 1.09675076e-02 2.39431126e+02] [-5.37663961e-01 8.43132853e-01 -6.66763503e-03 -5.89877598e+01] [-1.28322882e-02 -2.75606754e-04 9.99917625e-01 1.21728869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.442320588 meters 0.025433148310089713 Centerline is valid? [True, True] Translation: X:239.46, Y:-59.00, Z:1.22 [[ 8.43312837e-01 5.37312525e-01 1.08954016e-02 2.39460914e+02] [-5.37271652e-01 8.43383177e-01 -6.63240056e-03 -5.90013217e+01] [-1.27526703e-02 -2.60601887e-04 9.99918647e-01 1.21700042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.472320588 meters 0.025349938304226036 Centerline is valid? [True, True] Translation: X:239.49, Y:-59.02, Z:1.22 [[ 8.42814722e-01 5.38100579e-01 1.05409096e-02 2.39491270e+02] [-5.38062285e-01 8.42880597e-01 -6.42470617e-03 -5.90157719e+01] [-1.23418663e-02 -2.56828966e-04 9.99923803e-01 1.21758326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.502320588 meters 0.025489292948614354 Centerline is valid? [True, True] Translation: X:239.52, Y:-59.03, Z:1.22 [[ 8.42222075e-01 5.39016962e-01 1.10765812e-02 2.39523169e+02] [-5.38974653e-01 8.42294864e-01 -6.75908822e-03 -5.90272784e+01] [-1.29730106e-02 -2.77343197e-04 9.99915808e-01 1.21716345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.532320588 meters 0.02558901164940135 Centerline is valid? [True, True] Translation: X:239.55, Y:-59.04, Z:1.22 [[ 8.41880943e-01 5.39535838e-01 1.17284355e-02 2.39552953e+02] [-5.39488340e-01 8.41962583e-01 -7.16514172e-03 -5.90412962e+01] [-1.37407546e-02 -2.95157906e-04 9.99905548e-01 1.21753740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.562320588 meters 0.02541515368830872 Centerline is valid? [True, True] Translation: X:239.58, Y:-59.05, Z:1.22 [[ 8.42569152e-01 5.38462274e-01 1.16449013e-02 2.39582673e+02] [-5.38415252e-01 8.42649575e-01 -7.12110540e-03 -5.90536106e+01] [-1.36470177e-02 -2.69768724e-04 9.99906839e-01 1.21762315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.592320588 meters 0.025303734155892686 Centerline is valid? [True, True] Translation: X:239.61, Y:-59.07, Z:1.22 [[ 8.43399626e-01 5.37204947e-01 9.37631879e-03 2.39611537e+02] [-5.37174313e-01 8.43451721e-01 -5.74033318e-03 -5.90687450e+01] [-1.09922076e-02 -1.95322742e-04 9.99939565e-01 1.21855143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.622320588 meters 0.02508449178909282 Centerline is valid? [True, True] Translation: X:239.64, Y:-59.08, Z:1.22 [[ 8.44377332e-01 5.35655898e-01 9.98400222e-03 2.39640601e+02] [-5.35620983e-01 8.44436336e-01 -6.11852166e-03 -5.90834041e+01] [-1.17082765e-02 -1.81300092e-04 9.99931439e-01 1.21872016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65232058799998 meters 0.024969561594453515 Centerline is valid? [True, True] Translation: X:239.67, Y:-59.10, Z:1.22 [[ 8.46986661e-01 5.31520225e-01 9.99231186e-03 2.39670730e+02] [-5.31484965e-01 8.47045592e-01 -6.12349754e-03 -5.90954116e+01] [-1.17187065e-02 -1.24242786e-04 9.99931326e-01 1.21818168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68232058799998 meters 0.024857964373584368 Centerline is valid? [True, True] Translation: X:239.70, Y:-59.11, Z:1.22 [[ 8.47820272e-01 5.30188098e-01 1.00680674e-02 2.39699062e+02] [-5.30152186e-01 8.47880044e-01 -6.17173659e-03 -5.91102059e+01] [-1.18086947e-02 -1.05084534e-04 9.99930269e-01 1.21797144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71232058799998 meters 0.024747986053604464 Centerline is valid? [True, True] Translation: X:239.73, Y:-59.13, Z:1.22 [[ 8.49262338e-01 5.27886849e-01 9.43166860e-03 2.39727019e+02] [-5.27855171e-01 8.49314706e-01 -5.78339710e-03 -5.91253086e+01] [-1.10634341e-02 -6.69336995e-05 9.99938796e-01 1.21830189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74232058799998 meters 0.02483796758374808 Centerline is valid? [True, True] Translation: X:239.76, Y:-59.14, Z:1.22 [[ 8.49571500e-01 5.27384006e-01 9.71473112e-03 2.39756053e+02] [-5.27350331e-01 8.49627039e-01 -5.96001846e-03 -5.91411905e+01] [-1.13971167e-02 -5.96048566e-05 9.99935049e-01 1.21843169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77232058799999 meters 0.024841297940324636 Centerline is valid? [True, True] Translation: X:239.79, Y:-59.16, Z:1.22 [[ 8.49317336e-01 5.27802654e-01 9.18807597e-03 2.39785303e+02] [-5.27772542e-01 8.49367032e-01 -5.63824142e-03 -5.91559771e+01] [-1.07799276e-02 -6.05580290e-05 9.99941893e-01 1.21958370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.802320588 meters 0.024864740382570923 Centerline is valid? [True, True] Translation: X:239.82, Y:-59.17, Z:1.22 [[ 8.49351830e-01 5.27738672e-01 9.66246635e-03 2.39816408e+02] [-5.27705331e-01 8.49406788e-01 -5.93235466e-03 -5.91692744e+01] [-1.13380975e-02 -6.02787179e-05 9.99935720e-01 1.22179944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.832320588 meters 0.024830989736650586 Centerline is valid? [True, True] Translation: X:239.84, Y:-59.19, Z:1.22 [[ 8.49374166e-01 5.27696028e-01 1.00213899e-02 2.39844892e+02] [-5.27660130e-01 8.49433281e-01 -6.15542576e-03 -5.91862529e+01] [-1.17606958e-02 -5.96282767e-05 9.99930839e-01 1.22105963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.862320588 meters 0.02491312047703396 Centerline is valid? [True, True] Translation: X:239.87, Y:-59.20, Z:1.22 [[ 8.49865873e-01 5.26893249e-01 1.05594173e-02 2.39872884e+02] [-5.26853296e-01 8.49931469e-01 -6.48871870e-03 -5.92040177e+01] [-1.23936431e-02 -4.87232053e-05 9.99923195e-01 1.21921978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.892320588 meters 0.0249335041194805 Centerline is valid? [True, True] Translation: X:239.90, Y:-59.22, Z:1.22 [[ 8.50281085e-01 5.26237071e-01 9.82965859e-03 2.39900198e+02] [-5.26202388e-01 8.50337900e-01 -6.04175780e-03 -5.92203883e+01] [-1.15379282e-02 -3.51974485e-05 9.99933435e-01 1.21935857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.922320588 meters 0.024885028172179215 Centerline is valid? [True, True] Translation: X:239.93, Y:-59.24, Z:1.22 [[ 8.51501130e-01 5.24253127e-01 1.02217185e-02 2.39929519e+02] [-5.24215442e-01 8.51562481e-01 -6.28587296e-03 -5.92364146e+01] [-1.19998205e-02 -5.95476597e-06 9.99928000e-01 1.21953594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.952320588 meters 0.02482139361005755 Centerline is valid? [True, True] Translation: X:239.96, Y:-59.25, Z:1.22 [[ 8.52135782e-01 5.23249025e-01 8.66410360e-03 2.39957083e+02] [-5.23221884e-01 8.52179827e-01 -5.32937690e-03 -5.92535327e+01] [-1.01719656e-02 8.10414202e-06 9.99948264e-01 1.22196438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.982320588 meters 0.02502032959907701 Centerline is valid? [True, True] Translation: X:239.98, Y:-59.27, Z:1.22 [[ 8.52329714e-01 5.22892760e-01 1.08267858e-02 2.39984100e+02] [-5.22850326e-01 8.52398476e-01 -6.66145746e-03 -5.92716628e+01] [-1.27119636e-02 1.69696275e-05 9.99919200e-01 1.22274410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.012320588 meters 0.02495473404432421 Centerline is valid? [True, True] Translation: X:240.01, Y:-59.29, Z:1.22 [[ 8.52057095e-01 5.23324843e-01 1.13937061e-02 2.40011734e+02] [-5.23277860e-01 8.52133269e-01 -7.01228333e-03 -5.92882363e+01] [-1.33786581e-02 1.27916249e-05 9.99910502e-01 1.22275945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.042320588 meters 0.025030425406673752 Centerline is valid? [True, True] Translation: X:240.04, Y:-59.31, Z:1.22 [[ 8.51456844e-01 5.24307631e-01 1.10792806e-02 2.40039116e+02] [-5.24263263e-01 8.51528924e-01 -6.82081588e-03 -5.93050024e+01] [-1.30105337e-02 -8.29430518e-07 9.99915359e-01 1.22233113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.072320588 meters 0.024837218432447513 Centerline is valid? [True, True] Translation: X:240.07, Y:-59.32, Z:1.22 [[ 8.51559304e-01 5.24165685e-01 9.85330300e-03 2.40065790e+02] [-5.24130561e-01 8.51616308e-01 -6.06794694e-03 -5.93231674e+01] [-1.15718431e-02 2.79944414e-06 9.99933044e-01 1.22091449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.102320588 meters 0.024915457180621686 Centerline is valid? [True, True] Translation: X:240.09, Y:-59.34, Z:1.22 [[ 8.51945429e-01 5.23526080e-01 1.04608502e-02 2.40092729e+02] [-5.23486420e-01 8.52009650e-01 -6.44395251e-03 -5.93415121e+01] [-1.22863225e-02 1.37828561e-05 9.99924520e-01 1.22023545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.132320588 meters 0.02504688709926153 Centerline is valid? [True, True] Translation: X:240.12, Y:-59.36, Z:1.22 [[ 8.52487907e-01 5.22634395e-01 1.08469696e-02 2.40119483e+02] [-5.22591656e-01 8.52556912e-01 -6.68373957e-03 -5.93601507e+01] [-1.27408111e-02 2.92713221e-05 9.99918832e-01 1.22103363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.162320588 meters 0.025040910118754593 Centerline is valid? [True, True] Translation: X:240.15, Y:-59.38, Z:1.22 [[ 8.52255677e-01 5.23009846e-01 1.09982776e-02 2.40147310e+02] [-5.22965894e-01 8.52326640e-01 -6.78034418e-03 -5.93777865e+01] [-1.29203118e-02 2.68627231e-05 9.99916529e-01 1.22153966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.192320588 meters 0.02474276843858421 Centerline is valid? [True, True] Translation: X:240.18, Y:-59.39, Z:1.22 [[ 8.51840252e-01 5.23683797e-01 1.11115269e-02 2.40175758e+02] [-5.23638954e-01 8.51912719e-01 -6.85320169e-03 -5.93947944e+01] [-1.30549618e-02 1.94047359e-05 9.99914780e-01 1.22248895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.222320588 meters 0.024649733007859508 Centerline is valid? [True, True] Translation: X:240.20, Y:-59.41, Z:1.22 [[ 8.50278792e-01 5.26204674e-01 1.16024846e-02 2.40203013e+02] [-5.26155991e-01 8.50357949e-01 -7.15767388e-03 -5.94118370e+01] [-1.36326664e-02 -1.86984710e-05 9.99907071e-01 1.22297002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.252320588 meters 0.024655925910160352 Centerline is valid? [True, True] Translation: X:240.23, Y:-59.43, Z:1.22 [[ 8.48434019e-01 5.29176256e-01 1.14980742e-02 2.40230908e+02] [-5.29128669e-01 8.48511925e-01 -7.09685282e-03 -5.94299704e+01] [-1.35117391e-02 -6.27493474e-05 9.99908710e-01 1.22358251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.282320588 meters 0.02479410707235734 Centerline is valid? [True, True] Translation: X:240.26, Y:-59.45, Z:1.22 [[ 8.45689475e-01 5.33531905e-01 1.23700790e-02 2.40258419e+02] [-5.33477265e-01 8.45779928e-01 -7.63681864e-03 -5.94464318e+01] [-1.45368509e-02 -1.40778743e-04 9.99894324e-01 1.22437157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.312320588 meters 0.024800360611497468 Centerline is valid? [True, True] Translation: X:240.29, Y:-59.46, Z:1.23 [[ 8.44852383e-01 5.34853044e-01 1.25168740e-02 2.40286686e+02] [-5.34797211e-01 8.44945084e-01 -7.72970302e-03 -5.94626983e+01] [-1.47103263e-02 -1.63531269e-04 9.99891784e-01 1.22502127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.342320588 meters 0.02492838772615118 Centerline is valid? [True, True] Translation: X:240.32, Y:-59.48, Z:1.23 [[ 8.43819684e-01 5.36500457e-01 1.16447933e-02 2.40315502e+02] [-5.36452240e-01 8.43900011e-01 -7.19479255e-03 -5.94781749e+01] [-1.36870507e-02 -1.75767882e-04 9.99906312e-01 1.22564492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.372320588 meters 0.024733348652168453 Centerline is valid? [True, True] Translation: X:240.34, Y:-59.50, Z:1.23 [[ 8.44156561e-01 5.35952512e-01 1.24340072e-02 2.40343975e+02] [-5.35897430e-01 8.44248112e-01 -7.68574660e-03 -5.94952814e+01] [-1.46165823e-02 -1.75379101e-04 9.99893157e-01 1.22578224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40232058799998 meters 0.024702821025279646 Centerline is valid? [True, True] Translation: X:240.37, Y:-59.51, Z:1.23 [[ 8.44332214e-01 5.35687125e-01 1.19338568e-02 2.40371001e+02] [-5.35636332e-01 8.44416531e-01 -7.37845016e-03 -5.95119082e+01] [-1.40296867e-02 -1.62344121e-04 9.99901566e-01 1.22670151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43232058799998 meters 0.024507746506897278 Centerline is valid? [True, True] Translation: X:240.40, Y:-59.53, Z:1.23 [[ 8.44805676e-01 5.34951342e-01 1.14207152e-02 2.40398564e+02] [-5.34904728e-01 8.44882857e-01 -7.06329152e-03 -5.95281934e+01] [-1.34276837e-02 -1.41885766e-04 9.99909835e-01 1.22806603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46232058799998 meters 0.02436188587243455 Centerline is valid? [True, True] Translation: X:240.43, Y:-59.54, Z:1.23 [[ 8.44996291e-01 5.34644623e-01 1.16788574e-02 2.40426983e+02] [-5.34595800e-01 8.45076983e-01 -7.22656101e-03 -5.95446682e+01] [-1.37331755e-02 -1.37050846e-04 9.99905686e-01 1.22771577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49232058799998 meters 0.024294635020027697 Centerline is valid? [True, True] Translation: X:240.45, Y:-59.56, Z:1.23 [[ 8.45685444e-01 5.33549898e-01 1.18590528e-02 2.40454501e+02] [-5.33499424e-01 8.45768581e-01 -7.33980006e-03 -5.95610673e+01] [-1.39461638e-02 -1.19635763e-04 9.99902740e-01 1.22664935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52232058799999 meters 0.024343830038439786 Centerline is valid? [True, True] Translation: X:240.48, Y:-59.58, Z:1.23 [[ 8.45976208e-01 5.33098593e-01 1.14081912e-02 2.40482131e+02] [-5.33051805e-01 8.46053119e-01 -7.06356523e-03 -5.95784913e+01] [-1.34175124e-02 -1.05548757e-04 9.99909976e-01 1.22702876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.552320588 meters 0.024427105937251902 Centerline is valid? [True, True] Translation: X:240.51, Y:-59.60, Z:1.23 [[ 8.45622172e-01 5.33618992e-01 1.31876643e-02 2.40509746e+02] [-5.33556500e-01 8.45724988e-01 -8.16742084e-03 -5.95957846e+01] [-1.55114281e-02 -1.29811860e-04 9.99879682e-01 1.22789615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.582320588 meters 0.024270594180287555 Centerline is valid? [True, True] Translation: X:240.54, Y:-59.61, Z:1.23 [[ 8.45010663e-01 5.34589007e-01 1.30985854e-02 2.40537245e+02] [-5.34527412e-01 8.45112166e-01 -8.11621151e-03 -5.96132560e+01] [-1.54086113e-02 -1.43267662e-04 9.99881270e-01 1.22835820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.612320588 meters 0.024115760310148043 Centerline is valid? [True, True] Translation: X:240.56, Y:-59.63, Z:1.23 [[ 8.44861407e-01 5.34838908e-01 1.25117723e-02 2.40564335e+02] [-5.34782707e-01 8.44954036e-01 -7.75456644e-03 -5.96309000e+01] [-1.47193163e-02 -1.39545538e-04 9.99891655e-01 1.22870192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.642320588 meters 0.02452823839806168 Centerline is valid? [True, True] Translation: X:240.59, Y:-59.65, Z:1.23 [[ 8.43400198e-01 5.37136890e-01 1.26517717e-02 2.40590569e+02] [-5.37079648e-01 8.43495068e-01 -7.84362478e-03 -5.96504452e+01] [-1.48848072e-02 -1.79694369e-04 9.99889199e-01 1.22800289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.672320588 meters 0.024680524239285562 Centerline is valid? [True, True] Translation: X:240.62, Y:-59.67, Z:1.23 [[ 8.42307730e-01 5.38855251e-01 1.23573988e-02 2.40617123e+02] [-5.38800794e-01 8.42398348e-01 -7.66342292e-03 -5.96683625e+01] [-1.45393280e-02 -2.03215933e-04 9.99894278e-01 1.22790631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.702320588 meters 0.024774114835151014 Centerline is valid? [True, True] Translation: X:240.64, Y:-59.69, Z:1.23 [[ 8.40581385e-01 5.41559914e-01 1.16531011e-02 2.40643896e+02] [-5.41511717e-01 8.40662123e-01 -7.22881383e-03 -5.96860006e+01] [-1.37111565e-02 -2.33884440e-04 9.99905970e-01 1.22906647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.732320588 meters 0.024774114835151014 Centerline is valid? [True, True] Translation: X:240.67, Y:-59.70, Z:1.23 [[ 8.40473042e-01 5.41728076e-01 1.16514729e-02 2.40671564e+02] [-5.41679858e-01 8.40553768e-01 -7.23143809e-03 -5.97031045e+01] [-1.37111625e-02 -2.33539424e-04 9.99905970e-01 1.22923031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.762320588 meters 0.024931705274700185 Centerline is valid? [True, True] Translation: X:240.70, Y:-59.72, Z:1.23 [[ 8.39594577e-01 5.43062261e-01 1.28190302e-02 2.40698028e+02] [-5.43004023e-01 8.39692386e-01 -7.95790283e-03 -5.97209338e+01] [-1.50856788e-02 -2.79372927e-04 9.99886166e-01 1.22962523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.792320588 meters 0.025067930247348002 Centerline is valid? [True, True] Translation: X:240.73, Y:-59.74, Z:1.23 [[ 8.39061670e-01 5.43891142e-01 1.25674121e-02 2.40725841e+02] [-5.43835203e-01 8.39155733e-01 -7.80558357e-03 -5.97395938e+01] [-1.47914037e-02 -2.85235117e-04 9.99890561e-01 1.23101460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.822320588 meters 0.025112621548856302 Centerline is valid? [True, True] Translation: X:240.75, Y:-59.76, Z:1.23 [[ 8.38206178e-01 5.45240108e-01 1.11188459e-02 2.40753761e+02] [-5.45196399e-01 8.38279877e-01 -6.90907560e-03 -5.97580858e+01] [-1.30878099e-02 -2.70724912e-04 9.99914314e-01 1.23093868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.852320588 meters 0.02510955285763617 Centerline is valid? [True, True] Translation: X:240.78, Y:-59.77, Z:1.23 [[ 8.37741885e-01 5.45950308e-01 1.12603003e-02 2.40781398e+02] [-5.45905522e-01 8.37817510e-01 -6.99862832e-03 -5.97746175e+01] [-1.32549800e-02 -2.84016003e-04 9.99912109e-01 1.23061077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.882320588 meters 0.02505390997673226 Centerline is valid? [True, True] Translation: X:240.81, Y:-59.79, Z:1.23 [[ 8.37820101e-01 5.45783045e-01 1.33546648e-02 2.40808168e+02] [-5.45719990e-01 8.37926463e-01 -8.30267708e-03 -5.97917444e+01] [-1.57216874e-02 -3.31757785e-04 9.99876352e-01 1.22986696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.912320588 meters 0.024954618938724242 Centerline is valid? [True, True] Translation: X:240.84, Y:-59.81, Z:1.23 [[ 8.37496115e-01 5.46305248e-01 1.22814095e-02 2.40835027e+02] [-5.46251835e-01 8.37586104e-01 -7.64526992e-03 -5.98091178e+01] [-1.44633891e-02 -3.05858649e-04 9.99895353e-01 1.23157899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.942320588 meters 0.024986813924621508 Centerline is valid? [True, True] Translation: X:240.86, Y:-59.83, Z:1.23 [[ 8.36891689e-01 5.47269778e-01 1.03966792e-02 2.40861464e+02] [-5.47231490e-01 8.36956222e-01 -6.47908348e-03 -5.98281744e+01] [-1.22473719e-02 -2.67099137e-04 9.99924962e-01 1.23202541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.972320588 meters 0.024991667119086687 Centerline is valid? [True, True] Translation: X:240.89, Y:-59.85, Z:1.23 [[ 8.36465828e-01 5.47923341e-01 1.02435924e-02 2.40888789e+02] [-5.47886204e-01 8.36528505e-01 -6.38501207e-03 -5.98461960e+01] [-1.20675542e-02 -2.71478537e-04 9.99927148e-01 1.23184783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.002320588 meters 0.025330831685817713 Centerline is valid? [True, True] Translation: X:240.92, Y:-59.86, Z:1.23 [[ 8.35540265e-01 5.49319861e-01 1.09615518e-02 2.40915610e+02] [-5.49277347e-01 8.35612109e-01 -6.84098414e-03 -5.98639785e+01] [-1.29174938e-02 -3.05014367e-04 9.99916519e-01 1.23240493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.032320588 meters 0.025316194190341167 Centerline is valid? [True, True] Translation: X:240.94, Y:-59.88, Z:1.23 [[ 8.35160469e-01 5.49893660e-01 1.11334824e-02 2.40943753e+02] [-5.49849740e-01 8.35234617e-01 -6.95682836e-03 -5.98807831e+01] [-1.31245857e-02 -3.11674372e-04 9.99913820e-01 1.23275926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.062320588 meters 0.025395558706373444 Centerline is valid? [True, True] Translation: X:240.97, Y:-59.90, Z:1.23 [[ 8.35010708e-01 5.50145719e-01 9.83894643e-03 2.40971725e+02] [-5.50111364e-01 8.35068628e-01 -6.15415717e-03 -5.98974723e+01] [-1.16018787e-02 -2.73729103e-04 9.99932658e-01 1.23308861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.092320588 meters 0.025324946665840058 Centerline is valid? [True, True] Translation: X:241.00, Y:-59.92, Z:1.23 [[ 8.34949345e-01 5.50225936e-01 1.05361964e-02 2.40999295e+02] [-5.50186447e-01 8.35015770e-01 -6.59823921e-03 -5.99158364e+01] [-1.24284125e-02 -2.87676965e-04 9.99922723e-01 1.23183798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.122320588 meters 0.025240218629584955 Centerline is valid? [True, True] Translation: X:241.03, Y:-59.93, Z:1.23 [[ 8.35093588e-01 5.50008483e-01 1.04578815e-02 2.41026158e+02] [-5.49969484e-01 8.35159022e-01 -6.55553423e-03 -5.99334436e+01] [-1.23395935e-02 -2.77031098e-04 9.99923826e-01 1.23228106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15232058799998 meters 0.025279921243800334 Centerline is valid? [True, True] Translation: X:241.06, Y:-59.95, Z:1.23 [[ 8.35553694e-01 5.49261352e-01 1.27276256e-02 2.41055088e+02] [-5.49203362e-01 8.35650565e-01 -7.98748570e-03 -5.99502880e+01] [-1.50230647e-02 -3.16081572e-04 9.99887097e-01 1.23268004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18232058799998 meters 0.02520051280376387 Centerline is valid? [True, True] Translation: X:241.08, Y:-59.97, Z:1.23 [[ 8.35145704e-01 5.49890767e-01 1.23206481e-02 2.41084009e+02] [-5.49836363e-01 8.35236523e-01 -7.74112794e-03 -5.99671028e+01] [-1.45474301e-02 -3.09370613e-04 9.99894133e-01 1.23333897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21232058799998 meters 0.025008413612856457 Centerline is valid? [True, True] Translation: X:241.11, Y:-59.98, Z:1.23 [[ 8.35178226e-01 5.49862215e-01 1.13523172e-02 2.41112049e+02] [-5.49815928e-01 8.35255330e-01 -7.13989156e-03 -5.99836177e+01] [-1.34080400e-02 -2.78602837e-04 9.99910069e-01 1.23236997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24232058799998 meters 0.025234340700148097 Centerline is valid? [True, True] Translation: X:241.14, Y:-60.00, Z:1.23 [[ 8.35059930e-01 5.50041136e-01 1.13869070e-02 2.41140218e+02] [-5.49994561e-01 8.35137516e-01 -7.16329638e-03 -6.00008802e+01] [-1.34497409e-02 -2.80955162e-04 9.99909509e-01 1.23252052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27232058799999 meters 0.025273520610853008 Centerline is valid? [True, True] Translation: X:241.17, Y:-60.02, Z:1.23 [[ 8.34953076e-01 5.50165824e-01 1.30739414e-02 2.41168433e+02] [-5.50104290e-01 8.35055367e-01 -8.23431586e-03 -6.00172840e+01] [-1.54477041e-02 -3.16763902e-04 9.99880627e-01 1.23290055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.302320588 meters 0.025188516071337458 Centerline is valid? [True, True] Translation: X:241.20, Y:-60.03, Z:1.23 [[ 8.34774724e-01 5.50422713e-01 1.36380494e-02 2.41196974e+02] [-5.50355623e-01 8.34886058e-01 -8.59993074e-03 -6.00332263e+01] [-1.61198145e-02 -3.26772365e-04 9.99870014e-01 1.23417854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.332320588 meters 0.02517101515658554 Centerline is valid? [True, True] Translation: X:241.23, Y:-60.05, Z:1.23 [[ 8.34184621e-01 5.51322513e-01 1.33979420e-02 2.41225844e+02] [-5.51257722e-01 8.34292142e-01 -8.45848609e-03 -6.00494719e+01] [-1.58411516e-02 -3.29779988e-04 9.99874467e-01 1.23468236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.362320588 meters 0.025297808204169863 Centerline is valid? [True, True] Translation: X:241.25, Y:-60.07, Z:1.23 [[ 8.33546826e-01 5.52296520e-01 1.29708763e-02 2.41254073e+02] [-5.52235763e-01 8.33647675e-01 -8.19856633e-03 -6.00669930e+01] [-1.53411805e-02 -3.29092816e-04 9.99882263e-01 1.23437937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.392320588 meters 0.025221348577902605 Centerline is valid? [True, True] Translation: X:241.28, Y:-60.08, Z:1.23 [[ 8.34791585e-01 5.50397008e-01 1.36434325e-02 2.41282705e+02] [-5.50329519e-01 8.34903011e-01 -8.62449892e-03 -6.00828634e+01] [-1.61378412e-02 -3.08724499e-04 9.99869729e-01 1.23456797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.422320588 meters 0.02520959276082171 Centerline is valid? [True, True] Translation: X:241.31, Y:-60.10, Z:1.23 [[ 8.35644085e-01 5.49087895e-01 1.41931879e-02 2.41310540e+02] [-5.49014485e-01 8.35764561e-01 -8.98297391e-03 -6.00997489e+01] [-1.67946057e-02 -2.85696731e-04 9.99858920e-01 1.23418201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.452320588 meters 0.025039059053391797 Centerline is valid? [True, True] Translation: X:241.34, Y:-60.12, Z:1.23 [[ 8.36020350e-01 5.48538836e-01 1.32333004e-02 2.41337692e+02] [-5.48474816e-01 8.36125041e-01 -8.38404109e-03 -6.01167919e+01] [-1.56636660e-02 -2.48903043e-04 9.99877286e-01 1.23439672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.482320588 meters 0.024804342327570825 Centerline is valid? [True, True] Translation: X:241.37, Y:-60.13, Z:1.23 [[ 8.37431069e-01 5.46334525e-01 1.50927422e-02 2.41366313e+02] [-5.46250691e-01 8.37567033e-01 -9.57328565e-03 -6.01338928e+01] [-1.78713998e-02 -2.27454002e-04 9.99840268e-01 1.23355277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.512320588 meters 0.024552782881616705 Centerline is valid? [True, True] Translation: X:241.39, Y:-60.15, Z:1.23 [[ 8.39178266e-01 5.43677804e-01 1.39385129e-02 2.41394901e+02] [-5.43605928e-01 8.39294001e-01 -8.84163312e-03 -6.01483860e+01] [-1.65055100e-02 -1.57351901e-04 9.99863762e-01 1.23419674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.542320588 meters 0.024743222610758175 Centerline is valid? [True, True] Translation: X:241.42, Y:-60.17, Z:1.23 [[ 8.39686630e-01 5.42884576e-01 1.42372712e-02 2.41423006e+02] [-5.42809397e-01 8.39807310e-01 -9.03552712e-03 -6.01659828e+01] [-1.68618127e-02 -1.41113288e-04 9.99857820e-01 1.23306649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.572320588 meters 0.024431589740234946 Centerline is valid? [True, True] Translation: X:241.45, Y:-60.18, Z:1.23 [[ 8.40591323e-01 5.41488480e-01 1.40161937e-02 2.41449599e+02] [-5.41415388e-01 8.40708162e-01 -8.89742779e-03 -6.01841856e+01] [-1.66013831e-02 -1.09482327e-04 9.99862182e-01 1.23386721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.602320588 meters 0.0245402716031582 Centerline is valid? [True, True] Translation: X:241.48, Y:-60.20, Z:1.23 [[ 8.41350225e-01 5.40314360e-01 1.37909591e-02 2.41475009e+02] [-5.40243398e-01 8.41463241e-01 -8.75701432e-03 -6.02036351e+01] [-1.63361257e-02 -8.27586384e-05 9.99866553e-01 1.23413450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.632320588 meters 0.02445824990499061 Centerline is valid? [True, True] Translation: X:241.50, Y:-60.22, Z:1.23 [[ 8.41396966e-01 5.40239525e-01 1.38708677e-02 2.41502500e+02] [-5.40167520e-01 8.41511290e-01 -8.82039455e-03 -6.02224976e+01] [-1.64376176e-02 -7.11390062e-05 9.99864891e-01 1.23478220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.662320588 meters 0.024414216478864048 Centerline is valid? [True, True] Translation: X:241.53, Y:-60.24, Z:1.24 [[ 8.42093151e-01 5.39138793e-01 1.44390607e-02 2.41528906e+02] [-5.39060573e-01 8.42216931e-01 -9.18363608e-03 -6.02420280e+01] [-1.71120758e-02 -5.00512739e-05 9.99853576e-01 1.23504014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.692320588 meters 0.02444559344529657 Centerline is valid? [True, True] Translation: X:241.56, Y:-60.26, Z:1.24 [[ 8.41768643e-01 5.39654688e-01 1.40843979e-02 2.41556183e+02] [-5.39580131e-01 8.41886462e-01 -8.97034191e-03 -6.02603131e+01] [-1.66983510e-02 -4.87087324e-05 9.99860572e-01 1.23552453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.722320588 meters 0.02453927309525876 Centerline is valid? [True, True] Translation: X:241.58, Y:-60.28, Z:1.24 [[ 8.41327784e-01 5.40335114e-01 1.43361146e-02 2.41584190e+02] [-5.40257788e-01 8.41449916e-01 -9.14119369e-03 -6.02783276e+01] [-1.70024303e-02 -5.44573107e-05 9.99855447e-01 1.23554860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.752320588 meters 0.02436631888611345 Centerline is valid? [True, True] Translation: X:241.61, Y:-60.30, Z:1.24 [[ 8.41051682e-01 5.40749512e-01 1.49007790e-02 2.41610043e+02] [-5.40665862e-01 8.41183667e-01 -9.51124165e-03 -6.02983155e+01] [-1.76774912e-02 -5.68967376e-05 9.99843739e-01 1.23657079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.782320588 meters 0.02453562720920487 Centerline is valid? [True, True] Translation: X:241.64, Y:-60.32, Z:1.24 [[ 8.40911884e-01 5.40960602e-01 1.51271556e-02 2.41636884e+02] [-5.40874220e-01 8.41047932e-01 -9.66716646e-03 -6.03179353e+01] [-1.79522192e-02 -5.26533430e-05 9.99838845e-01 1.23658462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.812320588 meters 0.024421842751889293 Centerline is valid? [True, True] Translation: X:241.66, Y:-60.34, Z:1.23 [[ 8.41527895e-01 5.40045715e-01 1.34695256e-02 2.41663081e+02] [-5.39976971e-01 8.41635685e-01 -8.61657613e-03 -6.03373854e+01] [-1.59897784e-02 -2.21444680e-05 9.99872155e-01 1.23466015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.842320588 meters 0.024345677855252004 Centerline is valid? [True, True] Translation: X:241.69, Y:-60.36, Z:1.23 [[ 8.41678230e-01 5.39827410e-01 1.28111519e-02 2.41691398e+02] [-5.39765045e-01 8.41775723e-01 -8.20539916e-03 -6.03551755e+01] [-1.52136161e-02 -8.70616088e-06 9.99884266e-01 1.23439616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.872320588 meters 0.02425967983248128 Centerline is valid? [True, True] Translation: X:241.72, Y:-60.37, Z:1.23 [[ 8.41898166e-01 5.39477352e-01 1.31020658e-02 2.41718656e+02] [-5.39411929e-01 8.42000111e-01 -8.40143621e-03 -6.03733477e+01] [-1.55643254e-02 5.74314330e-06 9.99878869e-01 1.23346516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90232058799998 meters 0.024426884913484825 Centerline is valid? [True, True] Translation: X:241.74, Y:-60.40, Z:1.24 [[ 8.42634539e-01 5.38259075e-01 1.56269418e-02 2.41742292e+02] [-5.38165628e-01 8.42779429e-01 -1.00295234e-02 -6.03957750e+01] [-1.85685471e-02 4.13398898e-05 9.99827589e-01 1.23528663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93232058799998 meters 0.024500047599319435 Centerline is valid? [True, True] Translation: X:241.77, Y:-60.42, Z:1.24 [[ 8.42813148e-01 5.37967348e-01 1.60352645e-02 2.41769076e+02] [-5.37868670e-01 8.42965675e-01 -1.03036473e-02 -6.04152499e+01] [-1.90602034e-02 5.91829959e-05 9.99818336e-01 1.23611142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96232058799998 meters 0.024303560310908457 Centerline is valid? [True, True] Translation: X:241.79, Y:-60.43, Z:1.24 [[ 8.41695187e-01 5.39746535e-01 1.49295201e-02 2.41794664e+02] [-5.39661110e-01 8.41827582e-01 -9.60257643e-03 -6.04341179e+01] [-1.77510391e-02 2.55609911e-05 9.99842438e-01 1.23590976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99232058799998 meters 0.024535507098951696 Centerline is valid? [True, True] Translation: X:241.82, Y:-60.45, Z:1.23 [[ 8.40943709e-01 5.40894794e-01 1.57003120e-02 2.41821367e+02] [-5.40800313e-01 8.41090258e-01 -1.01093779e-02 -6.04527497e+01] [-1.86734893e-02 1.06840855e-05 9.99825635e-01 1.23453464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02232058799999 meters 0.024263015997530644 Centerline is valid? [True, True] Translation: X:241.85, Y:-60.47, Z:1.23 [[ 8.38673679e-01 5.44455740e-01 1.39430331e-02 2.41847223e+02] [-5.44381677e-01 8.38789571e-01 -8.98031712e-03 -6.04729506e+01] [-1.65846559e-02 -5.87761283e-05 9.99862463e-01 1.23455144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.052320588 meters 0.024362111065332606 Centerline is valid? [True, True] Translation: X:241.87, Y:-60.49, Z:1.24 [[ 8.37562584e-01 5.46153561e-01 1.43250087e-02 2.41874143e+02] [-5.46075414e-01 8.37685072e-01 -9.23914652e-03 -6.04912865e+01] [-1.70458387e-02 -8.41716313e-05 9.99854706e-01 1.23533815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.082320588 meters 0.024203562093725584 Centerline is valid? [True, True] Translation: X:241.90, Y:-60.51, Z:1.24 [[ 8.35497391e-01 5.49314517e-01 1.40595671e-02 2.41899844e+02] [-5.49239509e-01 8.35615667e-01 -9.07847756e-03 -6.05122753e+01] [-1.67353341e-02 -1.37025442e-04 9.99859945e-01 1.23802868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.112320588 meters 0.024290823062045514 Centerline is valid? [True, True] Translation: X:241.93, Y:-60.53, Z:1.24 [[ 8.34641487e-01 5.50587677e-01 1.50598155e-02 2.41925039e+02] [-5.50501657e-01 8.34777325e-01 -9.73359527e-03 -6.05327987e+01] [-1.79307901e-02 -1.66390969e-04 9.99839217e-01 1.23743701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.142320588 meters 0.02419632455174212 Centerline is valid? [True, True] Translation: X:241.95, Y:-60.55, Z:1.24 [[ 8.33848234e-01 5.51810271e-01 1.42319131e-02 2.41950790e+02] [-5.51733437e-01 8.33969661e-01 -9.20974384e-03 -6.05531071e+01] [-1.69510150e-02 -1.72693711e-04 9.99856306e-01 1.23825177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.172320588 meters 0.02436681085294462 Centerline is valid? [True, True] Translation: X:241.98, Y:-60.57, Z:1.24 [[ 8.32695972e-01 5.53555781e-01 1.39073746e-02 2.41977758e+02] [-5.53482480e-01 8.32812079e-01 -9.01030974e-03 -6.05730418e+01] [-1.65699386e-02 -1.94639573e-04 9.99862690e-01 1.23746784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.202320588 meters 0.024397556606870836 Centerline is valid? [True, True] Translation: X:242.01, Y:-60.59, Z:1.24 [[ 8.31736688e-01 5.54994267e-01 1.39801679e-02 2.42005143e+02] [-5.54920225e-01 8.31854144e-01 -9.06793607e-03 -6.05909908e+01] [-1.66621132e-02 -2.15742824e-04 9.99861154e-01 1.23703624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.232320588 meters 0.024762389590887494 Centerline is valid? [True, True] Translation: X:242.03, Y:-60.61, Z:1.24 [[ 8.30275616e-01 5.57132093e-01 1.56917903e-02 2.42029645e+02] [-5.57039010e-01 8.30423838e-01 -1.01877219e-02 -6.06122117e+01] [-1.87067435e-02 -2.82322231e-04 9.99824974e-01 1.23604324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.262320588 meters 0.024841308615487178 Centerline is valid? [True, True] Translation: X:242.06, Y:-60.63, Z:1.24 [[ 8.29360611e-01 5.58493723e-01 1.56760667e-02 2.42055564e+02] [-5.58400843e-01 8.29508692e-01 -1.01896675e-02 -6.06325445e+01] [-1.86942990e-02 -3.02619994e-04 9.99825201e-01 1.23678095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.292320588 meters 0.024865113706305383 Centerline is valid? [True, True] Translation: X:242.08, Y:-60.65, Z:1.24 [[ 8.28558741e-01 5.59675579e-01 1.59266757e-02 2.42082500e+02] [-5.59579698e-01 8.28711736e-01 -1.03643902e-02 -6.06518254e+01] [-1.89993192e-02 -3.24738313e-04 9.99819444e-01 1.23707525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.322320588 meters 0.02523612254654563 Centerline is valid? [True, True] Translation: X:242.11, Y:-60.67, Z:1.24 [[ 8.27205294e-01 5.61649334e-01 1.67757805e-02 2.42109722e+02] [-5.61543152e-01 8.27375296e-01 -1.09273948e-02 -6.06697999e+01] [-2.00172304e-02 -3.81125764e-04 9.99799563e-01 1.23669518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.352320588 meters 0.02521458835193556 Centerline is valid? [True, True] Translation: X:242.14, Y:-60.69, Z:1.24 [[ 8.25776275e-01 5.63783394e-01 1.55507959e-02 2.42137380e+02] [-5.63692310e-01 8.25922594e-01 -1.01414282e-02 -6.06883549e+01] [-1.85613225e-02 -3.91313202e-04 9.99827647e-01 1.23688456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.382320588 meters 0.02561163625616778 Centerline is valid? [True, True] Translation: X:242.16, Y:-60.71, Z:1.24 [[ 8.23552688e-01 5.67021021e-01 1.57521924e-02 2.42162981e+02] [-5.66927968e-01 8.23703192e-01 -1.02825739e-02 -6.07085379e+01] [-1.88055667e-02 -4.62116992e-04 9.99823053e-01 1.23760965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.412320588 meters 0.025703299961037644 Centerline is valid? [True, True] Translation: X:242.19, Y:-60.73, Z:1.24 [[ 8.22013577e-01 5.69272156e-01 1.49295686e-02 2.42190079e+02] [-5.69188767e-01 8.22149003e-01 -9.75523459e-03 -6.07255750e+01] [-1.78277133e-02 -4.78807440e-04 9.99840959e-01 1.23863606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.442320588 meters 0.0261929081532066 Centerline is valid? [True, True] Translation: X:242.22, Y:-60.74, Z:1.24 [[ 8.20648470e-01 5.71265393e-01 1.38542338e-02 2.42217311e+02] [-5.71193731e-01 8.20765267e-01 -9.06083607e-03 -6.07417909e+01] [-1.65472160e-02 -4.77690239e-04 9.99862971e-01 1.23858803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.472320588 meters 0.026640332014764956 Centerline is valid? [True, True] Translation: X:242.25, Y:-60.76, Z:1.24 [[ 8.18475445e-01 5.74343879e-01 1.50683232e-02 2.42245077e+02] [-5.74259461e-01 8.18613934e-01 -9.86399469e-03 -6.07581433e+01] [-1.80004643e-02 -5.79689697e-04 9.99837810e-01 1.23850066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.502320588 meters 0.02674576108699252 Centerline is valid? [True, True] Translation: X:242.27, Y:-60.78, Z:1.24 [[ 8.17376947e-01 5.75889200e-01 1.57020908e-02 2.42272058e+02] [-5.75797631e-01 8.17527510e-01 -1.02887408e-02 -6.07756002e+01] [-1.87620659e-02 -6.31447084e-04 9.99823778e-01 1.23987682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.532320588 meters 0.027354626651879318 Centerline is valid? [True, True] Translation: X:242.30, Y:-60.79, Z:1.24 [[ 8.15363950e-01 5.78766236e-01 1.45352358e-02 2.42300380e+02] [-5.78688063e-01 8.15493248e-01 -9.53354182e-03 -6.07917450e+01] [-1.73710788e-02 -6.38061154e-04 9.99848908e-01 1.24102628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.562320588 meters 0.027481966973033248 Centerline is valid? [True, True] Translation: X:242.33, Y:-60.81, Z:1.24 [[ 8.14370771e-01 5.80181165e-01 1.37863159e-02 2.42328656e+02] [-5.80110900e-01 8.14487215e-01 -9.05099268e-03 -6.08067868e+01] [-1.64799935e-02 -6.26728262e-04 9.99863999e-01 1.24084384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.592320588 meters 0.027758937600743654 Centerline is valid? [True, True] Translation: X:242.36, Y:-60.82, Z:1.24 [[ 8.12253143e-01 5.83157139e-01 1.31370839e-02 2.42357918e+02] [-5.83093702e-01 8.12359111e-01 -8.62611791e-03 -6.08210111e+01] [-1.57024120e-02 -6.53559514e-04 9.99876496e-01 1.23922488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.622320588 meters 0.028297588183963784 Centerline is valid? [True, True] Translation: X:242.39, Y:-60.84, Z:1.24 [[ 8.10828147e-01 5.85134456e-01 1.32432519e-02 2.42385311e+02] [-5.85070094e-01 8.10935998e-01 -8.70584639e-03 -6.08376275e+01] [-1.58335204e-02 -6.89285314e-04 9.99874404e-01 1.23963737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65232058799998 meters 0.028297588183963784 Centerline is valid? [True, True] Translation: X:242.41, Y:-60.86, Z:1.24 [[ 8.10538135e-01 5.85536222e-01 1.32387793e-02 2.42412677e+02] [-5.85471803e-01 8.10645951e-01 -8.71264741e-03 -6.08552715e+01] [-1.58335335e-02 -6.88998995e-04 9.99874404e-01 1.23980139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68232058799998 meters 0.02893713352939824 Centerline is valid? [True, True] Translation: X:242.44, Y:-60.87, Z:1.24 [[ 8.09128068e-01 5.87484733e-01 1.31703784e-02 2.42440659e+02] [-5.87421112e-01 8.09234932e-01 -8.67542149e-03 -6.08707302e+01] [-1.57546080e-02 -7.17031312e-04 9.99875631e-01 1.23923418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71232058799998 meters 0.029303473919239893 Centerline is valid? [True, True] Translation: X:242.47, Y:-60.88, Z:1.24 [[ 8.07518439e-01 5.89724110e-01 1.18086538e-02 2.42471658e+02] [-5.89673098e-01 8.07604493e-01 -7.78592294e-03 -6.08828371e+01] [-1.41282683e-02 -6.75969109e-04 9.99899963e-01 1.24057933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74232058799998 meters 0.02929996838543819 Centerline is valid? [True, True] Translation: X:242.50, Y:-60.90, Z:1.24 [[ 8.07038166e-01 5.90378275e-01 1.19537000e-02 2.42500980e+02] [-5.90325949e-01 8.07126395e-01 -7.89028648e-03 -6.08984597e+01] [-1.43064005e-02 -6.88816990e-04 9.99897421e-01 1.24049389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77232058799999 meters 0.029232712892756134 Centerline is valid? [True, True] Translation: X:242.53, Y:-60.91, Z:1.24 [[ 8.07224292e-01 5.90107313e-01 1.27397651e-02 2.42530866e+02] [-5.90047733e-01 8.07324492e-01 -8.41643764e-03 -6.09111344e+01] [-1.52517258e-02 -7.23116582e-04 9.99883424e-01 1.24059499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.802320588 meters 0.029289559716651675 Centerline is valid? [True, True] Translation: X:242.56, Y:-60.93, Z:1.24 [[ 8.06939350e-01 5.90488595e-01 1.31188506e-02 2.42561048e+02] [-5.90425316e-01 8.07045640e-01 -8.67643184e-03 -6.09262236e+01] [-1.57108452e-02 -7.44347219e-04 9.99876300e-01 1.24067552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.832320588 meters 0.028304818952984933 Centerline is valid? [True, True] Translation: X:242.59, Y:-60.94, Z:1.24 [[ 8.08856609e-01 5.87859361e-01 1.31285519e-02 2.42591511e+02] [-5.87795653e-01 8.08962848e-01 -8.68219594e-03 -6.09367696e+01] [-1.57244209e-02 -6.94254191e-04 9.99876123e-01 1.24176503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.862320588 meters 0.027864842084169634 Centerline is valid? [True, True] Translation: X:242.62, Y:-60.95, Z:1.24 [[ 8.10011508e-01 5.86260934e-01 1.33968040e-02 2.42619755e+02] [-5.86194209e-01 8.10122010e-01 -8.87009973e-03 -6.09518840e+01] [-1.60532388e-02 -6.68246084e-04 9.99870915e-01 1.24149836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.892320588 meters 0.027142508824571556 Centerline is valid? [True, True] Translation: X:242.65, Y:-60.97, Z:1.24 [[ 8.11807768e-01 5.83809619e-01 1.15963889e-02 2.42647786e+02] [-5.83759376e-01 8.11890412e-01 -7.67790696e-03 -6.09674763e+01] [-1.38974329e-02 -5.36516200e-04 9.99903282e-01 1.24241299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.922320588 meters 0.026353940857794307 Centerline is valid? [True, True] Translation: X:242.68, Y:-60.98, Z:1.24 [[ 8.14718274e-01 5.79744817e-01 1.14052845e-02 2.42676495e+02] [-5.79695805e-01 8.14797973e-01 -7.55226021e-03 -6.09809638e+01] [-1.36713864e-02 -4.58631161e-04 9.99906437e-01 1.24284908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.952320588 meters 0.02623909756141345 Centerline is valid? [True, True] Translation: X:242.70, Y:-61.00, Z:1.24 [[ 8.15795699e-01 5.78188358e-01 1.32514227e-02 2.42704605e+02] [-5.78121816e-01 8.15903168e-01 -8.78563622e-03 -6.09960609e+01] [-1.58916303e-02 -4.93652305e-04 9.99873598e-01 1.24250900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.982320588 meters 0.02553050438155568 Centerline is valid? [True, True] Translation: X:242.73, Y:-61.01, Z:1.24 [[ 8.18551030e-01 5.74276599e-01 1.34387365e-02 2.42734859e+02] [-5.74207611e-01 8.18661230e-01 -8.91120403e-03 -6.10095164e+01] [-1.61192685e-02 -4.22349559e-04 9.99869987e-01 1.24443532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.012320588 meters 0.025301657070130525 Centerline is valid? [True, True] Translation: X:242.76, Y:-61.03, Z:1.24 [[ 8.19698541e-01 5.72629525e-01 1.37742048e-02 2.42762518e+02] [-5.72556637e-01 8.19814171e-01 -9.14452702e-03 -6.10257957e+01] [-1.65287145e-02 -3.90756947e-04 9.99863315e-01 1.24432705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.042320588 meters 0.02477897933869337 Centerline is valid? [True, True] Translation: X:242.79, Y:-61.04, Z:1.24 [[ 8.22082655e-01 5.69213624e-01 1.32649393e-02 2.42789108e+02] [-5.69145521e-01 8.22189611e-01 -8.81016971e-03 -6.10448326e+01] [-1.59211639e-02 -3.06993077e-04 9.99873203e-01 1.24277833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.072320588 meters 0.02474844913647648 Centerline is valid? [True, True] Translation: X:242.82, Y:-61.06, Z:1.24 [[ 8.22747292e-01 5.68263703e-01 1.27772649e-02 2.42815485e+02] [-5.68200252e-01 8.22846457e-01 -8.49602941e-03 -6.10627587e+01] [-1.53417123e-02 -2.69959944e-04 9.99882273e-01 1.24219982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.102320588 meters 0.024624208779065754 Centerline is valid? [True, True] Translation: X:242.84, Y:-61.08, Z:1.24 [[ 8.23640479e-01 5.66976273e-01 1.24204065e-02 2.42843165e+02] [-5.66916047e-01 8.23734091e-01 -8.26704363e-03 -6.10796114e+01] [-1.49183298e-02 -2.32255944e-04 9.99888689e-01 1.24263770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.132320588 meters 0.02450675575335238 Centerline is valid? [True, True] Translation: X:242.87, Y:-61.10, Z:1.24 [[ 8.26168281e-01 5.63288473e-01 1.23315783e-02 2.42871183e+02] [-5.63228687e-01 8.26260292e-01 -8.20833806e-03 -6.10950276e+01] [-1.48127557e-02 -1.64030096e-04 9.99890272e-01 1.24218802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.162320588 meters 0.024355337994884374 Centerline is valid? [True, True] Translation: X:242.90, Y:-61.11, Z:1.24 [[ 8.27525118e-01 5.61336455e-01 1.01765897e-02 2.42898477e+02] [-5.61295558e-01 8.27587683e-01 -6.77666032e-03 -6.11130880e+01] [-1.22260068e-02 -1.04217966e-04 9.99925254e-01 1.24246195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.192320588 meters 0.024303143564824024 Centerline is valid? [True, True] Translation: X:242.92, Y:-61.13, Z:1.24 [[ 8.28982486e-01 5.59148284e-01 1.18842321e-02 2.42923259e+02] [-5.59092257e-01 8.29067663e-01 -7.91571327e-03 -6.11335446e+01] [-1.42788901e-02 -8.23945053e-05 9.99898048e-01 1.24383127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.222320588 meters 0.02429175230533765 Centerline is valid? [True, True] Translation: X:242.95, Y:-61.15, Z:1.24 [[ 8.29390913e-01 5.58534542e-01 1.22425450e-02 2.42950781e+02] [-5.58474960e-01 8.29481260e-01 -8.15831531e-03 -6.11522827e+01] [-1.47116626e-02 -7.07222730e-05 9.99891775e-01 1.24409890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.252320588 meters 0.024196067125099023 Centerline is valid? [True, True] Translation: X:242.98, Y:-61.17, Z:1.24 [[ 8.29687034e-01 5.58108020e-01 1.16131008e-02 2.42977815e+02] [-5.58054340e-01 8.29768302e-01 -7.74074424e-03 -6.11696858e+01] [-1.39563543e-02 -5.83461644e-05 9.99902604e-01 1.24479445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.282320588 meters 0.02441682159898565 Centerline is valid? [True, True] Translation: X:243.01, Y:-61.19, Z:1.24 [[ 8.29165424e-01 5.58888011e-01 1.13530051e-02 2.43005447e+02] [-5.58836731e-01 8.29243141e-01 -7.57108146e-03 -6.11870185e+01] [-1.36457883e-02 -6.67973152e-05 9.99906890e-01 1.24306338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.312320588 meters 0.02441795094353402 Centerline is valid? [True, True] Translation: X:243.03, Y:-61.21, Z:1.24 [[ 8.27812662e-01 5.60887240e-01 1.14761178e-02 2.43031346e+02] [-5.60835009e-01 8.27892200e-01 -7.65494923e-03 -6.12053426e+01] [-1.37945518e-02 -9.93447543e-05 9.99904846e-01 1.24311849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.342320588 meters 0.024324575086812267 Centerline is valid? [True, True] Translation: X:243.06, Y:-61.22, Z:1.25 [[ 8.26305955e-01 5.63114371e-01 1.09851384e-02 2.43058505e+02] [-5.63066663e-01 8.26378962e-01 -7.33101251e-03 -6.12246738e+01] [-1.32060858e-02 -1.27705947e-04 9.99912788e-01 1.24582881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.372320588 meters 0.024468561989226992 Centerline is valid? [True, True] Translation: X:243.09, Y:-61.24, Z:1.25 [[ 8.25388482e-01 5.64453053e-01 1.12518810e-02 2.43086098e+02] [-5.64403101e-01 8.25465159e-01 -7.51076676e-03 -6.12420358e+01] [-1.35275109e-02 -1.51296130e-04 9.99908488e-01 1.24553814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40232058799998 meters 0.02452166180092584 Centerline is valid? [True, True] Translation: X:243.11, Y:-61.26, Z:1.25 [[ 8.24561931e-01 5.65668022e-01 1.08309859e-02 2.43114863e+02] [-5.65621796e-01 8.24633047e-01 -7.23336919e-03 -6.12579013e+01] [-1.30232745e-02 -1.61880800e-04 9.99915180e-01 1.24510530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43232058799998 meters 0.02451880108921397 Centerline is valid? [True, True] Translation: X:243.14, Y:-61.27, Z:1.25 [[ 8.24455923e-01 5.65831891e-01 1.03296706e-02 2.43141803e+02] [-5.65789837e-01 8.24520617e-01 -6.90020452e-03 -6.12749245e+01] [-1.24213822e-02 -1.55508187e-04 9.99922840e-01 1.24568786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46232058799998 meters 0.024666546482908547 Centerline is valid? [True, True] Translation: X:243.17, Y:-61.29, Z:1.25 [[ 8.23816232e-01 5.66757636e-01 1.06112452e-02 2.43169112e+02] [-5.66713310e-01 8.23884550e-01 -7.09030038e-03 -6.12917447e+01] [-1.27609229e-02 -1.72429370e-04 9.99918561e-01 1.24585402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49232058799998 meters 0.024759314039406805 Centerline is valid? [True, True] Translation: X:243.20, Y:-61.31, Z:1.25 [[ 8.23313662e-01 5.67483625e-01 1.08143198e-02 2.43196312e+02] [-5.67437621e-01 8.23384662e-01 -7.22807974e-03 -6.13086469e+01] [-1.30061620e-02 -1.85475113e-04 9.99915399e-01 1.24630279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52232058799999 meters 0.024705140857310594 Centerline is valid? [True, True] Translation: X:243.22, Y:-61.33, Z:1.25 [[ 8.22931368e-01 5.68035834e-01 1.09204323e-02 2.43223368e+02] [-5.67988944e-01 8.23003799e-01 -7.30108201e-03 -6.13267742e+01] [-1.31348334e-02 -1.94395383e-04 9.99913715e-01 1.24711459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.552320588 meters 0.024907348216732142 Centerline is valid? [True, True] Translation: X:243.25, Y:-61.34, Z:1.25 [[ 8.22574697e-01 5.68525578e-01 1.22284637e-02 2.43250310e+02] [-5.68466803e-01 8.22665556e-01 -8.17784124e-03 -6.13445728e+01] [-1.47092478e-02 -2.24590383e-04 9.99891788e-01 1.24631192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.582320588 meters 0.024830472244894226 Centerline is valid? [True, True] Translation: X:243.28, Y:-61.36, Z:1.25 [[ 8.22455896e-01 5.68710436e-01 1.16077579e-02 2.43277870e+02] [-5.68657463e-01 8.22537777e-01 -7.76500255e-03 -6.13619323e+01] [-1.39638574e-02 -2.14466051e-04 9.99902478e-01 1.24676940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.612320588 meters 0.024938567290639167 Centerline is valid? [True, True] Translation: X:243.30, Y:-61.38, Z:1.25 [[ 8.22514233e-01 5.68606261e-01 1.25402125e-02 2.43304762e+02] [-5.68544388e-01 8.22609791e-01 -8.39110868e-03 -6.13787875e+01] [-1.50869385e-02 -2.27861111e-04 9.99886160e-01 1.24635009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.642320588 meters 0.024888673019480917 Centerline is valid? [True, True] Translation: X:243.33, Y:-61.40, Z:1.25 [[ 8.22941946e-01 5.68017220e-01 1.10901655e-02 2.43332557e+02] [-5.67968746e-01 8.23016647e-01 -7.42307192e-03 -6.13952667e+01] [-1.33438235e-02 -1.90110140e-04 9.99910949e-01 1.24781522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.672320588 meters 0.024652837876028327 Centerline is valid? [True, True] Translation: X:243.36, Y:-61.41, Z:1.25 [[ 8.23560481e-01 5.67116088e-01 1.12905560e-02 2.43360531e+02] [-5.67065697e-01 8.23637852e-01 -7.56197352e-03 -6.14122154e+01] [-1.35878462e-02 -1.74744479e-04 9.99907666e-01 1.24896951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.702320588 meters 0.024579698951396355 Centerline is valid? [True, True] Translation: X:243.39, Y:-61.43, Z:1.25 [[ 8.24240719e-01 5.66137283e-01 1.07617021e-02 2.43387147e+02] [-5.66091400e-01 8.24310957e-01 -7.20920074e-03 -6.14301227e+01] [-1.29523863e-02 -1.49990210e-04 9.99916103e-01 1.24920496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.732320588 meters 0.02461349725824252 Centerline is valid? [True, True] Translation: X:243.41, Y:-61.45, Z:1.25 [[ 8.24364869e-01 5.65970990e-01 9.97000803e-03 2.43413294e+02] [-5.65931574e-01 8.24425145e-01 -6.68083157e-03 -6.14481862e+01] [-1.20006822e-02 -1.34899495e-04 9.99927980e-01 1.24914903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.762320588 meters 0.024539398232291624 Centerline is valid? [True, True] Translation: X:243.44, Y:-61.47, Z:1.25 [[ 8.24998764e-01 5.65048105e-01 9.88319904e-03 2.43439531e+02] [-5.65009284e-01 8.25057952e-01 -6.62454635e-03 -6.14663956e+01] [-1.18973993e-02 -1.18856661e-04 9.99929216e-01 1.24909007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.792320588 meters 0.02439765341786855 Centerline is valid? [True, True] Translation: X:243.47, Y:-61.48, Z:1.25 [[ 8.25132591e-01 5.64865924e-01 9.09366650e-03 2.43466768e+02] [-5.64833027e-01 8.25182693e-01 -6.09715035e-03 -6.14843362e+01] [-1.09480087e-02 -1.05445709e-04 9.99940063e-01 1.25025197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.822320588 meters 0.02454142791165133 Centerline is valid? [True, True] Translation: X:243.49, Y:-61.50, Z:1.25 [[ 8.24934258e-01 5.65158175e-01 8.92788969e-03 2.43493773e+02] [-5.65126451e-01 8.24982561e-01 -5.98900176e-03 -6.15030048e+01] [-1.07500866e-02 -1.04853899e-04 9.99942211e-01 1.25092956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.852320588 meters 0.024492014648526742 Centerline is valid? [True, True] Translation: X:243.52, Y:-61.52, Z:1.25 [[ 8.24677212e-01 5.65546067e-01 8.07108350e-03 2.43520118e+02] [-5.65520146e-01 8.24716701e-01 -5.41548223e-03 -6.15216291e+01] [-9.71906203e-03 -9.83355317e-05 9.99952764e-01 1.25150221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.882320588 meters 0.024568051764682054 Centerline is valid? [True, True] Translation: X:243.55, Y:-61.54, Z:1.25 [[ 8.23983015e-01 5.66558672e-01 7.95378722e-03 2.43547066e+02] [-5.66533520e-01 8.24021395e-01 -5.33952194e-03 -6.15415964e+01] [-9.57924330e-03 -1.06411689e-04 9.99954112e-01 1.25131206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.912320588 meters 0.024565344234760228 Centerline is valid? [True, True] Translation: X:243.57, Y:-61.56, Z:1.25 [[ 8.23542499e-01 5.67218350e-01 6.41055897e-03 2.43573148e+02] [-5.67202023e-01 8.23567444e-01 -4.30457639e-03 -6.15612506e+01] [-7.72116239e-03 -9.10804247e-05 9.99970187e-01 1.25127811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.942320588 meters 0.02466153686391607 Centerline is valid? [True, True] Translation: X:243.60, Y:-61.58, Z:1.25 [[ 8.23504405e-01 5.67267751e-01 6.91328019e-03 2.43600317e+02] [-5.67248746e-01 8.23533417e-01 -4.64450341e-03 -6.15801079e+01] [-8.32799426e-03 -9.67805065e-05 9.99965317e-01 1.25052082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.972320588 meters 0.024588328039621632 Centerline is valid? [True, True] Translation: X:243.63, Y:-61.60, Z:1.25 [[ 8.24066869e-01 5.66438756e-01 7.80580667e-03 2.43626561e+02] [-5.66414469e-01 8.24103832e-01 -5.24623541e-03 -6.16005587e+01] [-9.40446624e-03 -9.80730532e-05 9.99955772e-01 1.25206940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.002320588 meters 0.024525027290417195 Centerline is valid? [True, True] Translation: X:243.65, Y:-61.62, Z:1.25 [[ 8.24273451e-01 5.66125458e-01 8.67430987e-03 2.43653912e+02] [-5.66095424e-01 8.24319086e-01 -5.83233198e-03 -6.16197870e+01] [-1.04522308e-02 -1.03050714e-04 9.99945369e-01 1.25342458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.032320588 meters 0.024489228650733875 Centerline is valid? [True, True] Translation: X:243.68, Y:-61.64, Z:1.25 [[ 8.23970113e-01 5.66560585e-01 9.07504685e-03 2.43679565e+02] [-5.66527647e-01 8.24020080e-01 -6.11011510e-03 -6.16399568e+01] [-1.09397712e-02 -1.06712707e-04 9.99940153e-01 1.25325604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.062320588 meters 0.02451983209293985 Centerline is valid? [True, True] Translation: X:243.71, Y:-61.66, Z:1.25 [[ 8.23987775e-01 5.66545116e-01 8.41300642e-03 2.43705538e+02] [-5.66516812e-01 8.24030716e-01 -5.66397972e-03 -6.16590162e+01] [-1.01414758e-02 -9.90595222e-05 9.99948569e-01 1.25315472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.092320588 meters 0.024517077624801067 Centerline is valid? [True, True] Translation: X:243.73, Y:-61.68, Z:1.25 [[ 8.23507772e-01 5.67231846e-01 9.10945253e-03 2.43730748e+02] [-5.67198685e-01 8.23558146e-01 -6.13453820e-03 -6.16792104e+01] [-1.09818693e-02 -1.15029604e-04 9.99939691e-01 1.25180462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.122320588 meters 0.024594729746781153 Centerline is valid? [True, True] Translation: X:243.76, Y:-61.70, Z:1.25 [[ 8.23160507e-01 5.67713451e-01 1.04027463e-02 2.43756734e+02] [-5.67670220e-01 8.23226226e-01 -7.00735974e-03 -6.16980035e+01] [-1.25419860e-02 -1.37147500e-04 9.99921337e-01 1.25164016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15232058799998 meters 0.024709964834945815 Centerline is valid? [True, True] Translation: X:243.78, Y:-61.72, Z:1.25 [[ 8.23290809e-01 5.67551200e-01 8.82491182e-03 2.43783078e+02] [-5.67519993e-01 8.23338098e-01 -5.95260079e-03 -6.17162966e+01] [-1.06442918e-02 -1.07592368e-04 9.99943342e-01 1.25206797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18232058799998 meters 0.024422643110075835 Centerline is valid? [True, True] Translation: X:243.81, Y:-61.74, Z:1.25 [[ 8.22745033e-01 5.68359502e-01 7.62153975e-03 2.43808681e+02] [-5.68336199e-01 8.22780327e-01 -5.14755958e-03 -6.17382223e+01] [-9.19651737e-03 -9.64678625e-05 9.99957706e-01 1.25416350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21232058799998 meters 0.024525281937294304 Centerline is valid? [True, True] Translation: X:243.84, Y:-61.76, Z:1.25 [[ 8.22566353e-01 5.68624034e-01 7.16261680e-03 2.43835245e+02] [-5.68603413e-01 8.22597532e-01 -4.84343503e-03 -6.17587696e+01] [-8.64604447e-03 -8.86416679e-05 9.99962618e-01 1.25472314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24232058799998 meters 0.024438913189005235 Centerline is valid? [True, True] Translation: X:243.86, Y:-61.78, Z:1.26 [[ 8.21606153e-01 5.69993596e-01 8.40409345e-03 2.43860808e+02] [-5.69965232e-01 8.21649126e-01 -5.68755113e-03 -6.17787268e+01] [-1.01470838e-02 -1.17114063e-04 9.99948510e-01 1.25541854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27232058799999 meters 0.024562358706779676 Centerline is valid? [True, True] Translation: X:243.89, Y:-61.80, Z:1.26 [[ 8.21087941e-01 5.70734551e-01 8.75587201e-03 2.43888302e+02] [-5.70703728e-01 8.21134616e-01 -5.93278662e-03 -6.17978659e+01] [-1.05757959e-02 -1.25669248e-04 9.99944067e-01 1.25593442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.302320588 meters 0.02457885418396502 Centerline is valid? [True, True] Translation: X:243.92, Y:-61.82, Z:1.25 [[ 8.21545179e-01 5.70055374e-01 1.00194770e-02 2.43915208e+02] [-5.70014874e-01 8.21606265e-01 -6.79627929e-03 -6.18166013e+01] [-1.21063206e-02 -1.27800425e-04 9.99926708e-01 1.25416376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.332320588 meters 0.02455435304595695 Centerline is valid? [True, True] Translation: X:243.94, Y:-61.83, Z:1.25 [[ 8.21607840e-01 5.69986692e-01 8.70220164e-03 2.43941774e+02] [-5.69956076e-01 8.21653917e-01 -5.90858419e-03 -6.18349443e+01] [-1.05180124e-02 -1.05333608e-04 9.99944679e-01 1.25462378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.362320588 meters 0.02452173584329318 Centerline is valid? [True, True] Translation: X:243.97, Y:-61.85, Z:1.26 [[ 8.22529589e-01 5.68667683e-01 7.88305036e-03 2.43967915e+02] [-5.68642445e-01 8.22567360e-01 -5.35808077e-03 -6.18531005e+01] [-9.53130729e-03 -7.54570577e-05 9.99954573e-01 1.25595889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.392320588 meters 0.024225536832267483 Centerline is valid? [True, True] Translation: X:243.99, Y:-61.87, Z:1.26 [[ 8.24871163e-01 5.65284187e-01 6.43055704e-03 2.43993760e+02] [-5.65267252e-01 8.24896228e-01 -4.37572465e-03 -6.18730017e+01] [-7.77807020e-03 -2.55742193e-05 9.99969750e-01 1.25757394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.422320588 meters 0.0240901478237934 Centerline is valid? [True, True] Translation: X:244.02, Y:-61.89, Z:1.26 [[ 8.26219598e-01 5.63299537e-01 7.40323079e-03 2.44020536e+02] [-5.63276958e-01 8.26252765e-01 -5.04350440e-03 -6.18922422e+01] [-8.95794361e-03 -3.02714607e-06 9.99959877e-01 1.25738832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.452320588 meters 0.024034794057956152 Centerline is valid? [True, True] Translation: X:244.05, Y:-61.91, Z:1.26 [[ 8.28185287e-01 5.60385313e-01 8.79952339e-03 2.44045714e+02] [-5.60353197e-01 8.28232032e-01 -5.99956649e-03 -6.19123519e+01] [-1.06501161e-02 3.79116266e-05 9.99943285e-01 1.25711472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.482320588 meters 0.024294965478922657 Centerline is valid? [True, True] Translation: X:244.07, Y:-61.93, Z:1.26 [[ 8.28789963e-01 5.59492587e-01 8.67424208e-03 2.44072136e+02] [-5.59461256e-01 8.28835353e-01 -5.92120170e-03 -6.19322351e+01] [-1.05023870e-02 5.45301721e-05 9.99944847e-01 1.25686441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.512320588 meters 0.024241744081425882 Centerline is valid? [True, True] Translation: X:244.10, Y:-61.96, Z:1.26 [[ 8.28905156e-01 5.59342658e-01 7.21346454e-03 2.44095779e+02] [-5.59320942e-01 8.28936541e-01 -4.92905379e-03 -6.19552718e+01] [-8.73653439e-03 5.10763187e-05 9.99961834e-01 1.25662978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.542320588 meters 0.024241744081425882 Centerline is valid? [True, True] Translation: X:244.12, Y:-61.97, Z:1.26 [[ 8.28611336e-01 5.59777867e-01 7.21068825e-03 2.44122817e+02] [-5.59756132e-01 8.28642708e-01 -4.93311573e-03 -6.19733655e+01] [-8.73653323e-03 5.14086487e-05 9.99961834e-01 1.25679364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.572320588 meters 0.02415366778524507 Centerline is valid? [True, True] Translation: X:244.15, Y:-61.99, Z:1.26 [[ 8.27413801e-01 5.61531611e-01 8.28562891e-03 2.44148047e+02] [-5.61502940e-01 8.27455285e-01 -5.67445504e-03 -6.19942700e+01] [-1.00423733e-02 4.27174236e-05 9.99949573e-01 1.25673835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.602320588 meters 0.024041007251713077 Centerline is valid? [True, True] Translation: X:244.17, Y:-62.01, Z:1.26 [[ 8.26380003e-01 5.63063913e-01 7.42438998e-03 2.44174093e+02] [-5.63040911e-01 8.26413353e-01 -5.08954795e-03 -6.20135037e+01] [-9.00135580e-03 2.56653561e-05 9.99959487e-01 1.25790452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.632320588 meters 0.023904497278764293 Centerline is valid? [True, True] Translation: X:244.20, Y:-62.03, Z:1.26 [[ 8.23215955e-01 5.67687951e-01 6.77353016e-03 2.44201193e+02] [-5.67668913e-01 8.23243821e-01 -4.64930618e-03 -6.20325389e+01] [-8.21562195e-03 -1.77394706e-05 9.99966251e-01 1.25932486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.662320588 meters 0.023944840500329804 Centerline is valid? [True, True] Translation: X:244.23, Y:-62.05, Z:1.26 [[ 8.21450738e-01 5.70227413e-01 7.70606136e-03 2.44227479e+02] [-5.70202841e-01 8.21486881e-01 -5.29379589e-03 -6.20513691e+01] [-9.34909585e-03 -4.54255488e-05 9.99956295e-01 1.25867490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.692320588 meters 0.024067350518757292 Centerline is valid? [True, True] Translation: X:244.25, Y:-62.07, Z:1.26 [[ 8.20704212e-01 5.71288825e-01 8.58337070e-03 2.44254350e+02] [-5.71258327e-01 8.20749094e-01 -5.90330407e-03 -6.20708844e+01] [-1.04172854e-02 -5.84554645e-05 9.99945737e-01 1.25869550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.722320588 meters 0.024059395595004432 Centerline is valid? [True, True] Translation: X:244.28, Y:-62.09, Z:1.26 [[ 8.20513544e-01 5.71543933e-01 9.74971903e-03 2.44281940e+02] [-5.71504515e-01 8.20571465e-01 -6.71269347e-03 -6.20894999e+01] [-1.18369404e-02 -6.41525400e-05 9.99929939e-01 1.25990268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.752320588 meters 0.02390368681243612 Centerline is valid? [True, True] Translation: X:244.31, Y:-62.11, Z:1.26 [[ 8.21786045e-01 5.69723621e-01 9.09345605e-03 2.44308770e+02] [-5.69689153e-01 8.21836355e-01 -6.26694582e-03 -6.21071649e+01] [-1.10437598e-02 -3.03546594e-05 9.99939015e-01 1.26072315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.782320588 meters 0.024105480011276957 Centerline is valid? [True, True] Translation: X:244.34, Y:-62.13, Z:1.26 [[ 8.22660865e-01 5.68461656e-01 8.96922897e-03 2.44336031e+02] [-5.68427965e-01 8.22709758e-01 -6.18891019e-03 -6.21265618e+01] [-1.08972303e-02 -6.98635335e-06 9.99940623e-01 1.25939588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.812320588 meters 0.024009827110262644 Centerline is valid? [True, True] Translation: X:244.36, Y:-62.15, Z:1.26 [[ 8.24394063e-01 5.65956561e-01 8.22194287e-03 2.44361367e+02] [-5.65928059e-01 8.24435061e-01 -5.67992977e-03 -6.21474698e+01] [-9.99305149e-03 2.94722044e-05 9.99950068e-01 1.25822884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.842320588 meters 0.023938945889454284 Centerline is valid? [True, True] Translation: X:244.39, Y:-62.17, Z:1.26 [[ 8.24988060e-01 5.65089478e-01 8.28145282e-03 2.44388551e+02] [-5.65060454e-01 8.25029624e-01 -5.72748228e-03 -6.21660015e+01] [-1.00689839e-02 4.55830106e-05 9.99949305e-01 1.25774536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.872320588 meters 0.024029430270849382 Centerline is valid? [True, True] Translation: X:244.42, Y:-62.18, Z:1.26 [[ 8.24916669e-01 5.65175189e-01 9.46018224e-03 2.44415455e+02] [-5.65137257e-01 8.24970910e-01 -6.54816840e-03 -6.21843761e+01] [-1.15052375e-02 5.53918277e-05 9.99933811e-01 1.25803908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90232058799998 meters 0.02405858657994499 Centerline is valid? [True, True] Translation: X:244.44, Y:-62.20, Z:1.26 [[ 8.25637344e-01 5.64125128e-01 9.26372179e-03 2.44441455e+02] [-5.64088603e-01 8.25689309e-01 -6.41982199e-03 -6.22042882e+01] [-1.12705389e-02 7.48848934e-05 9.99936483e-01 1.25921143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93232058799998 meters 0.02406599652220239 Centerline is valid? [True, True] Translation: X:244.47, Y:-62.23, Z:1.26 [[ 8.25635593e-01 5.64135572e-01 8.77067690e-03 2.44466247e+02] [-5.64102757e-01 8.25682173e-01 -6.08513523e-03 -6.22263624e+01] [-1.06746328e-02 7.65412154e-05 9.99943022e-01 1.25821734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96232058799998 meters 0.024176406173917822 Centerline is valid? [True, True] Translation: X:244.49, Y:-62.25, Z:1.26 [[ 8.25918618e-01 5.63724082e-01 8.57884773e-03 2.44492513e+02] [-5.63692595e-01 8.25963166e-01 -5.95872488e-03 -6.22463998e+01] [-1.04448889e-02 8.55888820e-05 9.99945447e-01 1.25819422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99232058799998 meters 0.02425892268298146 Centerline is valid? [True, True] Translation: X:244.52, Y:-62.27, Z:1.26 [[ 8.25862547e-01 5.63801472e-01 8.88558285e-03 2.44518741e+02] [-5.63767623e-01 8.25910341e-01 -6.17863788e-03 -6.22667139e+01] [-1.08222199e-02 9.33016923e-05 9.99941434e-01 1.25769528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02232058799999 meters 0.024151515321150084 Centerline is valid? [True, True] Translation: X:244.54, Y:-62.29, Z:1.26 [[ 8.25729020e-01 5.63986226e-01 9.54580683e-03 2.44543631e+02] [-5.63947090e-01 8.25784188e-01 -6.64484946e-03 -6.22890082e+01] [-1.16303799e-02 1.03515049e-04 9.99932359e-01 1.25846616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.052320588 meters 0.024018405034314166 Centerline is valid? [True, True] Translation: X:244.57, Y:-62.31, Z:1.26 [[ 8.25204430e-01 5.64763553e-01 8.93187984e-03 2.44570028e+02] [-5.64729257e-01 8.25252762e-01 -6.22465875e-03 -6.23096507e+01] [-1.08865189e-02 9.25221122e-05 9.99940736e-01 1.25945573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.082320588 meters 0.023976162033447913 Centerline is valid? [True, True] Translation: X:244.60, Y:-62.33, Z:1.26 [[ 8.23135348e-01 5.67781511e-01 8.50617860e-03 2.44595306e+02] [-5.67750508e-01 8.23179296e-01 -5.93359636e-03 -6.23303831e+01] [-1.03710964e-02 5.47656797e-05 9.99946217e-01 1.25987189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.112320588 meters 0.02389231290486582 Centerline is valid? [True, True] Translation: X:244.62, Y:-62.35, Z:1.26 [[ 8.22147730e-01 5.69215565e-01 8.17005573e-03 2.44622204e+02] [-5.69186966e-01 8.22188323e-01 -5.70606227e-03 -6.23494867e+01] [-9.96530388e-03 4.09369159e-05 9.99950344e-01 1.26059765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.142320588 meters 0.02399392800728109 Centerline is valid? [True, True] Translation: X:244.65, Y:-62.37, Z:1.26 [[ 8.20052109e-01 5.72196103e-01 1.03033009e-02 2.44648020e+02] [-5.72150779e-01 8.20116833e-01 -7.20180161e-03 -6.23693232e+01] [-1.25707533e-02 1.08109406e-05 9.99920985e-01 1.25898785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.172320588 meters 0.023947037295166975 Centerline is valid? [True, True] Translation: X:244.68, Y:-62.39, Z:1.26 [[ 8.19008653e-01 5.73691800e-01 1.01264239e-02 2.44675039e+02] [-5.73648029e-01 8.19071254e-01 -7.08666695e-03 -6.23890973e+01] [-1.23598254e-02 -4.96152143e-06 9.99923614e-01 1.26043776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.202320588 meters 0.024012074718433873 Centerline is valid? [True, True] Translation: X:244.70, Y:-62.41, Z:1.26 [[ 8.17966031e-01 5.75162839e-01 1.09216061e-02 2.44701982e+02] [-5.75111941e-01 8.18038941e-01 -7.65158642e-03 -6.24082707e+01] [-1.33352072e-02 -2.24082909e-05 9.99911082e-01 1.26139905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.232320588 meters 0.02398788531053792 Centerline is valid? [True, True] Translation: X:244.73, Y:-62.43, Z:1.26 [[ 8.15869355e-01 5.78137896e-01 1.06662218e-02 2.44730000e+02] [-5.78089494e-01 8.15939072e-01 -7.48114131e-03 -6.24262750e+01] [-1.30281184e-02 -6.23968118e-05 9.99915129e-01 1.26106499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.262320588 meters 0.024003452414402788 Centerline is valid? [True, True] Translation: X:244.76, Y:-62.44, Z:1.26 [[ 8.14924233e-01 5.79496185e-01 9.09209100e-03 2.44757460e+02] [-5.79461095e-01 8.14974948e-01 -6.37756614e-03 -6.24433022e+01] [-1.11056016e-02 -7.12798156e-05 9.99938328e-01 1.26112687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.292320588 meters 0.023971869836199203 Centerline is valid? [True, True] Translation: X:244.78, Y:-62.46, Z:1.26 [[ 8.14587058e-01 5.79964347e-01 9.44887098e-03 2.44784991e+02] [-5.79926366e-01 8.14641854e-01 -6.63772584e-03 -6.24621845e+01] [-1.15470901e-02 -7.26438482e-05 9.99933327e-01 1.26013214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.322320588 meters 0.024019694382841572 Centerline is valid? [True, True] Translation: X:244.81, Y:-62.48, Z:1.26 [[ 8.13989453e-01 5.80805870e-01 9.25803843e-03 2.44811786e+02] [-5.80769378e-01 8.14042097e-01 -6.51108638e-03 -6.24809939e+01] [-1.13181102e-02 -7.68295837e-05 9.99935945e-01 1.26048439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.352320588 meters 0.024016805406265638 Centerline is valid? [True, True] Translation: X:244.84, Y:-62.50, Z:1.26 [[ 8.13782826e-01 5.81081959e-01 1.00632704e-02 2.44838423e+02] [-5.81038767e-01 8.13845041e-01 -7.08526404e-03 -6.25000523e+01] [-1.23070618e-02 -8.12840385e-05 9.99924262e-01 1.26029038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.382320588 meters 0.024011989813695237 Centerline is valid? [True, True] Translation: X:244.87, Y:-62.52, Z:1.26 [[ 8.12919505e-01 5.82291153e-01 9.94439608e-03 2.44865737e+02] [-5.82248969e-01 8.12980323e-01 -7.00952151e-03 -6.25186209e+01] [-1.21661807e-02 -9.19376060e-05 9.99925985e-01 1.26113272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.412320588 meters 0.024089957354933664 Centerline is valid? [True, True] Translation: X:244.89, Y:-62.54, Z:1.26 [[ 8.10560811e-01 5.85580046e-01 9.33712919e-03 2.44893940e+02] [-5.85542986e-01 8.10614578e-01 -6.58921127e-03 -6.25353846e+01] [-1.14273237e-02 -1.26334078e-04 9.99934698e-01 1.26062580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.442320588 meters 0.024237956220588067 Centerline is valid? [True, True] Translation: X:244.92, Y:-62.55, Z:1.26 [[ 8.09105914e-01 5.87595704e-01 8.88307492e-03 2.44921515e+02] [-5.87562203e-01 8.09154663e-01 -6.27607350e-03 -6.25528537e+01] [-1.08755753e-02 -1.41350890e-04 9.99940849e-01 1.25956681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.472320588 meters 0.02426700056925299 Centerline is valid? [True, True] Translation: X:244.95, Y:-62.57, Z:1.26 [[ 8.07910096e-01 5.89247318e-01 8.29904569e-03 2.44949821e+02] [-5.89218096e-01 8.07952707e-01 -5.87020781e-03 -6.25705123e+01] [-1.01642406e-02 -1.47347743e-04 9.99948332e-01 1.26022701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.502320588 meters 0.02435285630794322 Centerline is valid? [True, True] Translation: X:244.98, Y:-62.59, Z:1.26 [[ 8.06610951e-01 5.90988661e-01 1.05439818e-02 2.44977440e+02] [-5.90941563e-01 8.06679836e-01 -7.46401908e-03 -6.25871983e+01] [-1.29167681e-02 -2.10317549e-04 9.99916553e-01 1.26259376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.532320588 meters 0.02445924392762985 Centerline is valid? [True, True] Translation: X:245.00, Y:-62.61, Z:1.26 [[ 8.05929238e-01 5.91916519e-01 1.06253569e-02 2.45004236e+02] [-5.91868666e-01 8.05999247e-01 -7.52975029e-03 -6.26056195e+01] [-1.30210132e-02 -2.20369891e-04 9.99915199e-01 1.26405292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.562320588 meters 0.024241324534420714 Centerline is valid? [True, True] Translation: X:245.03, Y:-62.62, Z:1.26 [[ 8.05895822e-01 5.91968847e-01 1.02375778e-02 2.45033061e+02] [-5.91924321e-01 8.05960819e-01 -7.26337594e-03 -6.26225922e+01] [-1.25507789e-02 -2.06346950e-04 9.99921215e-01 1.26294138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.592320588 meters 0.024320947138690863 Centerline is valid? [True, True] Translation: X:245.06, Y:-62.64, Z:1.26 [[ 8.05827082e-01 5.92099961e-01 7.76857217e-03 2.45061164e+02] [-5.92074273e-01 8.05864513e-01 -5.51746304e-03 -6.26392081e+01] [-9.52730627e-03 -1.53450578e-04 9.99954602e-01 1.26139106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.622320588 meters 0.0242491666307244 Centerline is valid? [True, True] Translation: X:245.09, Y:-62.66, Z:1.26 [[ 8.05632374e-01 5.92357265e-01 8.32760526e-03 2.45089558e+02] [-5.92327690e-01 8.05675397e-01 -5.92136851e-03 -6.26563076e+01] [-1.02169123e-02 -1.62225017e-04 9.99947793e-01 1.26016771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65232058799998 meters 0.024282364255160633 Centerline is valid? [True, True] Translation: X:245.12, Y:-62.67, Z:1.26 [[ 8.05539178e-01 5.92453892e-01 1.02478760e-02 2.45116285e+02] [-5.92409038e-01 8.05604337e-01 -7.29275926e-03 -6.26741470e+01] [-1.25763569e-02 -1.96331034e-04 9.99920895e-01 1.26058517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68232058799998 meters 0.0241213883680766 Centerline is valid? [True, True] Translation: X:245.14, Y:-62.69, Z:1.26 [[ 8.05179485e-01 5.92954297e-01 9.54979012e-03 2.45143254e+02] [-5.92915285e-01 8.05236095e-01 -6.80417866e-03 -6.26930655e+01] [-1.17244027e-02 -1.83631456e-04 9.99931250e-01 1.26350059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71232058799998 meters 0.02412129246180826 Centerline is valid? [True, True] Translation: X:245.17, Y:-62.71, Z:1.26 [[ 8.05172409e-01 5.92965012e-01 9.48084666e-03 2.45171404e+02] [-5.92926472e-01 8.05228206e-01 -6.76275920e-03 -6.27097132e+01] [-1.16443247e-02 -1.76257846e-04 9.99932187e-01 1.26394415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74232058799998 meters 0.023989655654850985 Centerline is valid? [True, True] Translation: X:245.20, Y:-62.73, Z:1.26 [[ 8.05630660e-01 5.92352015e-01 8.85042187e-03 2.45198839e+02] [-5.92318328e-01 8.05679259e-01 -6.31908762e-03 -6.27274495e+01] [-1.08737256e-02 -1.51416352e-04 9.99940868e-01 1.26394000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77232058799999 meters 0.02405147996112909 Centerline is valid? [True, True] Translation: X:245.23, Y:-62.75, Z:1.26 [[ 8.05584049e-01 5.92421472e-01 8.43448678e-03 2.45225678e+02] [-5.92390804e-01 8.05628190e-01 -6.02950549e-03 -6.27472567e+01] [-1.03670688e-02 -1.39238958e-04 9.99946251e-01 1.26128194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.802320588 meters 0.024050691138257415 Centerline is valid? [True, True] Translation: X:245.25, Y:-62.77, Z:1.26 [[ 8.05030859e-01 5.93192716e-01 6.90774394e-03 2.45251661e+02] [-5.93172132e-01 8.05060487e-01 -4.94311981e-03 -6.27657135e+01] [-8.49337436e-03 -1.18117213e-04 9.99963924e-01 1.26216992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.832320588 meters 0.0241784842872635 Centerline is valid? [True, True] Translation: X:245.28, Y:-62.78, Z:1.26 [[ 8.04540459e-01 5.93836348e-01 8.54646936e-03 2.45277830e+02] [-5.93804818e-01 8.04585837e-01 -6.12116694e-03 -6.27839399e+01] [-1.05113396e-02 -1.50208230e-04 9.99944743e-01 1.26227568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.862320588 meters 0.024059107777696508 Centerline is valid? [True, True] Translation: X:245.30, Y:-62.80, Z:1.26 [[ 8.03719886e-01 5.94936056e-01 9.24305549e-03 2.45304244e+02] [-5.94899179e-01 8.03773015e-01 -6.62627441e-03 -6.28019451e+01] [-1.13715281e-02 -1.73017611e-04 9.99935327e-01 1.26447072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.892320588 meters 0.024086337332885985 Centerline is valid? [True, True] Translation: X:245.33, Y:-62.82, Z:1.26 [[ 8.03119307e-01 5.95756673e-01 8.56532719e-03 2.45330985e+02] [-5.95724973e-01 8.03164964e-01 -6.14796695e-03 -6.28216690e+01] [-1.05420630e-02 -1.65028349e-04 9.99944417e-01 1.26361707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.922320588 meters 0.023933444166676657 Centerline is valid? [True, True] Translation: X:245.36, Y:-62.84, Z:1.26 [[ 8.02418367e-01 5.96709459e-01 7.91117427e-03 2.45358064e+02] [-5.96682398e-01 8.02457349e-01 -5.68504101e-03 -6.28405715e+01] [-9.74069767e-03 -1.58677112e-04 9.99952546e-01 1.26413899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.952320588 meters 0.02413348087016103 Centerline is valid? [True, True] Translation: X:245.39, Y:-62.86, Z:1.26 [[ 8.02125420e-01 5.97094336e-01 8.55358619e-03 2.45385307e+02] [-5.97062654e-01 8.02171007e-01 -6.15334659e-03 -6.28586743e+01] [-1.05355672e-02 -1.71271153e-04 9.99944485e-01 1.26498990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.982320588 meters 0.02408299054198441 Centerline is valid? [True, True] Translation: X:245.41, Y:-62.88, Z:1.26 [[ 8.02378037e-01 5.96729534e-01 1.01660716e-02 2.45413008e+02] [-5.96684654e-01 8.02442413e-01 -7.32100528e-03 -6.28765364e+01] [-1.25263471e-02 -1.91725066e-04 9.99921524e-01 1.26490992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.012320588 meters 0.023885876890577175 Centerline is valid? [True, True] Translation: X:245.44, Y:-62.90, Z:1.26 [[ 8.02654394e-01 5.96374955e-01 9.10147923e-03 2.45439154e+02] [-5.96338889e-01 8.02705978e-01 -6.56070187e-03 -6.28953701e+01] [-1.12184501e-02 -1.61589831e-04 9.99937058e-01 1.26486067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.042320588 meters 0.023766510734589325 Centerline is valid? [True, True] Translation: X:245.47, Y:-62.91, Z:1.26 [[ 8.02694432e-01 5.96341662e-01 7.63358252e-03 2.45465799e+02] [-5.96316235e-01 8.02730718e-01 -5.50842007e-03 -6.29138756e+01] [-9.41261155e-03 -1.30451062e-04 9.99955692e-01 1.26362705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.072320588 meters 0.02374594180070647 Centerline is valid? [True, True] Translation: X:245.49, Y:-62.93, Z:1.26 [[ 8.02768704e-01 5.96242123e-01 7.59860263e-03 2.45494218e+02] [-5.96216862e-01 8.02804656e-01 -5.48974939e-03 -6.29311371e+01] [-9.37341340e-03 -1.23416018e-04 9.99956061e-01 1.26312262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.102320588 meters 0.02367277423196947 Centerline is valid? [True, True] Translation: X:245.52, Y:-62.95, Z:1.26 [[ 8.03533393e-01 5.95199152e-01 8.48859023e-03 2.45523355e+02] [-5.95167501e-01 8.03578220e-01 -6.13925163e-03 -6.29476124e+01] [-1.04753236e-02 -1.19039343e-04 9.99945125e-01 1.26330272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.132320588 meters 0.023784418316705525 Centerline is valid? [True, True] Translation: X:245.55, Y:-62.97, Z:1.26 [[ 8.03759822e-01 5.94870126e-01 9.98409260e-03 2.45549584e+02] [-5.94826222e-01 8.03821819e-01 -7.22840612e-03 -6.29675444e+01] [-1.23253943e-02 -1.28897659e-04 9.99924031e-01 1.26287959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.162320588 meters 0.023609060482457936 Centerline is valid? [True, True] Translation: X:245.57, Y:-62.99, Z:1.26 [[ 8.05359632e-01 5.92706740e-01 9.72542850e-03 2.45574816e+02] [-5.92664845e-01 8.05418346e-01 -7.04766198e-03 -6.29883490e+01] [-1.20102353e-02 -8.80171186e-05 9.99927871e-01 1.26404580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.192320588 meters 0.023430262593950618 Centerline is valid? [True, True] Translation: X:245.60, Y:-63.01, Z:1.26 [[ 8.06330171e-01 5.91380161e-01 1.00578489e-02 2.45602129e+02] [-5.91335145e-01 8.06392895e-01 -7.29696107e-03 -6.30073430e+01] [-1.24258559e-02 -6.37996810e-05 9.99922794e-01 1.26391469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.222320588 meters 0.023417342267898905 Centerline is valid? [True, True] Translation: X:245.63, Y:-63.03, Z:1.26 [[ 8.07096842e-01 5.90322888e-01 1.06571976e-02 2.45628788e+02] [-5.90272143e-01 8.07167198e-01 -7.74024157e-03 -6.30265636e+01] [-1.31713821e-02 -4.35223424e-05 9.99913253e-01 1.26333440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.252320588 meters 0.02353304583740007 Centerline is valid? [True, True] Translation: X:245.65, Y:-63.05, Z:1.26 [[ 8.09020410e-01 5.87678254e-01 1.09656939e-02 2.45653142e+02] [-5.87624164e-01 8.09094723e-01 -7.97315190e-03 -6.30486172e+01] [-1.35579330e-02 6.73591404e-06 9.99908087e-01 1.26360164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.282320588 meters 0.02345050703342041 Centerline is valid? [True, True] Translation: X:245.68, Y:-63.07, Z:1.26 [[ 8.09179113e-01 5.87461381e-01 1.08760841e-02 2.45678493e+02] [-5.87408125e-01 8.09252202e-01 -7.91000750e-03 -6.30698133e+01] [-1.34483189e-02 1.19126984e-05 9.99909567e-01 1.26466844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.312320588 meters 0.02349078048336554 Centerline is valid? [True, True] Translation: X:245.70, Y:-63.09, Z:1.27 [[ 8.08119537e-01 5.88950873e-01 8.92659402e-03 2.45703327e+02] [-5.88915000e-01 8.08168837e-01 -6.50026689e-03 -6.30909324e+01] [-1.10425330e-02 -4.01244345e-06 9.99939029e-01 1.26629357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.342320588 meters 0.023236874899743586 Centerline is valid? [True, True] Translation: X:245.73, Y:-63.11, Z:1.27 [[ 8.06843922e-01 5.90703484e-01 8.50178198e-03 2.45730163e+02] [-5.90670963e-01 8.06888712e-01 -6.19834409e-03 -6.31106329e+01] [-1.05213754e-02 -2.06594994e-05 9.99944649e-01 1.26770670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.372320588 meters 0.023601384893460656 Centerline is valid? [True, True] Translation: X:245.76, Y:-63.13, Z:1.27 [[ 8.03865808e-01 5.94718003e-01 1.05004300e-02 2.45755277e+02] [-5.94668653e-01 8.03934381e-01 -7.66182581e-03 -6.31302447e+01] [-1.29982825e-02 -8.51967969e-05 9.99915515e-01 1.26745976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40232058799998 meters 0.023433840989451792 Centerline is valid? [True, True] Translation: X:245.78, Y:-63.15, Z:1.27 [[ 8.02710484e-01 5.96277100e-01 1.04641706e-02 2.45781146e+02] [-5.96228106e-01 8.02778680e-01 -7.64433835e-03 -6.31499979e+01] [-1.29585570e-02 -1.02842091e-04 9.99916029e-01 1.26840249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43232058799998 meters 0.02380567166991813 Centerline is valid? [True, True] Translation: X:245.81, Y:-63.17, Z:1.27 [[ 8.01170754e-01 5.98348477e-01 1.02237118e-02 2.45807299e+02] [-5.98301771e-01 8.01235973e-01 -7.47702799e-03 -6.31706340e+01] [-1.26654740e-02 -1.26488739e-04 9.99919782e-01 1.26806080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46232058799998 meters 0.02380567166991813 Centerline is valid? [True, True] Translation: X:245.83, Y:-63.19, Z:1.27 [[ 8.00850849e-01 5.98776649e-01 1.02196984e-02 2.45833730e+02] [-5.98729908e-01 8.00916044e-01 -7.48251384e-03 -6.31895881e+01] [-1.26654750e-02 -1.26461538e-04 9.99919782e-01 1.26822466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49232058799998 meters 0.023817381976818305 Centerline is valid? [True, True] Translation: X:245.86, Y:-63.21, Z:1.27 [[ 7.99809077e-01 6.00197843e-01 8.24554478e-03 2.45858471e+02] [-6.00167429e-01 7.99851571e-01 -6.04323687e-03 -6.32104855e+01] [-1.02223497e-02 -1.15271708e-04 9.99947744e-01 1.26690378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52232058799999 meters 0.023903326552924042 Centerline is valid? [True, True] Translation: X:245.89, Y:-63.23, Z:1.27 [[ 7.99114828e-01 6.01108971e-01 9.13766603e-03 2.45885410e+02] [-6.01071610e-01 7.99167058e-01 -6.70327185e-03 -6.32274902e+01] [-1.13319185e-02 -1.35707705e-04 9.99935783e-01 1.26700841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.552320588 meters 0.023904323119283533 Centerline is valid? [True, True] Translation: X:245.91, Y:-63.25, Z:1.27 [[ 7.98150263e-01 6.02360261e-01 1.08753640e-02 2.45912034e+02] [-6.02307357e-01 7.98224332e-01 -7.98522091e-03 -6.32450973e+01] [-1.34909599e-02 -1.76905590e-04 9.99908977e-01 1.26722873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.582320588 meters 0.023931690148126787 Centerline is valid? [True, True] Translation: X:245.94, Y:-63.26, Z:1.27 [[ 7.97598135e-01 6.03086805e-01 1.11140120e-02 2.45939091e+02] [-6.03031493e-01 7.97675542e-01 -8.16989067e-03 -6.32644950e+01] [-1.37925288e-02 -1.85809702e-04 9.99904861e-01 1.26725063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.612320588 meters 0.02408050867823653 Centerline is valid? [True, True] Translation: X:245.96, Y:-63.29, Z:1.27 [[ 7.96250185e-01 6.04864635e-01 1.11542048e-02 2.45963013e+02] [-6.04808993e-01 7.96328279e-01 -8.20690645e-03 -6.32865905e+01] [-1.38464762e-02 -2.11412571e-04 9.99904111e-01 1.26875046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.642320588 meters 0.024129373102272315 Centerline is valid? [True, True] Translation: X:245.99, Y:-63.31, Z:1.27 [[ 7.95409236e-01 6.05976030e-01 1.08257999e-02 2.45989829e+02] [-6.05923594e-01 7.95482875e-01 -7.97458872e-03 -6.33065016e+01] [-1.34441480e-02 -2.16546042e-04 9.99909600e-01 1.27041331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.672320588 meters 0.024274365132439368 Centerline is valid? [True, True] Translation: X:246.02, Y:-63.32, Z:1.27 [[ 7.95087014e-01 6.06364495e-01 1.25992190e-02 2.46017196e+02] [-6.06293393e-01 7.95186793e-01 -9.28903388e-03 -6.33243122e+01] [-1.56512729e-02 -2.53233058e-04 9.99877479e-01 1.26974409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.702320588 meters 0.024189997654146908 Centerline is valid? [True, True] Translation: X:246.04, Y:-63.34, Z:1.27 [[ 7.95053106e-01 6.06424269e-01 1.18390751e-02 2.46043493e+02] [-6.06361369e-01 7.95141215e-01 -8.73719770e-03 -6.33433204e+01] [-1.47121853e-02 -2.32221611e-04 9.99891743e-01 1.26972625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.732320588 meters 0.024374462646636386 Centerline is valid? [True, True] Translation: X:246.07, Y:-63.36, Z:1.27 [[ 7.94891473e-01 6.06644716e-01 1.13901415e-02 2.46069310e+02] [-6.06586377e-01 7.94973044e-01 -8.41583770e-03 -6.33640414e+01] [-1.41602789e-02 -2.19427028e-04 9.99899714e-01 1.27009639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.762320588 meters 0.024504665991810108 Centerline is valid? [True, True] Translation: X:246.10, Y:-63.38, Z:1.27 [[ 7.93528808e-01 6.08445480e-01 1.03018625e-02 2.46095638e+02] [-6.08397797e-01 7.93595646e-01 -7.62046559e-03 -6.33845453e+01] [-1.28121511e-02 -2.20571476e-04 9.99917897e-01 1.27083945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.792320588 meters 0.024612744324550538 Centerline is valid? [True, True] Translation: X:246.12, Y:-63.40, Z:1.27 [[ 7.92822987e-01 6.09368709e-01 1.00741644e-02 2.46123071e+02] [-6.09323080e-01 7.92886957e-01 -7.46040727e-03 -6.34032422e+01] [-1.25338123e-02 -2.23638501e-04 9.99921424e-01 1.27036247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.822320588 meters 0.024706613848885093 Centerline is valid? [True, True] Translation: X:246.15, Y:-63.42, Z:1.27 [[ 7.91517349e-01 6.11085754e-01 8.63060624e-03 2.46150453e+02] [-6.11052287e-01 7.91564374e-01 -6.39882726e-03 -6.34224162e+01] [-1.07419126e-02 -2.08968890e-04 9.99942282e-01 1.26923458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.852320588 meters 0.02486301418805651 Centerline is valid? [True, True] Translation: X:246.18, Y:-63.44, Z:1.27 [[ 7.90655518e-01 6.12194242e-01 9.05882046e-03 2.46175373e+02] [-6.12157379e-01 7.90707378e-01 -6.72207566e-03 -6.34422558e+01] [-1.12780922e-02 -2.30577574e-04 9.99936374e-01 1.26915406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.882320588 meters 0.02493479175937529 Centerline is valid? [True, True] Translation: X:246.20, Y:-63.46, Z:1.27 [[ 7.90136153e-01 6.12857945e-01 9.48673547e-03 2.46201483e+02] [-6.12817472e-01 7.90193064e-01 -7.04753373e-03 -6.34622381e+01] [-1.18154896e-02 -2.45126052e-04 9.99930165e-01 1.27147776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.912320588 meters 0.024939384683673536 Centerline is valid? [True, True] Translation: X:246.23, Y:-63.48, Z:1.27 [[ 7.90527364e-01 6.12340414e-01 1.02812500e-02 2.46228161e+02] [-6.12292728e-01 7.90594178e-01 -7.64593554e-03 -6.34810873e+01] [-1.28102117e-02 -2.50813322e-04 9.99917914e-01 1.27246113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.942320588 meters 0.024721729246065846 Centerline is valid? [True, True] Translation: X:246.25, Y:-63.50, Z:1.27 [[ 7.91816794e-01 6.10666980e-01 1.05831628e-02 2.46254560e+02] [-6.10616211e-01 7.91887485e-01 -7.87747245e-03 -6.35000712e+01] [-1.31911864e-02 -2.24735760e-04 9.99912967e-01 1.27195832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.972320588 meters 0.024499516503245902 Centerline is valid? [True, True] Translation: X:246.28, Y:-63.52, Z:1.27 [[ 7.94328654e-01 6.07377043e-01 1.16240177e-02 2.46279974e+02] [-6.07315323e-01 7.94413680e-01 -8.66042512e-03 -6.35204972e+01] [-1.44944221e-02 -1.80220255e-04 9.99894934e-01 1.27078119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.002320588 meters 0.02438882945772268 Centerline is valid? [True, True] Translation: X:246.31, Y:-63.54, Z:1.27 [[ 7.95683857e-01 6.05593038e-01 1.20113429e-02 2.46308118e+02] [-6.05526804e-01 7.95774498e-01 -8.95762749e-03 -6.35362494e+01] [-1.49829972e-02 -1.45750468e-04 9.99887738e-01 1.27223927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.032320588 meters 0.024089838737148435 Centerline is valid? [True, True] Translation: X:246.34, Y:-63.55, Z:1.27 [[ 7.96225355e-01 6.04894828e-01 1.12885173e-02 2.46336399e+02] [-6.04836139e-01 7.96305364e-01 -8.42683441e-03 -6.35526920e+01] [-1.40864554e-02 -1.18044003e-04 9.99900774e-01 1.27314338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.062320588 meters 0.024326140392641422 Centerline is valid? [True, True] Translation: X:246.36, Y:-63.57, Z:1.27 [[ 7.95658738e-01 6.05658808e-01 1.02264958e-02 2.46362618e+02] [-6.05610608e-01 7.95724447e-01 -7.64173783e-03 -6.35705796e+01] [-1.27657586e-02 -1.13058893e-04 9.99918508e-01 1.27376417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.092320588 meters 0.02425152513814222 Centerline is valid? [True, True] Translation: X:246.39, Y:-63.59, Z:1.27 [[ 7.96394154e-01 6.04688066e-01 1.04256261e-02 2.46387198e+02] [-6.04637768e-01 7.96462387e-01 -7.79972288e-03 -6.35921043e+01] [-1.30200184e-02 -9.20735892e-05 9.99915232e-01 1.27320157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.122320588 meters 0.02437544059847758 Centerline is valid? [True, True] Translation: X:246.41, Y:-63.61, Z:1.27 [[ 7.96604451e-01 6.04375820e-01 1.22969940e-02 2.46412154e+02] [-6.04305685e-01 7.96699353e-01 -9.20765919e-03 -6.36119361e+01] [-1.53618937e-02 -9.62810744e-05 9.99881995e-01 1.27247785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15232058799998 meters 0.024239104790863115 Centerline is valid? [True, True] Translation: X:246.44, Y:-63.63, Z:1.27 [[ 7.97846588e-01 6.02721016e-01 1.29691255e-02 2.46439262e+02] [-6.02642606e-01 7.97951987e-01 -9.72197123e-03 -6.36314653e+01] [-1.62083758e-02 -5.91059968e-05 9.99868634e-01 1.27390956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18232058799998 meters 0.024206275508898326 Centerline is valid? [True, True] Translation: X:246.47, Y:-63.65, Z:1.27 [[ 7.98518221e-01 6.01844095e-01 1.23424634e-02 2.46465775e+02] [-6.01772958e-01 7.98613601e-01 -9.25327738e-03 -6.36505598e+01] [-1.54258895e-02 -3.84500939e-05 9.99881013e-01 1.27408887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21232058799998 meters 0.024272685666594962 Centerline is valid? [True, True] Translation: X:246.49, Y:-63.67, Z:1.27 [[ 7.98466636e-01 6.01909159e-01 1.25058155e-02 2.46492281e+02] [-6.01835936e-01 7.98564564e-01 -9.38842228e-03 -6.36695013e+01] [-1.56376784e-02 -3.01072131e-05 9.99877724e-01 1.27409591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24232058799998 meters 0.0242510232917319 Centerline is valid? [True, True] Translation: X:246.52, Y:-63.69, Z:1.27 [[ 7.98529245e-01 6.01820827e-01 1.27568905e-02 2.46518772e+02] [-6.01744453e-01 7.98631137e-01 -9.58752453e-03 -6.36887666e+01] [-1.59580219e-02 -2.04693848e-05 9.99872662e-01 1.27231487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27232058799999 meters 0.02429483162346508 Centerline is valid? [True, True] Translation: X:246.54, Y:-63.71, Z:1.27 [[ 7.98491766e-01 6.01904827e-01 1.10217471e-02 2.46543946e+02] [-6.01847715e-01 7.98567830e-01 -8.29150761e-03 -6.37081719e+01] [-1.37923111e-02 -1.27127522e-05 9.99904881e-01 1.27234492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.302320588 meters 0.02410521107041728 Centerline is valid? [True, True] Translation: X:246.57, Y:-63.73, Z:1.27 [[ 7.98720197e-01 6.01608050e-01 1.06677461e-02 2.46568615e+02] [-6.01554396e-01 7.98791433e-01 -8.03456213e-03 -6.37306048e+01] [-1.33549614e-02 1.37507980e-07 9.99910819e-01 1.27474473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.332320588 meters 0.024208999817204833 Centerline is valid? [True, True] Translation: X:246.59, Y:-63.75, Z:1.27 [[ 7.98491733e-01 6.01891029e-01 1.17533936e-02 2.46593207e+02] [-6.01825814e-01 7.98578230e-01 -8.86003798e-03 -6.37515564e+01] [-1.47187816e-02 1.17143097e-06 9.99891673e-01 1.27493406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.362320588 meters 0.024298225535527955 Centerline is valid? [True, True] Translation: X:246.62, Y:-63.77, Z:1.27 [[ 7.99500988e-01 6.00543989e-01 1.20451985e-02 2.46617428e+02] [-6.00475187e-01 7.99591718e-01 -9.09034036e-03 -6.37737605e+01] [-1.50903902e-02 3.48933090e-05 9.99886133e-01 1.27459783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.392320588 meters 0.024388886016050694 Centerline is valid? [True, True] Translation: X:246.64, Y:-63.79, Z:1.27 [[ 7.99953534e-01 5.99940035e-01 1.20953794e-02 2.46643563e+02] [-5.99870436e-01 8.00044968e-01 -9.13829080e-03 -6.37946566e+01] [-1.51592739e-02 5.45475116e-05 9.99885090e-01 1.27409091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.422320588 meters 0.02452889142123423 Centerline is valid? [True, True] Translation: X:246.67, Y:-63.81, Z:1.27 [[ 7.99629790e-01 6.00322165e-01 1.43351644e-02 2.46667992e+02] [-6.00224313e-01 7.99758272e-01 -1.08388557e-02 -6.38149628e+01] [-1.79714716e-02 6.27577114e-05 9.99838498e-01 1.27202574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.452320588 meters 0.024288174021608492 Centerline is valid? [True, True] Translation: X:246.69, Y:-63.84, Z:1.27 [[ 7.99515231e-01 6.00505117e-01 1.30000309e-02 2.46690531e+02] [-6.00424507e-01 7.99620911e-01 -9.83923209e-03 -6.38379055e+01] [-1.63036058e-02 6.10787538e-05 9.99867086e-01 1.27386088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.482320588 meters 0.024437540579125575 Centerline is valid? [True, True] Translation: X:246.72, Y:-63.86, Z:1.27 [[ 7.99037587e-01 6.01154325e-01 1.23455408e-02 2.46715020e+02] [-6.01081537e-01 7.99132952e-01 -9.35479296e-03 -6.38599848e+01] [-1.54894027e-02 5.41545632e-05 9.99880031e-01 1.27416586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.512320588 meters 0.02431222218844636 Centerline is valid? [True, True] Translation: X:246.74, Y:-63.88, Z:1.28 [[ 7.98694848e-01 6.01637518e-01 1.09012240e-02 2.46737182e+02] [-6.01580797e-01 7.98769238e-01 -8.26129452e-03 -6.38847980e+01] [-1.36778671e-02 4.02863703e-05 9.99906453e-01 1.27551504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.542320588 meters 0.024379977093482306 Centerline is valid? [True, True] Translation: X:246.76, Y:-63.91, Z:1.28 [[ 7.98444856e-01 6.01968263e-01 1.09554312e-02 2.46761808e+02] [-6.01910851e-01 7.98520011e-01 -8.31381173e-03 -6.39069823e+01] [-1.37527818e-02 4.39273161e-05 9.99905425e-01 1.27530128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.572320588 meters 0.02453831781135669 Centerline is valid? [True, True] Translation: X:246.79, Y:-63.93, Z:1.27 [[ 7.98311733e-01 6.02121342e-01 1.21764544e-02 2.46785599e+02] [-6.02050312e-01 7.98404588e-01 -9.24852708e-03 -6.39294784e+01] [-1.52904726e-02 5.23695244e-05 9.99883093e-01 1.27453275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.602320588 meters 0.024652211879068516 Centerline is valid? [True, True] Translation: X:246.81, Y:-63.95, Z:1.27 [[ 7.98447515e-01 6.01922444e-01 1.30742714e-02 2.46807227e+02] [-6.01840373e-01 7.98554548e-01 -9.93974167e-03 -6.39543938e+01] [-1.64234725e-02 6.77376362e-05 9.99865123e-01 1.27233535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.632320588 meters 0.024606831762531676 Centerline is valid? [True, True] Translation: X:246.83, Y:-63.98, Z:1.27 [[ 7.97615183e-01 6.03047680e-01 1.19797885e-02 2.46828591e+02] [-6.02978766e-01 7.97705142e-01 -9.11669768e-03 -6.39801298e+01] [-1.50541423e-02 4.80583999e-05 9.99886679e-01 1.27277729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.662320588 meters 0.02461434199286391 Centerline is valid? [True, True] Translation: X:246.85, Y:-64.00, Z:1.27 [[ 7.96704052e-01 6.04258737e-01 1.15771967e-02 2.46852233e+02] [-6.04194356e-01 7.96788164e-01 -8.82055918e-03 -6.40030556e+01] [-1.45544732e-02 3.24983511e-05 9.99894078e-01 1.27334054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.692320588 meters 0.024550480200743626 Centerline is valid? [True, True] Translation: X:246.88, Y:-64.03, Z:1.27 [[ 7.95251848e-01 6.06184699e-01 1.07055677e-02 2.46876044e+02] [-6.06129717e-01 7.95323903e-01 -8.16426844e-03 -6.40251016e+01] [-1.34634485e-02 3.68682738e-06 9.99909364e-01 1.27440645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.722320588 meters 0.0247224643392348 Centerline is valid? [True, True] Translation: X:246.90, Y:-64.05, Z:1.28 [[ 7.92259503e-01 6.10061192e-01 1.22564953e-02 2.46898128e+02] [-6.09989453e-01 7.92354301e-01 -9.35569681e-03 -6.40484310e+01] [-1.54190343e-02 -6.41931305e-05 9.99881118e-01 1.27562665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.752320588 meters 0.025055639962012564 Centerline is valid? [True, True] Translation: X:246.92, Y:-64.07, Z:1.27 [[ 7.90408324e-01 6.12433377e-01 1.34178980e-02 2.46921596e+02] [-6.12347576e-01 7.90522199e-01 -1.02518112e-02 -6.40701039e+01] [-1.68856976e-02 -1.13300410e-04 9.99857420e-01 1.27484876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.782320588 meters 0.02524697931313463 Centerline is valid? [True, True] Translation: X:246.94, Y:-64.09, Z:1.27 [[ 7.88656206e-01 6.14640296e-01 1.54497628e-02 2.46942801e+02] [-6.14526753e-01 7.88807502e-01 -1.18150343e-02 -6.40947852e+01] [-1.94488850e-02 -1.76292425e-04 9.99810837e-01 1.27480350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.812320588 meters 0.025343623481274776 Centerline is valid? [True, True] Translation: X:246.97, Y:-64.12, Z:1.27 [[ 7.88094922e-01 6.15365543e-01 1.52197916e-02 2.46967186e+02] [-6.15255240e-01 7.88241851e-01 -1.16522161e-02 -6.41167617e+01] [-1.91672490e-02 -1.81004237e-04 9.99816275e-01 1.27426695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.842320588 meters 0.02533997527919469 Centerline is valid? [True, True] Translation: X:246.99, Y:-64.14, Z:1.27 [[ 7.86782369e-01 6.17074180e-01 1.38909852e-02 2.46991580e+02] [-6.16982392e-01 7.86904961e-01 -1.06447307e-02 -6.41382807e+01] [-1.74994736e-02 -1.95406837e-04 9.99846853e-01 1.27488538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.872320588 meters 0.02545517216984343 Centerline is valid? [True, True] Translation: X:247.02, Y:-64.16, Z:1.27 [[ 7.84791322e-01 6.19640442e-01 1.21779840e-02 2.47016007e+02] [-6.19570039e-01 7.84885773e-01 -9.34287840e-03 -6.41609025e+01] [-1.53475517e-02 -2.12904113e-04 9.99882197e-01 1.27449500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90232058799998 meters 0.026049825379017004 Centerline is valid? [True, True] Translation: X:247.04, Y:-64.18, Z:1.27 [[ 7.82154691e-01 6.22929433e-01 1.38910141e-02 2.47040411e+02] [-6.22838187e-01 7.82277972e-01 -1.06661327e-02 -6.41819354e+01] [-1.75108823e-02 -3.09288311e-04 9.99846625e-01 1.27401434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93232058799998 meters 0.026300891616397926 Centerline is valid? [True, True] Translation: X:247.06, Y:-64.20, Z:1.27 [[ 7.80388285e-01 6.25147070e-01 1.36112447e-02 2.47064782e+02] [-6.25059730e-01 7.80506899e-01 -1.04553833e-02 -6.42021869e+01] [-1.71598226e-02 -3.48582245e-04 9.99852699e-01 1.27394052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96232058799998 meters 0.026580430809717382 Centerline is valid? [True, True] Translation: X:247.09, Y:-64.22, Z:1.27 [[ 7.78705984e-01 6.27260505e-01 1.26983902e-02 2.47089416e+02] [-6.27184603e-01 7.78809431e-01 -9.76441777e-03 -6.42232449e+01] [-1.60144596e-02 -3.60624254e-04 9.99871695e-01 1.27424595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99232058799998 meters 0.02688879333995602 Centerline is valid? [True, True] Translation: X:247.11, Y:-64.25, Z:1.27 [[ 7.76736213e-01 6.29677829e-01 1.36633392e-02 2.47113527e+02] [-6.29590164e-01 7.76856256e-01 -1.05158288e-02 -6.42450042e+01] [-1.72360348e-02 -4.34278912e-04 9.99851354e-01 1.27409042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02232058799999 meters 0.026958921373440182 Centerline is valid? [True, True] Translation: X:247.14, Y:-64.26, Z:1.27 [[ 7.75900330e-01 6.30694987e-01 1.42306421e-02 2.47139358e+02] [-6.30599884e-01 7.76030679e-01 -1.09622902e-02 -6.42638884e+01] [-1.79572764e-02 -4.68196699e-04 9.99838645e-01 1.27480991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.052320588 meters 0.026930901304965095 Centerline is valid? [True, True] Translation: X:247.17, Y:-64.28, Z:1.27 [[ 7.75843789e-01 6.30757339e-01 1.45462629e-02 2.47168026e+02] [-6.30657761e-01 7.75979998e-01 -1.12174126e-02 -6.42798944e+01] [-1.83630744e-02 -4.70753667e-04 9.99831274e-01 1.27475459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.082320588 meters 0.02719242902936894 Centerline is valid? [True, True] Translation: X:247.20, Y:-64.30, Z:1.27 [[ 7.75051720e-01 6.31736811e-01 1.42629573e-02 2.47195334e+02] [-6.31641033e-01 7.75182801e-01 -1.10104869e-02 -6.42992575e+01] [-1.80121291e-02 -4.75372272e-04 9.99837655e-01 1.27336647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.112320588 meters 0.02696533413490511 Centerline is valid? [True, True] Translation: X:247.22, Y:-64.32, Z:1.27 [[ 7.74928475e-01 6.31885395e-01 1.43772806e-02 2.47221970e+02] [-6.31787893e-01 7.75061690e-01 -1.11101419e-02 -6.43182478e+01] [-1.81636158e-02 -4.73826512e-04 9.99834916e-01 1.27420340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.142320588 meters 0.026759250428711613 Centerline is valid? [True, True] Translation: X:247.25, Y:-64.33, Z:1.28 [[ 7.75639804e-01 6.30997543e-01 1.49998299e-02 2.47249956e+02] [-6.30891059e-01 7.75784690e-01 -1.16011762e-02 -6.43343868e+01] [-1.89569520e-02 -4.64924487e-04 9.99820193e-01 1.27553235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.172320588 meters 0.02665466810450359 Centerline is valid? [True, True] Translation: X:247.28, Y:-64.35, Z:1.27 [[ 7.76181087e-01 6.30334627e-01 1.48720708e-02 2.47277585e+02] [-6.30229630e-01 7.76323430e-01 -1.15128816e-02 -6.43511034e+01] [-1.88025049e-02 -4.36738725e-04 9.99823122e-01 1.27435183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.202320588 meters 0.026255881388433763 Centerline is valid? [True, True] Translation: X:247.31, Y:-64.37, Z:1.27 [[ 7.77665357e-01 6.28534009e-01 1.34756539e-02 2.47307053e+02] [-6.28447367e-01 7.77782025e-01 -1.04416621e-02 -6.43657739e+01] [-1.70440611e-02 -3.48620299e-04 9.99854679e-01 1.27320821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.232320588 meters 0.026035039132723675 Centerline is valid? [True, True] Translation: X:247.33, Y:-64.38, Z:1.27 [[ 7.78384147e-01 6.27626484e-01 1.42519109e-02 2.47334061e+02] [-6.27529205e-01 7.78514536e-01 -1.10550719e-02 -6.43844125e+01] [-1.80337757e-02 -3.38397637e-04 9.99837321e-01 1.27282693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.262320588 meters 0.025720193898729097 Centerline is valid? [True, True] Translation: X:247.36, Y:-64.40, Z:1.27 [[ 7.80910044e-01 6.24447121e-01 1.56619301e-02 2.47363379e+02] [-6.24328969e-01 7.81067033e-01 -1.21502984e-02 -6.43999191e+01] [-1.98202361e-02 -2.89906623e-04 9.99803518e-01 1.27438975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.292320588 meters 0.02546415238925751 Centerline is valid? [True, True] Translation: X:247.39, Y:-64.42, Z:1.27 [[ 7.81910460e-01 6.23194935e-01 1.56238857e-02 2.47390704e+02] [-6.23076845e-01 7.82066501e-01 -1.21339573e-02 -6.44169284e+01] [-1.97807384e-02 -2.47213303e-04 9.99804311e-01 1.27498053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.322320588 meters 0.025162053712033186 Centerline is valid? [True, True] Translation: X:247.42, Y:-64.43, Z:1.27 [[ 7.85343570e-01 6.18850970e-01 1.60920557e-02 2.47417274e+02] [-6.18724542e-01 7.85508408e-01 -1.25092731e-02 -6.44346835e+01] [-2.03818208e-02 -1.32472610e-04 9.99792260e-01 1.27476198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.352320588 meters 0.025162053712033186 Centerline is valid? [True, True] Translation: X:247.44, Y:-64.45, Z:1.27 [[ 7.85017298e-01 6.19264973e-01 1.60852410e-02 2.47443121e+02] [-6.19138452e-01 7.85182066e-01 -1.25180359e-02 -6.44543828e+01] [-2.03818239e-02 -1.32116520e-04 9.99792260e-01 1.27492585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.382320588 meters 0.025189462167615747 Centerline is valid? [True, True] Translation: X:247.47, Y:-64.47, Z:1.27 [[ 7.86815515e-01 6.16980677e-01 1.60059109e-02 2.47468591e+02] [-6.16854696e-01 7.86978297e-01 -1.24677459e-02 -6.44738901e+01] [-2.02886628e-02 -6.35054108e-05 9.99794162e-01 1.27366805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.412320588 meters 0.02507903607640916 Centerline is valid? [True, True] Translation: X:247.50, Y:-64.49, Z:1.27 [[ 7.88046916e-01 6.15409778e-01 1.59016883e-02 2.47495241e+02] [-6.15284825e-01 7.88207337e-01 -1.24007708e-02 -6.44932964e+01] [-2.01653830e-02 -1.16783147e-05 9.99796658e-01 1.27350991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.442320588 meters 0.02510824022983219 Centerline is valid? [True, True] Translation: X:247.52, Y:-64.51, Z:1.27 [[ 7.89523263e-01 6.13522923e-01 1.55769266e-02 2.47521803e+02] [-6.13402388e-01 7.89676909e-01 -1.21609953e-02 -6.45129323e+01] [-1.97617886e-02 4.64646668e-05 9.99804716e-01 1.27284446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.472320588 meters 0.025318824915614782 Centerline is valid? [True, True] Translation: X:247.55, Y:-64.53, Z:1.27 [[ 7.92963535e-01 6.09111942e-01 1.38373894e-02 2.47546485e+02] [-6.09015973e-01 7.93084245e-01 -1.08131841e-02 -6.45337645e+01] [-1.75606550e-02 1.47269539e-04 9.99845789e-01 1.27312399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.502320588 meters 0.02539052472201396 Centerline is valid? [True, True] Translation: X:247.57, Y:-64.56, Z:1.27 [[ 7.94555405e-01 6.07022202e-01 1.43441596e-02 2.47569738e+02] [-6.06918542e-01 7.94684845e-01 -1.12196421e-02 -6.45566815e+01] [-1.82096581e-02 2.08890858e-04 9.99834169e-01 1.27370852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.532320588 meters 0.025545279721442438 Centerline is valid? [True, True] Translation: X:247.59, Y:-64.58, Z:1.27 [[ 7.94810036e-01 6.06698421e-01 1.39295419e-02 2.47594578e+02] [-6.06600399e-01 7.94932058e-01 -1.09077352e-02 -6.45791389e+01] [-1.76907451e-02 2.19911694e-04 9.99843482e-01 1.27360362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.562320588 meters 0.02561350331728045 Centerline is valid? [True, True] Translation: X:247.62, Y:-64.60, Z:1.27 [[ 7.94406137e-01 6.07220232e-01 1.42294946e-02 2.47618966e+02] [-6.07117809e-01 7.94533536e-01 -1.11546281e-02 -6.46021070e+01] [-1.80791265e-02 2.22325425e-04 9.99836535e-01 1.27274979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.592320588 meters 0.025505855028230676 Centerline is valid? [True, True] Translation: X:247.64, Y:-64.62, Z:1.27 [[ 7.94192011e-01 6.07521766e-01 1.32798451e-02 2.47642271e+02] [-6.07432438e-01 7.94303003e-01 -1.04198075e-02 -6.46243712e+01] [-1.68784807e-02 2.08719242e-04 9.99857527e-01 1.27337747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.622320588 meters 0.02536265095926361 Centerline is valid? [True, True] Translation: X:247.66, Y:-64.65, Z:1.27 [[ 7.92396463e-01 6.09866494e-01 1.30653880e-02 2.47664810e+02] [-6.09780185e-01 7.92504153e-01 -1.02613002e-02 -6.46478673e+01] [-1.66123975e-02 1.64003255e-04 9.99861991e-01 1.27415778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65232058799998 meters 0.025344884313774997 Centerline is valid? [True, True] Translation: X:247.69, Y:-64.67, Z:1.27 [[ 7.91356805e-01 6.11219635e-01 1.28438455e-02 2.47689692e+02] [-6.11136218e-01 7.91461014e-01 -1.00987968e-02 -6.46696926e+01] [-1.63379859e-02 1.42412352e-04 9.99866516e-01 1.27351490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68232058799998 meters 0.02536052915235735 Centerline is valid? [True, True] Translation: X:247.71, Y:-64.69, Z:1.27 [[ 7.87895763e-01 6.15679178e-01 1.26260638e-02 2.47710645e+02] [-6.15598988e-01 7.87996921e-01 -9.93672896e-03 -6.46948744e+01] [-1.60671365e-02 5.65145721e-05 9.99870914e-01 1.27269522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71232058799998 meters 0.02547181636466728 Centerline is valid? [True, True] Translation: X:247.73, Y:-64.72, Z:1.27 [[ 7.85950234e-01 6.18152150e-01 1.30441229e-02 2.47734714e+02] [-6.18066707e-01 7.86058470e-01 -1.02774740e-02 -6.47183780e+01] [-1.66064859e-02 1.54450117e-05 9.99862103e-01 1.27268772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74232058799998 meters 0.025516227974004515 Centerline is valid? [True, True] Translation: X:247.76, Y:-64.74, Z:1.27 [[ 7.84091872e-01 6.20499497e-01 1.34280120e-02 2.47759619e+02] [-6.20409094e-01 7.84206844e-01 -1.05915832e-02 -6.47402640e+01] [-1.71024109e-02 -2.60864730e-05 9.99853743e-01 1.27232163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77232058799999 meters 0.02591304838959748 Centerline is valid? [True, True] Translation: X:247.78, Y:-64.76, Z:1.27 [[ 7.79717253e-01 6.25970762e-01 1.41989944e-02 2.47783031e+02] [-6.25870402e-01 7.79846513e-01 -1.12096094e-02 -6.47625381e+01] [-1.80899240e-02 -1.46404430e-04 9.99836353e-01 1.27146872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.802320588 meters 0.026308992840638225 Centerline is valid? [True, True] Translation: X:247.81, Y:-64.78, Z:1.27 [[ 7.77127109e-01 6.29152801e-01 1.54987173e-02 2.47806882e+02] [-6.29033637e-01 7.77281609e-01 -1.22467803e-02 -6.47837263e+01] [-1.97519641e-02 -2.31909539e-04 9.99804884e-01 1.27070001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.832320588 meters 0.026908660829207783 Centerline is valid? [True, True] Translation: X:247.83, Y:-64.81, Z:1.27 [[ 7.72538032e-01 6.34792270e-01 1.49587526e-02 2.47829140e+02] [-6.34682126e-01 7.72682761e-01 -1.18300785e-02 -6.48067314e+01] [-1.90680127e-02 -3.54867370e-04 9.99818126e-01 1.26998622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.862320588 meters 0.027364599788234235 Centerline is valid? [True, True] Translation: X:247.85, Y:-64.83, Z:1.27 [[ 7.69855396e-01 6.38058788e-01 1.42706718e-02 2.47853555e+02] [-6.37958912e-01 7.69987543e-01 -1.12964898e-02 -6.48273706e+01] [-1.81960641e-02 -4.07438626e-04 9.99834355e-01 1.27013774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.892320588 meters 0.027950450263368228 Centerline is valid? [True, True] Translation: X:247.88, Y:-64.85, Z:1.27 [[ 7.67527460e-01 6.40845077e-01 1.48048687e-02 2.47878286e+02] [-6.40737900e-01 7.67670081e-01 -1.17298757e-02 -6.48473626e+01] [-1.88822879e-02 -4.83038796e-04 9.99821597e-01 1.27022429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.922320588 meters 0.02883818594267822 Centerline is valid? [True, True] Translation: X:247.90, Y:-64.87, Z:1.27 [[ 7.64326755e-01 6.44637575e-01 1.57165220e-02 2.47904350e+02] [-6.44517567e-01 7.64488080e-01 -1.24531816e-02 -6.48668277e+01] [-2.00428825e-02 -6.11274651e-04 9.99798934e-01 1.26966237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.952320588 meters 0.029170275758285274 Centerline is valid? [True, True] Translation: X:247.93, Y:-64.89, Z:1.27 [[ 7.62972859e-01 6.46223612e-01 1.63541881e-02 2.47930229e+02] [-6.46093751e-01 7.63147820e-01 -1.29718606e-02 -6.48863648e+01] [-2.08633856e-02 -6.69161145e-04 9.99782112e-01 1.27023277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.982320588 meters 0.02954882754816844 Centerline is valid? [True, True] Translation: X:247.96, Y:-64.91, Z:1.27 [[ 7.61754500e-01 6.47673052e-01 1.58018738e-02 2.47955899e+02] [-6.47551902e-01 7.61918080e-01 -1.25448806e-02 -6.49055226e+01] [-2.01647145e-02 -6.76414245e-04 9.99796443e-01 1.26918844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.012320588 meters 0.029820632625357984 Centerline is valid? [True, True] Translation: X:247.98, Y:-64.93, Z:1.27 [[ 7.60779183e-01 6.48814167e-01 1.59753169e-02 2.47981414e+02] [-6.48690368e-01 7.60946567e-01 -1.26936605e-02 -6.49256163e+01] [-2.03921893e-02 -7.05961519e-04 9.99791808e-01 1.26811432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.042320588 meters 0.02988139686653142 Centerline is valid? [True, True] Translation: X:248.01, Y:-64.94, Z:1.27 [[ 7.60101796e-01 6.49608773e-01 1.59280105e-02 2.48007830e+02] [-6.49485613e-01 7.60268328e-01 -1.26691520e-02 -6.49447696e+01] [-2.03395542e-02 -7.15168501e-04 9.99792874e-01 1.26782321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.072320588 meters 0.03081697882967275 Centerline is valid? [True, True] Translation: X:248.04, Y:-64.96, Z:1.27 [[ 7.56832822e-01 6.53389018e-01 1.69372192e-02 2.48035840e+02] [-6.53250478e-01 7.57021829e-01 -1.34819393e-02 -6.49602177e+01] [-2.16307957e-02 -8.60672390e-04 9.99765657e-01 1.26766207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.102320588 meters 0.031431649198824935 Centerline is valid? [True, True] Translation: X:248.06, Y:-64.98, Z:1.27 [[ 7.54001088e-01 6.56643363e-01 1.73739076e-02 2.48064668e+02] [-6.56498348e-01 7.54200598e-01 -1.38338644e-02 -6.49751545e+01] [-2.21873267e-02 -9.75192767e-04 9.99753355e-01 1.26795080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.132320588 meters 0.031531124392942686 Centerline is valid? [True, True] Translation: X:248.09, Y:-64.99, Z:1.27 [[ 7.52770814e-01 6.58064706e-01 1.69394313e-02 2.48091047e+02] [-6.57926930e-01 7.52960742e-01 -1.35009586e-02 -6.49931843e+01] [-2.16392311e-02 -9.81780407e-04 9.99765362e-01 1.26805482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.162320588 meters 0.03169007498518418 Centerline is valid? [True, True] Translation: X:248.12, Y:-65.01, Z:1.27 [[ 7.51766579e-01 6.59249171e-01 1.54123815e-02 2.48117732e+02] [-6.59135112e-01 7.51923995e-01 -1.22967759e-02 -6.50126472e+01] [-1.96955788e-02 -9.14536682e-04 9.99805605e-01 1.26819582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.192320588 meters 0.031810397323873356 Centerline is valid? [True, True] Translation: X:248.15, Y:-65.03, Z:1.27 [[ 7.51909998e-01 6.59105150e-01 1.45518359e-02 2.48145416e+02] [-6.59003265e-01 7.52050314e-01 -1.16199312e-02 -6.50287926e+01] [-1.86024692e-02 -8.52564919e-04 9.99826596e-01 1.26641177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.222320588 meters 0.031815504985984774 Centerline is valid? [True, True] Translation: X:248.17, Y:-65.05, Z:1.27 [[ 7.52028508e-01 6.58946870e-01 1.55609899e-02 2.48172913e+02] [-6.58830080e-01 7.52188949e-01 -1.24382713e-02 -6.50476607e+01] [-1.99009645e-02 -8.98113600e-04 9.99801553e-01 1.26585236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.252320588 meters 0.03089414069436866 Centerline is valid? [True, True] Translation: X:248.20, Y:-65.06, Z:1.27 [[ 7.54342308e-01 6.56271484e-01 1.65958284e-02 2.48201210e+02] [-6.56137763e-01 7.54524337e-01 -1.32763104e-02 -6.50642347e+01] [-2.12348204e-02 -8.74267136e-04 9.99774134e-01 1.26709856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.282320588 meters 0.030688737545541085 Centerline is valid? [True, True] Translation: X:248.23, Y:-65.08, Z:1.27 [[ 7.55577690e-01 6.54881890e-01 1.52336573e-02 2.48227371e+02] [-6.54768728e-01 7.55730861e-01 -1.21974553e-02 -6.50824387e+01] [-1.95004376e-02 -7.58397298e-04 9.99809561e-01 1.26715828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.312320588 meters 0.02996701939869021 Centerline is valid? [True, True] Translation: X:248.25, Y:-65.10, Z:1.27 [[ 7.57109433e-01 6.53118935e-01 1.48648331e-02 2.48254635e+02] [-6.53010808e-01 7.57255026e-01 -1.19041816e-02 -6.50994989e+01] [-1.90313160e-02 -6.94128439e-04 9.99818647e-01 1.26588918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.342320588 meters 0.029843436801092672 Centerline is valid? [True, True] Translation: X:248.28, Y:-65.12, Z:1.27 [[ 7.57782544e-01 6.52352436e-01 1.42096514e-02 2.48280404e+02] [-6.52253279e-01 7.57915493e-01 -1.13914556e-02 -6.51185790e+01] [-1.82009587e-02 -6.36045514e-04 9.99834147e-01 1.26615691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.372320588 meters 0.029773579196437125 Centerline is valid? [True, True] Translation: X:248.31, Y:-65.14, Z:1.27 [[ 7.58467157e-01 6.51533340e-01 1.52275420e-02 2.48306143e+02] [-6.51419095e-01 7.58619721e-01 -1.22180763e-02 -6.51374729e+01] [-1.95123977e-02 -6.52502096e-04 9.99809402e-01 1.26516014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40232058799998 meters 0.029087361163126844 Centerline is valid? [True, True] Translation: X:248.33, Y:-65.16, Z:1.26 [[ 7.61872604e-01 6.47563762e-01 1.45365027e-02 2.48331965e+02] [-6.47458924e-01 7.62011088e-01 -1.16637932e-02 -6.51558225e+01] [-1.86300261e-02 -5.25463881e-04 9.99826308e-01 1.26498462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43232058799998 meters 0.028639095653020585 Centerline is valid? [True, True] Translation: X:248.36, Y:-65.17, Z:1.27 [[ 7.63643356e-01 6.45485196e-01 1.40601161e-02 2.48358145e+02] [-6.45386542e-01 7.63772649e-01 -1.12939177e-02 -6.51745893e+01] [-1.80287888e-02 -4.49684491e-04 9.99837367e-01 1.26522420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46232058799998 meters 0.02825329779394203 Centerline is valid? [True, True] Translation: X:248.39, Y:-65.19, Z:1.27 [[ 7.66401221e-01 6.42185086e-01 1.50825394e-02 2.48385238e+02] [-6.42070710e-01 7.66549517e-01 -1.21260406e-02 -6.51920672e+01] [-1.93486758e-02 -3.90644456e-04 9.99812721e-01 1.26563259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49232058799998 meters 0.027974419836229152 Centerline is valid? [True, True] Translation: X:248.41, Y:-65.21, Z:1.27 [[ 7.67793547e-01 6.40547487e-01 1.38558832e-02 2.48411165e+02] [-6.40450656e-01 7.67918495e-01 -1.11419232e-02 -6.52119124e+01] [-1.77771198e-02 -3.19312730e-04 9.99841924e-01 1.26568792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52232058799999 meters 0.0275013124497327 Centerline is valid? [True, True] Translation: X:248.44, Y:-65.23, Z:1.27 [[ 7.72455237e-01 6.34967061e-01 1.13902973e-02 2.48436448e+02] [-6.34900993e-01 7.72539195e-01 -9.16088475e-03 -6.52300041e+01] [-1.46163111e-02 -1.55337639e-04 9.99893164e-01 1.26729975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.552320588 meters 0.02728649812014072 Centerline is valid? [True, True] Translation: X:248.46, Y:-65.25, Z:1.27 [[ 7.74579226e-01 6.32387871e-01 1.06114376e-02 2.48461628e+02] [-6.32330213e-01 7.74651903e-01 -8.53992225e-03 -6.52507269e+01] [-1.36207136e-02 -9.50862227e-05 9.99907229e-01 1.26878908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.582320588 meters 0.027353988691050178 Centerline is valid? [True, True] Translation: X:248.49, Y:-65.27, Z:1.27 [[ 7.75639979e-01 6.31079139e-01 1.10337779e-02 2.48486469e+02] [-6.31016505e-01 7.75718452e-01 -8.89127477e-03 -6.52723794e+01] [-1.41702032e-02 -6.60678224e-05 9.99899595e-01 1.26799989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.612320588 meters 0.02764011362110895 Centerline is valid? [True, True] Translation: X:248.51, Y:-65.29, Z:1.27 [[ 7.77345051e-01 6.28939201e-01 1.30442581e-02 2.48509416e+02] [-6.28851208e-01 7.77454488e-01 -1.05203540e-02 -6.52945311e+01] [-1.67579801e-02 -2.49523554e-05 9.99859575e-01 1.26705598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.642320588 meters 0.0276757063296437 Centerline is valid? [True, True] Translation: X:248.54, Y:-65.31, Z:1.27 [[ 7.78189372e-01 6.27888153e-01 1.33329642e-02 2.48535272e+02] [-6.27795858e-01 7.78303583e-01 -1.07653739e-02 -6.53149806e+01] [-1.71365446e-02 7.11986416e-06 9.99853159e-01 1.26693897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.672320588 meters 0.027756485961585975 Centerline is valid? [True, True] Translation: X:248.56, Y:-65.34, Z:1.27 [[ 7.79122060e-01 6.26739086e-01 1.29203215e-02 2.48561038e+02] [-6.26652067e-01 7.79229181e-01 -1.04436440e-02 -6.53362143e+01] [-1.66133314e-02 4.03272449e-05 9.99861988e-01 1.26745900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.702320588 meters 0.02765701655867469 Centerline is valid? [True, True] Translation: X:248.58, Y:-65.36, Z:1.27 [[ 7.79280313e-01 6.26558396e-01 1.21148612e-02 2.48584778e+02] [-6.26481726e-01 7.79374476e-01 -9.80166558e-03 -6.53585873e+01] [-1.55833295e-02 4.85058616e-05 9.99878571e-01 1.26813711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.732320588 meters 0.02785244526402542 Centerline is valid? [True, True] Translation: X:248.61, Y:-65.38, Z:1.27 [[ 7.79170634e-01 6.26674894e-01 1.31034176e-02 2.48605920e+02] [-6.26585051e-01 7.79280805e-01 -1.06113530e-02 -6.53843102e+01] [-1.68611103e-02 5.76491165e-05 9.99857840e-01 1.26942463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.762320588 meters 0.027834793113272437 Centerline is valid? [True, True] Translation: X:248.63, Y:-65.41, Z:1.27 [[ 7.78489192e-01 6.27516461e-01 1.33292671e-02 2.48629934e+02] [-6.27423409e-01 7.78603293e-01 -1.08063537e-02 -6.54068452e+01] [-1.71593761e-02 4.95353807e-05 9.99852766e-01 1.27013859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.792320588 meters 0.027927899906418648 Centerline is valid? [True, True] Translation: X:248.66, Y:-65.43, Z:1.27 [[ 7.78178055e-01 6.27888327e-01 1.39700969e-02 2.48655290e+02] [-6.27785954e-01 7.78303441e-01 -1.13380085e-02 -6.54280682e+01] [-1.79919777e-02 5.27588171e-05 9.99838130e-01 1.27053728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.822320588 meters 0.027683393636440356 Centerline is valid? [True, True] Translation: X:248.68, Y:-65.45, Z:1.27 [[ 7.76722642e-01 6.29716109e-01 1.26316580e-02 2.48678401e+02] [-6.29632496e-01 7.76825348e-01 -1.02614894e-02 -6.54499995e+01] [-1.62744173e-02 1.70288080e-05 9.99867563e-01 1.27110892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.852320588 meters 0.0277958599374984 Centerline is valid? [True, True] Translation: X:248.70, Y:-65.47, Z:1.27 [[ 7.75894794e-01 6.30744582e-01 1.21876957e-02 2.48703150e+02] [-6.30666692e-01 7.75990510e-01 -9.91221931e-03 -6.54725704e+01] [-1.57096149e-02 4.46561171e-06 9.99876596e-01 1.27021707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.882320588 meters 0.027778378628213876 Centerline is valid? [True, True] Translation: X:248.73, Y:-65.49, Z:1.27 [[ 7.75374203e-01 6.31398087e-01 1.14587005e-02 2.48726752e+02] [-6.31329178e-01 7.75458868e-01 -9.32803797e-03 -6.54946591e+01] [-1.47754562e-02 -1.49193555e-06 9.99890837e-01 1.27123578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.912320588 meters 0.027823996161195706 Centerline is valid? [True, True] Translation: X:248.75, Y:-65.52, Z:1.27 [[ 7.73476615e-01 6.33712938e-01 1.19095532e-02 2.48749205e+02] [-6.33638606e-01 7.73568297e-01 -9.70598581e-03 -6.55187886e+01] [-1.53636615e-02 -3.89996232e-05 9.99881971e-01 1.27184929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.942320588 meters 0.027849472110544712 Centerline is valid? [True, True] Translation: X:248.77, Y:-65.54, Z:1.27 [[ 7.71618747e-01 6.35971498e-01 1.20317326e-02 2.48773045e+02] [-6.35895743e-01 7.71712542e-01 -9.81611191e-03 -6.55413256e+01] [-1.55278063e-02 -7.66315587e-05 9.99879433e-01 1.27225084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.972320588 meters 0.027957624030437084 Centerline is valid? [True, True] Translation: X:248.80, Y:-65.56, Z:1.27 [[ 7.70666065e-01 6.37125356e-01 1.20456307e-02 2.48798260e+02] [-6.37049402e-01 7.70760191e-01 -9.83802760e-03 -6.55630985e+01] [-1.55523495e-02 -9.18278425e-05 9.99879051e-01 1.27368678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.002320588 meters 0.028028200084091535 Centerline is valid? [True, True] Translation: X:248.82, Y:-65.58, Z:1.27 [[ 7.69558113e-01 6.38425107e-01 1.39173959e-02 2.48823254e+02] [-6.38323749e-01 7.69683939e-01 -1.13765080e-02 -6.55838219e+01] [-1.79750444e-02 -1.28920344e-04 9.99838428e-01 1.27440766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.032320588 meters 0.02786631342918527 Centerline is valid? [True, True] Translation: X:248.85, Y:-65.60, Z:1.28 [[ 7.67564955e-01 6.40863751e-01 1.17342237e-02 2.48848298e+02] [-6.40791842e-01 7.67654630e-01 -9.60127068e-03 -6.56035274e+01] [-1.51609375e-02 -1.49595934e-04 9.99885055e-01 1.27695459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.062320588 meters 0.02791948428665756 Centerline is valid? [True, True] Translation: X:248.87, Y:-65.62, Z:1.28 [[ 7.66582107e-01 6.42029429e-01 1.22509553e-02 2.48872943e+02] [-6.41951050e-01 7.66679974e-01 -1.00332725e-02 -6.56240491e+01] [-1.58342183e-02 -1.73186419e-04 9.99874616e-01 1.27571783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.092320588 meters 0.027777538978385287 Centerline is valid? [True, True] Translation: X:248.90, Y:-65.65, Z:1.28 [[ 7.66230707e-01 6.42460841e-01 1.16005289e-02 2.48896935e+02] [-6.42390453e-01 7.66318498e-01 -9.51130201e-03 -6.56462746e+01] [-1.50003389e-02 -1.64217336e-04 9.99887475e-01 1.27635038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.122320588 meters 0.02760036831070857 Centerline is valid? [True, True] Translation: X:248.92, Y:-65.67, Z:1.28 [[ 7.66653574e-01 6.41966326e-01 1.10242321e-02 2.48921564e+02] [-6.41902592e-01 7.66732819e-01 -9.04691023e-03 -6.56662908e+01] [-1.42604523e-02 -1.40637119e-04 9.99898305e-01 1.27685408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15232058799998 meters 0.027495979558255123 Centerline is valid? [True, True] Translation: X:248.95, Y:-65.69, Z:1.28 [[ 7.67953089e-01 6.40420820e-01 1.04511716e-02 2.48946821e+02] [-6.40363286e-01 7.68024195e-01 -8.58478078e-03 -6.56861787e+01] [-1.35246250e-02 -9.98376845e-05 9.99908533e-01 1.27870095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18232058799998 meters 0.027216560487925003 Centerline is valid? [True, True] Translation: X:248.97, Y:-65.71, Z:1.28 [[ 7.70606221e-01 6.37216619e-01 1.10014927e-02 2.48972055e+02] [-6.37152394e-01 7.70684747e-01 -9.04696072e-03 -6.57066530e+01] [-1.42435563e-02 -3.79832069e-05 9.99898555e-01 1.27976427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21232058799998 meters 0.027236669613649445 Centerline is valid? [True, True] Translation: X:249.00, Y:-65.73, Z:1.28 [[ 7.71888203e-01 6.35651941e-01 1.16281094e-02 2.48997999e+02] [-6.35579860e-01 7.71975783e-01 -9.57243567e-03 -6.57276088e+01] [-1.50613562e-02 -1.74195843e-06 9.99886571e-01 1.27943007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24232058799998 meters 0.02710581473526337 Centerline is valid? [True, True] Translation: X:249.02, Y:-65.75, Z:1.28 [[ 7.72954616e-01 6.34360361e-01 1.13178824e-02 2.49024501e+02] [-6.34291784e-01 7.73037471e-01 -9.32738767e-03 -6.57475051e+01] [-1.46660722e-02 3.08075252e-05 9.99892447e-01 1.27932991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27232058799999 meters 0.02710581473526337 Centerline is valid? [True, True] Translation: X:249.05, Y:-65.77, Z:1.28 [[ 7.72614770e-01 6.34774319e-01 1.13128915e-02 2.49049758e+02] [-6.34705699e-01 7.72697588e-01 -9.33344151e-03 -6.57679154e+01] [-1.46660729e-02 3.07980729e-05 9.99892447e-01 1.27949377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.302320588 meters 0.02710905680676633 Centerline is valid? [True, True] Translation: X:249.08, Y:-65.79, Z:1.28 [[ 7.72731218e-01 6.34637976e-01 1.10046858e-02 2.49076087e+02] [-6.34572888e-01 7.72809574e-01 -9.08917432e-03 -6.57876498e+01] [-1.42728618e-02 4.02134708e-05 9.99898137e-01 1.27924360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.332320588 meters 0.027219695296008675 Centerline is valid? [True, True] Translation: X:249.10, Y:-65.81, Z:1.28 [[ 7.72633186e-01 6.34744003e-01 1.17477632e-02 2.49102220e+02] [-6.34669682e-01 7.72722491e-01 -9.71322284e-03 -6.58080685e+01] [-1.52431708e-02 4.88091498e-05 9.99883815e-01 1.27967648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.362320588 meters 0.027243774904267815 Centerline is valid? [True, True] Translation: X:249.13, Y:-65.83, Z:1.28 [[ 7.74028217e-01 6.33048499e-01 1.13981086e-02 2.49128441e+02] [-6.32978201e-01 7.74112130e-01 -9.43437807e-03 -6.58285468e+01] [-1.47958330e-02 8.77205868e-05 9.99890532e-01 1.28245838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.392320588 meters 0.027323753892226875 Centerline is valid? [True, True] Translation: X:249.15, Y:-65.85, Z:1.28 [[ 7.74955816e-01 6.31918169e-01 1.10865084e-02 2.49154200e+02] [-6.31851402e-01 7.75035106e-01 -9.18648346e-03 -6.58496286e+01] [-1.43975390e-02 1.14092897e-04 9.99896344e-01 1.28373483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.422320588 meters 0.02772828706064001 Centerline is valid? [True, True] Translation: X:249.18, Y:-65.87, Z:1.28 [[ 7.78920331e-01 6.27014749e-01 1.16457203e-02 2.49180075e+02] [-6.26940396e-01 7.79007353e-01 -9.65837445e-03 -6.58689200e+01] [-1.51280450e-02 2.21931724e-04 9.99885540e-01 1.28337268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.452320588 meters 0.028023058039622923 Centerline is valid? [True, True] Translation: X:249.21, Y:-65.89, Z:1.28 [[ 7.80991571e-01 6.24432405e-01 1.16764019e-02 2.49205129e+02] [-6.24357237e-01 7.81078801e-01 -9.69263436e-03 -6.58884041e+01] [-1.51725849e-02 2.79619733e-04 9.99884851e-01 1.28241349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.482320588 meters 0.028475047144466033 Centerline is valid? [True, True] Translation: X:249.23, Y:-65.91, Z:1.28 [[ 7.83085744e-01 6.21815542e-01 1.10521246e-02 2.49230216e+02] [-6.21747814e-01 7.83163667e-01 -9.18294346e-03 -6.59081443e+01] [-1.43657194e-02 3.19397804e-04 9.99896757e-01 1.28203461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.512320588 meters 0.029471940214673892 Centerline is valid? [True, True] Translation: X:249.25, Y:-65.93, Z:1.28 [[ 7.88130208e-01 6.15375912e-01 1.27774330e-02 2.49254758e+02] [-6.15284552e-01 7.88233615e-01 -1.06154526e-02 -6.59279217e+01] [-1.66040960e-02 5.04601734e-04 9.99862015e-01 1.28175833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.542320588 meters 0.030048545373657386 Centerline is valid? [True, True] Translation: X:249.28, Y:-65.95, Z:1.28 [[ 7.89947011e-01 6.13041862e-01 1.27826392e-02 2.49279953e+02] [-6.12949926e-01 7.90050225e-01 -1.06315449e-02 -6.59485199e+01] [-1.66165091e-02 5.63239380e-04 9.99861778e-01 1.28240357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.572320588 meters 0.030499367628925616 Centerline is valid? [True, True] Translation: X:249.30, Y:-65.97, Z:1.28 [[ 7.93428307e-01 6.08570918e-01 1.06282154e-02 2.49303148e+02] [-6.08506951e-01 7.93499300e-01 -8.84032163e-03 -6.59714213e+01] [-1.38134442e-02 5.46818451e-04 9.99904440e-01 1.28362840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.602320588 meters 0.03109089449550959 Centerline is valid? [True, True] Translation: X:249.33, Y:-65.99, Z:1.28 [[ 7.94292295e-01 6.07440376e-01 1.07675373e-02 2.49326222e+02] [-6.07374490e-01 7.94365062e-01 -8.96531618e-03 -6.59933071e+01] [-1.39992505e-02 5.81154064e-04 9.99901837e-01 1.28344288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.632320588 meters 0.031892752136366505 Centerline is valid? [True, True] Translation: X:249.35, Y:-66.02, Z:1.28 [[ 7.96760353e-01 6.04194480e-01 1.10440718e-02 2.49347127e+02] [-6.04124749e-01 7.96836617e-01 -9.20285302e-03 -6.60175777e+01] [-1.43606338e-02 6.60471312e-04 9.99896663e-01 1.28283800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.662320588 meters 0.0322819257286993 Centerline is valid? [True, True] Translation: X:249.37, Y:-66.04, Z:1.28 [[ 7.97981093e-01 6.02572595e-01 1.15083772e-02 2.49369553e+02] [-6.02496666e-01 7.98063749e-01 -9.59270272e-03 -6.60401383e+01] [-1.49647184e-02 7.21036515e-04 9.99887762e-01 1.28104684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.692320588 meters 0.0323898027819372 Centerline is valid? [True, True] Translation: X:249.39, Y:-66.06, Z:1.28 [[ 7.98241701e-01 6.02239911e-01 1.08293928e-02 2.49391611e+02] [-6.02172528e-01 7.98314858e-01 -9.03518944e-03 -6.60630985e+01] [-1.40866168e-02 6.91102178e-04 9.99900540e-01 1.28095242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.722320588 meters 0.03243518624922749 Centerline is valid? [True, True] Translation: X:249.41, Y:-66.09, Z:1.28 [[ 7.98603049e-01 6.01777543e-01 9.84674826e-03 2.49412404e+02] [-6.01721703e-01 7.98663494e-01 -8.22283805e-03 -6.60879927e+01] [-1.28125576e-02 6.41781404e-04 9.99917710e-01 1.28204810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.752320588 meters 0.0314923015061028 Centerline is valid? [True, True] Translation: X:249.43, Y:-66.11, Z:1.28 [[ 7.98095036e-01 6.02452588e-01 9.75671417e-03 2.49434387e+02] [-6.02397804e-01 7.98154426e-01 -8.14845736e-03 -6.61115714e+01] [-1.26964238e-02 6.25820175e-04 9.99919201e-01 1.28470159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.782320588 meters 0.031085526764640218 Centerline is valid? [True, True] Translation: X:249.45, Y:-66.14, Z:1.28 [[ 7.95558294e-01 6.05796617e-01 9.87218904e-03 2.49454804e+02] [-6.05740738e-01 7.95619331e-01 -8.24856286e-03 -6.61356618e+01] [-1.28514559e-02 5.82225526e-04 9.99917247e-01 1.28398338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.812320588 meters 0.030435487198764842 Centerline is valid? [True, True] Translation: X:249.48, Y:-66.16, Z:1.28 [[ 7.93831172e-01 6.08075748e-01 8.71527801e-03 2.49477195e+02] [-6.08032244e-01 7.93878862e-01 -7.28996291e-03 -6.61588233e+01] [-1.13517246e-02 4.87829758e-04 9.99935448e-01 1.28318504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.842320588 meters 0.030174417291709794 Centerline is valid? [True, True] Translation: X:249.50, Y:-66.18, Z:1.28 [[ 7.91940176e-01 6.10542835e-01 8.25856768e-03 2.49500557e+02] [-6.10503837e-01 7.91983117e-01 -6.91426646e-03 -6.61811803e+01] [-1.07621020e-02 4.33798136e-04 9.99941993e-01 1.28216221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.872320588 meters 0.029537398630894565 Centerline is valid? [True, True] Translation: X:249.52, Y:-66.20, Z:1.28 [[ 7.89838745e-01 6.13267422e-01 7.60433465e-03 2.49524422e+02] [-6.13234425e-01 7.89875263e-01 -6.37241694e-03 -6.62028031e+01] [-9.91447154e-03 3.69942008e-04 9.99950782e-01 1.28180222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90232058799998 meters 0.02910509798342832 Centerline is valid? [True, True] Translation: X:249.55, Y:-66.23, Z:1.28 [[ 7.89570595e-01 6.13617664e-01 7.18599070e-03 2.49546425e+02] [-6.13588210e-01 7.89603219e-01 -6.02209452e-03 -6.62267437e+01] [-9.36934496e-03 3.45629584e-04 9.99956047e-01 1.28339720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93232058799998 meters 0.02915639884362108 Centerline is valid? [True, True] Translation: X:249.57, Y:-66.25, Z:1.28 [[ 7.89236346e-01 6.14046524e-01 7.27019025e-03 2.49570347e+02] [-6.14016312e-01 7.89269753e-01 -6.10130692e-03 -6.62498071e+01] [-9.48462757e-03 3.51357780e-04 9.99954958e-01 1.28377409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96232058799998 meters 0.02930670421294094 Centerline is valid? [True, True] Translation: X:249.59, Y:-66.27, Z:1.28 [[ 7.89056372e-01 6.14272514e-01 7.70191196e-03 2.49594679e+02] [-6.14238559e-01 7.89093872e-01 -6.46946591e-03 -6.62713003e+01] [-1.00515466e-02 3.73961994e-04 9.99949412e-01 1.28338306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99232058799998 meters 0.028964808645105627 Centerline is valid? [True, True] Translation: X:249.62, Y:-66.29, Z:1.28 [[ 7.87446424e-01 6.16328822e-01 8.17999363e-03 2.49618163e+02] [-6.16290570e-01 7.87488821e-01 -6.87678649e-03 -6.62932435e+01] [-1.06800153e-02 3.73848000e-04 9.99942897e-01 1.28199253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02232058799999 meters 0.02881989522863117 Centerline is valid? [True, True] Translation: X:249.64, Y:-66.31, Z:1.28 [[ 7.86882989e-01 6.17050418e-01 7.99641882e-03 2.49641528e+02] [-6.17013837e-01 7.86923536e-01 -6.72858815e-03 -6.63148534e+01] [-1.04444483e-02 3.60710505e-04 9.99945390e-01 1.28166256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.052320588 meters 0.028425823532472257 Centerline is valid? [True, True] Translation: X:249.66, Y:-66.34, Z:1.28 [[ 7.85421122e-01 6.18892710e-01 9.24525151e-03 2.49663486e+02] [-6.18843934e-01 7.85475437e-01 -7.77961993e-03 -6.63394073e+01] [-1.20766680e-02 3.88909995e-04 9.99926999e-01 1.28219921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.082320588 meters 0.02810007347646475 Centerline is valid? [True, True] Translation: X:249.69, Y:-66.36, Z:1.28 [[ 7.84019131e-01 6.20673238e-01 8.87324163e-03 2.49686572e+02] [-6.20628322e-01 7.84069261e-01 -7.47527462e-03 -6.63615564e+01] [-1.15969389e-02 3.53773245e-04 9.99932691e-01 1.28200983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.112320588 meters 0.027886602273880474 Centerline is valid? [True, True] Translation: X:249.71, Y:-66.38, Z:1.28 [[ 7.82835618e-01 6.22171245e-01 8.44618205e-03 2.49710222e+02] [-6.22130561e-01 7.82881114e-01 -7.12220599e-03 -6.63832209e+01] [-1.10435882e-02 3.20888549e-04 9.99938966e-01 1.28248058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.142320588 meters 0.02770858351897277 Centerline is valid? [True, True] Translation: X:249.73, Y:-66.41, Z:1.28 [[ 7.80376123e-01 6.25240871e-01 9.32521969e-03 2.49733449e+02] [-6.25191411e-01 7.80431775e-01 -7.87043837e-03 -6.64050196e+01] [-1.21986175e-02 3.11854918e-04 9.99925545e-01 1.28294354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.172320588 meters 0.027425458130572202 Centerline is valid? [True, True] Translation: X:249.76, Y:-66.43, Z:1.28 [[ 7.79133845e-01 6.26760834e-01 1.10139922e-02 2.49758167e+02] [-6.26691849e-01 7.79211612e-01 -9.30540778e-03 -6.64267321e+01] [-1.44144958e-02 3.47779000e-04 9.99896045e-01 1.28338573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.202320588 meters 0.027227869994704043 Centerline is valid? [True, True] Translation: X:249.78, Y:-66.45, Z:1.28 [[ 7.76915600e-01 6.29495183e-01 1.17458462e-02 2.49780928e+02] [-6.29416904e-01 7.77004318e-01 -9.93229448e-03 -6.64495798e+01] [-1.53789047e-02 3.23520382e-04 9.99881685e-01 1.28286615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.232320588 meters 0.027092383895574747 Centerline is valid? [True, True] Translation: X:249.80, Y:-66.47, Z:1.28 [[ 7.75854475e-01 6.30812140e-01 1.12195177e-02 2.49804776e+02] [-6.30740725e-01 7.75935539e-01 -9.49620825e-03 -6.64714791e+01] [-1.46959460e-02 2.91068916e-04 9.99891966e-01 1.28335849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.262320588 meters 0.026976962640503588 Centerline is valid? [True, True] Translation: X:249.83, Y:-66.49, Z:1.28 [[ 7.75320268e-01 6.31477942e-01 1.06813432e-02 2.49828902e+02] [-6.31413159e-01 7.75393793e-01 -9.04921703e-03 -6.64924364e+01] [-1.39966282e-02 2.71700693e-04 9.99902005e-01 1.28376828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.292320588 meters 0.026837975438142658 Centerline is valid? [True, True] Translation: X:249.85, Y:-66.51, Z:1.28 [[ 7.73636162e-01 6.33557970e-01 9.55962636e-03 2.49852719e+02] [-6.33506138e-01 7.73695193e-01 -8.10690580e-03 -6.65136733e+01] [-1.25324318e-02 2.15713520e-04 9.99921443e-01 1.28401220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.322320588 meters 0.02673154561102851 Centerline is valid? [True, True] Translation: X:249.88, Y:-66.54, Z:1.29 [[ 7.72861781e-01 6.34507832e-01 9.19121907e-03 2.49876829e+02] [-6.34459895e-01 7.72916407e-01 -7.80188905e-03 -6.65351221e+01] [-1.20544037e-02 1.98321973e-04 9.99927323e-01 1.28546931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.352320588 meters 0.026582809370183612 Centerline is valid? [True, True] Translation: X:249.90, Y:-66.56, Z:1.29 [[ 7.71904758e-01 6.35668966e-01 9.38134164e-03 2.49902033e+02] [-6.35619001e-01 7.71961740e-01 -7.97226096e-03 -6.65570528e+01] [-1.23097557e-02 1.90867171e-04 9.99924214e-01 1.28676446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.382320588 meters 0.02650829642662141 Centerline is valid? [True, True] Translation: X:249.93, Y:-66.58, Z:1.29 [[ 7.70324539e-01 6.37559395e-01 1.08684325e-02 2.49928354e+02] [-6.37492386e-01 7.70401182e-01 -9.24539957e-03 -6.65772793e+01] [-1.42675446e-02 1.93415166e-04 9.99898195e-01 1.28670837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.412320588 meters 0.026378500478223016 Centerline is valid? [True, True] Translation: X:249.95, Y:-66.60, Z:1.29 [[ 7.68538700e-01 6.39693475e-01 1.18542881e-02 2.49953405e+02] [-6.39613848e-01 7.68630098e-01 -1.00944832e-02 -6.65981805e+01] [-1.55689377e-02 1.75834173e-04 9.99878781e-01 1.28610604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.442320588 meters 0.026396694402382792 Centerline is valid? [True, True] Translation: X:249.98, Y:-66.62, Z:1.29 [[ 7.67394496e-01 6.41075448e-01 1.13118089e-02 2.49977469e+02] [-6.41002963e-01 7.67477849e-01 -9.64121166e-03 -6.66187969e+01] [-1.48623069e-02 1.47709705e-04 9.99889539e-01 1.28534330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.472320588 meters 0.0261848437592831 Centerline is valid? [True, True] Translation: X:250.00, Y:-66.64, Z:1.29 [[ 7.66740386e-01 6.41864383e-01 1.09222023e-02 2.50003110e+02] [-6.41796734e-01 7.66818164e-01 -9.31970241e-03 -6.66401733e+01] [-1.43573282e-02 1.35958446e-04 9.99896919e-01 1.28568992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.502320588 meters 0.026154774780605558 Centerline is valid? [True, True] Translation: X:250.03, Y:-66.66, Z:1.29 [[ 7.66355011e-01 6.42321444e-01 1.10977265e-02 2.50028917e+02] [-6.42251504e-01 7.66435349e-01 -9.47953589e-03 -6.66604380e+01] [-1.45945991e-02 1.37158286e-04 9.99893484e-01 1.28596008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.532320588 meters 0.026138129049680065 Centerline is valid? [True, True] Translation: X:250.05, Y:-66.68, Z:1.29 [[ 7.65528168e-01 6.43314918e-01 1.06084801e-02 2.50054215e+02] [-6.43250990e-01 7.65601660e-01 -9.06982499e-03 -6.66803148e+01] [-1.39566237e-02 1.19291163e-04 9.99902594e-01 1.28689878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.562320588 meters 0.02611538391221391 Centerline is valid? [True, True] Translation: X:250.08, Y:-66.70, Z:1.29 [[ 7.65657750e-01 6.43155072e-01 1.09436552e-02 2.50080586e+02] [-6.43086875e-01 7.65735944e-01 -9.36672556e-03 -6.66999260e+01] [-1.44042072e-02 1.33985009e-04 9.99896245e-01 1.28746679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.592320588 meters 0.02636249804069237 Centerline is valid? [True, True] Translation: X:250.11, Y:-66.72, Z:1.29 [[ 7.66950589e-01 6.41572131e-01 1.31146834e-02 2.50106656e+02] [-6.41473796e-01 7.67062683e-01 -1.12343067e-02 -6.67186988e+01] [-1.72674023e-02 2.03432394e-04 9.99850887e-01 1.28729628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.622320588 meters 0.026670946149275194 Centerline is valid? [True, True] Translation: X:250.13, Y:-66.74, Z:1.29 [[ 7.67670289e-01 6.40685787e-01 1.42846108e-02 2.50132435e+02] [-6.40568759e-01 7.67803138e-01 -1.22477143e-02 -6.67375114e+01] [-1.88147054e-02 2.51930987e-04 9.99822956e-01 1.28652611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65232058799998 meters 0.0266321005011637 Centerline is valid? [True, True] Translation: X:250.16, Y:-66.76, Z:1.29 [[ 7.69026814e-01 6.39057373e-01 1.42629932e-02 2.50158391e+02] [-6.38940205e-01 7.69159011e-01 -1.22405195e-02 -6.67570264e+01] [-1.87929040e-02 3.00087938e-04 9.99823353e-01 1.28701688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68232058799998 meters 0.026816853913499097 Centerline is valid? [True, True] Translation: X:250.18, Y:-66.78, Z:1.29 [[ 7.71939307e-01 6.35544483e-01 1.38894524e-02 2.50183625e+02] [-6.35432598e-01 7.72064157e-01 -1.19311037e-02 -6.67765902e+01] [-1.83062955e-02 3.84277089e-04 9.99832352e-01 1.28706288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71232058799998 meters 0.026916614225126253 Centerline is valid? [True, True] Translation: X:250.21, Y:-66.80, Z:1.29 [[ 7.73066704e-01 6.34209154e-01 1.21086592e-02 2.50208875e+02] [-6.34123768e-01 7.73161439e-01 -1.04132610e-02 -6.67979566e+01] [-1.59661338e-02 3.71756762e-04 9.99872464e-01 1.28772504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74232058799998 meters 0.027202817459608897 Centerline is valid? [True, True] Translation: X:250.23, Y:-66.82, Z:1.29 [[ 7.74311951e-01 6.32701877e-01 1.13726911e-02 2.50233752e+02] [-6.32626262e-01 7.74395368e-01 -9.78910247e-03 -6.68188056e+01] [-1.50005428e-02 3.85156002e-04 9.99887411e-01 1.28775381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77232058799999 meters 0.027438942732261412 Centerline is valid? [True, True] Translation: X:250.26, Y:-66.84, Z:1.29 [[ 7.76162879e-01 6.30407275e-01 1.25639594e-02 2.50257751e+02] [-6.30314528e-01 7.76264411e-01 -1.08240311e-02 -6.68404429e+01] [-1.65765024e-02 4.81965006e-04 9.99862484e-01 1.28754536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.802320588 meters 0.027650943390050798 Centerline is valid? [True, True] Translation: X:250.28, Y:-66.86, Z:1.29 [[ 7.76494682e-01 6.29987924e-01 1.30852980e-02 2.50281466e+02] [-6.29887085e-01 7.76604755e-01 -1.12833344e-02 -6.68617390e+01] [-1.72704690e-02 5.19188938e-04 9.99850720e-01 1.28660937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.832320588 meters 0.02758948662900949 Centerline is valid? [True, True] Translation: X:250.30, Y:-66.89, Z:1.29 [[ 7.75972070e-01 6.30629929e-01 1.31620267e-02 2.50304137e+02] [-6.30527786e-01 7.76083517e-01 -1.13616215e-02 -6.68854502e+01] [-1.73798105e-02 5.17277457e-04 9.99848826e-01 1.28642160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.862320588 meters 0.027501709777722646 Centerline is valid? [True, True] Translation: X:250.33, Y:-66.91, Z:1.29 [[ 7.74867332e-01 6.31970123e-01 1.39420666e-02 2.50328680e+02] [-6.31855501e-01 7.74992573e-01 -1.20473180e-02 -6.69080967e+01] [-1.84185431e-02 5.25701743e-04 9.99830226e-01 1.28671173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.892320588 meters 0.02712525151372871 Centerline is valid? [True, True] Translation: X:250.35, Y:-66.93, Z:1.29 [[ 7.73584433e-01 6.33555884e-01 1.31934367e-02 2.50352697e+02] [-6.33453295e-01 7.73696789e-01 -1.14105669e-02 -6.69294214e+01] [-1.74369514e-02 4.69610971e-04 9.99847855e-01 1.28681345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.922320588 meters 0.026700897415211713 Centerline is valid? [True, True] Translation: X:250.38, Y:-66.95, Z:1.29 [[ 7.71669127e-01 6.35921772e-01 1.14130399e-02 2.50376106e+02] [-6.35845236e-01 7.71753438e-01 -9.87250856e-03 -6.69517703e+01] [-1.50861959e-02 3.61383014e-04 9.99886132e-01 1.28671295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.952320588 meters 0.026765080692594343 Centerline is valid? [True, True] Translation: X:250.40, Y:-66.97, Z:1.29 [[ 7.70979214e-01 6.36783499e-01 9.89075533e-03 2.50400660e+02] [-6.36725958e-01 7.71042594e-01 -8.56583007e-03 -6.69727231e+01] [-1.30807729e-02 3.06376271e-04 9.99914396e-01 1.28662725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.982320588 meters 0.026700137353369506 Centerline is valid? [True, True] Translation: X:250.42, Y:-67.00, Z:1.29 [[ 7.70107909e-01 6.37864058e-01 7.95309390e-03 2.50424240e+02] [-6.37826839e-01 7.70148938e-01 -6.89462383e-03 -6.69951653e+01] [-1.05228996e-02 2.36907596e-04 9.99944605e-01 1.28662214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.012320588 meters 0.026476663535531342 Centerline is valid? [True, True] Translation: X:250.45, Y:-67.02, Z:1.29 [[ 7.69030175e-01 6.39145555e-01 9.24928768e-03 2.50448408e+02] [-6.39095204e-01 7.69085750e-01 -8.02674590e-03 -6.70168697e+01] [-1.22437543e-02 2.61634405e-04 9.99925008e-01 1.28588333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.042320588 meters 0.02649518351798723 Centerline is valid? [True, True] Translation: X:250.47, Y:-67.04, Z:1.29 [[ 7.68753059e-01 6.39483448e-01 8.92489021e-03 2.50473402e+02] [-6.39436491e-01 7.68804823e-01 -7.75362547e-03 -6.70378787e+01] [-1.18198138e-02 2.53722825e-04 9.99930111e-01 1.28589702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.072320588 meters 0.026533745275041244 Centerline is valid? [True, True] Translation: X:250.50, Y:-67.06, Z:1.29 [[ 7.68143091e-01 6.40201700e-01 9.89824024e-03 2.50499085e+02] [-6.40143887e-01 7.68206813e-01 -8.60796859e-03 -6.70589595e+01] [-1.31147317e-02 2.75853618e-04 9.99913960e-01 1.28598234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.102320588 meters 0.026286888293823165 Centerline is valid? [True, True] Translation: X:250.52, Y:-67.08, Z:1.29 [[ 7.67018563e-01 6.41535259e-01 1.07254489e-02 2.50523745e+02] [-6.41467372e-01 7.67093496e-01 -9.33694714e-03 -6.70810427e+01] [-1.42174029e-02 2.81586237e-04 9.99898888e-01 1.28792910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.132320588 meters 0.025982679013838342 Centerline is valid? [True, True] Translation: X:250.55, Y:-67.10, Z:1.29 [[ 7.65449386e-01 6.43439835e-01 8.50979292e-03 2.50547427e+02] [-6.43397136e-01 7.65496661e-01 -7.41530597e-03 -6.71032635e+01] [-1.12855213e-02 2.00865013e-04 9.99936296e-01 1.29033616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.162320588 meters 0.025982679013838342 Centerline is valid? [True, True] Translation: X:250.57, Y:-67.12, Z:1.29 [[ 7.65108550e-01 6.43845138e-01 8.50563588e-03 2.50572079e+02] [-6.43802411e-01 7.65155800e-01 -7.42007508e-03 -6.71243502e+01] [-1.12855159e-02 2.01213994e-04 9.99936296e-01 1.29049998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.192320588 meters 0.025824681298163 Centerline is valid? [True, True] Translation: X:250.60, Y:-67.15, Z:1.29 [[ 7.64061867e-01 6.45091969e-01 8.11264947e-03 2.50596704e+02] [-6.45053102e-01 7.64104914e-01 -7.08357560e-03 -6.71450147e+01] [-1.07684731e-02 1.79200292e-04 9.99942002e-01 1.29091670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.222320588 meters 0.025669852219297483 Centerline is valid? [True, True] Translation: X:250.62, Y:-67.17, Z:1.29 [[ 7.62754185e-01 6.46639119e-01 7.99398378e-03 2.50621530e+02] [-6.46601394e-01 7.62796057e-01 -6.98657842e-03 -6.71660139e+01] [-1.06155742e-02 1.60120868e-04 9.99943640e-01 1.28940842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.252320588 meters 0.025633564251187128 Centerline is valid? [True, True] Translation: X:250.64, Y:-67.19, Z:1.29 [[ 7.61086958e-01 6.48601888e-01 7.88881193e-03 2.50644916e+02] [-6.48565186e-01 7.61127829e-01 -6.90122023e-03 -6.71881283e+01] [-1.04805388e-02 1.36019935e-04 9.99945068e-01 1.28800407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.282320588 meters 0.025758216974746808 Centerline is valid? [True, True] Translation: X:250.67, Y:-67.21, Z:1.29 [[ 7.59650306e-01 6.50280147e-01 8.19414463e-03 2.50668932e+02] [-6.50240559e-01 7.59694488e-01 -7.17633325e-03 -6.72102853e+01] [-1.08916736e-02 1.23338565e-04 9.99940676e-01 1.28767474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.312320588 meters 0.02568836985096651 Centerline is valid? [True, True] Translation: X:250.69, Y:-67.23, Z:1.29 [[ 7.59204927e-01 6.50795914e-01 8.51809093e-03 2.50693984e+02] [-6.50753078e-01 7.59252700e-01 -7.46781935e-03 -6.72318058e+01] [-1.13274098e-02 1.26431348e-04 9.99935835e-01 1.28806729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.342320588 meters 0.025722761752809378 Centerline is valid? [True, True] Translation: X:250.72, Y:-67.25, Z:1.29 [[ 7.59513422e-01 6.50421228e-01 9.57015364e-03 2.50719832e+02] [-6.50367039e-01 7.59573698e-01 -8.39715938e-03 -6.72510660e+01] [-1.27309277e-02 1.53642769e-04 9.99918947e-01 1.29007045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.372320588 meters 0.025711542423349238 Centerline is valid? [True, True] Translation: X:250.74, Y:-67.27, Z:1.29 [[ 7.59383527e-01 6.50576770e-01 9.30186069e-03 2.50744847e+02] [-6.50525472e-01 7.59440480e-01 -8.17113726e-03 -6.72722458e+01] [-1.23801616e-02 1.53929714e-04 9.99923351e-01 1.29177329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40232058799998 meters 0.025765349729955863 Centerline is valid? [True, True] Translation: X:250.77, Y:-67.29, Z:1.29 [[ 7.61136529e-01 6.48533269e-01 8.70535255e-03 2.50769327e+02] [-6.48488126e-01 7.61186289e-01 -7.65405632e-03 -6.72923666e+01] [-1.15903052e-02 1.80464101e-04 9.99932814e-01 1.29268965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43232058799998 meters 0.02603087719273746 Centerline is valid? [True, True] Translation: X:250.79, Y:-67.31, Z:1.29 [[ 7.62484566e-01 6.46967183e-01 7.12388732e-03 2.50794939e+02] [-6.46936811e-01 7.62517825e-01 -6.27132728e-03 -6.73129556e+01] [-9.48943401e-03 1.73085321e-04 9.99954959e-01 1.29208272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46232058799998 meters 0.026149312372269615 Centerline is valid? [True, True] Translation: X:250.82, Y:-67.33, Z:1.29 [[ 7.64292864e-01 6.44831673e-01 6.96653455e-03 2.50819844e+02] [-6.44802488e-01 7.64324587e-01 -6.13816323e-03 -6.73333795e+01] [-9.28277570e-03 1.99315540e-04 9.99956894e-01 1.29012063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49232058799998 meters 0.027089669012610475 Centerline is valid? [True, True] Translation: X:250.84, Y:-67.36, Z:1.29 [[ 7.67903240e-01 6.40523750e-01 7.34436910e-03 2.50840731e+02] [-6.40491104e-01 7.67938315e-01 -6.47225456e-03 -6.73577405e+01] [-9.78565519e-03 2.66062176e-04 9.99952084e-01 1.28811540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52232058799999 meters 0.02721816164666179 Centerline is valid? [True, True] Translation: X:250.86, Y:-67.38, Z:1.29 [[ 7.69319538e-01 6.38825590e-01 7.02243398e-03 2.50862388e+02] [-6.38795605e-01 7.69351537e-01 -6.19576481e-03 -6.73820151e+01] [-9.36073348e-03 2.80622962e-04 9.99956148e-01 1.28957513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.552320588 meters 0.02754796485962259 Centerline is valid? [True, True] Translation: X:250.88, Y:-67.41, Z:1.29 [[ 7.71454819e-01 6.36247827e-01 6.79438978e-03 2.50883934e+02] [-6.36219608e-01 7.71484678e-01 -6.00013950e-03 -6.74065049e+01] [-9.05934333e-03 3.06112532e-04 9.99958916e-01 1.29365593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.582320588 meters 0.02770774886754284 Centerline is valid? [True, True] Translation: X:250.91, Y:-67.43, Z:1.29 [[ 7.71316936e-01 6.36418001e-01 6.50481158e-03 2.50908005e+02] [-6.36392086e-01 7.71344307e-01 -5.75092202e-03 -6.74289114e+01] [-8.67743968e-03 2.96172941e-04 9.99962306e-01 1.29446836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.612320588 meters 0.027569326496841816 Centerline is valid? [True, True] Translation: X:250.93, Y:-67.45, Z:1.29 [[ 7.71155944e-01 6.36620855e-01 5.69185091e-03 2.50931603e+02] [-6.36600976e-01 7.71176905e-01 -5.03778899e-03 -6.74512602e+01] [-7.59658550e-03 2.61483075e-04 9.99971111e-01 1.29469345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.642320588 meters 0.027656810716883185 Centerline is valid? [True, True] Translation: X:250.96, Y:-67.47, Z:1.29 [[ 7.70931505e-01 6.36890715e-01 5.90176121e-03 2.50955347e+02] [-6.36869309e-01 7.70954047e-01 -5.22887867e-03 -6.74744614e+01] [-7.88021097e-03 2.72456728e-04 9.99968914e-01 1.29452623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.672320588 meters 0.027684389355598117 Centerline is valid? [True, True] Translation: X:250.98, Y:-67.50, Z:1.29 [[ 7.70159966e-01 6.37814407e-01 6.81241155e-03 2.50975651e+02] [-6.37785868e-01 7.70190033e-01 -6.04146998e-03 -6.75011625e+01] [-9.10018807e-03 3.08038496e-04 9.99958545e-01 1.29349480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.702320588 meters 0.027430210344956785 Centerline is valid? [True, True] Translation: X:250.99, Y:-67.53, Z:1.29 [[ 7.68622412e-01 6.39661425e-01 7.26974327e-03 2.50992521e+02] [-6.39628958e-01 7.68656728e-01 -6.45218942e-03 -6.75303564e+01] [-9.71515376e-03 3.09359091e-04 9.99952759e-01 1.29246118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.732320588 meters 0.02757443722946249 Centerline is valid? [True, True] Translation: X:251.02, Y:-67.55, Z:1.29 [[ 7.68590567e-01 6.39697610e-01 7.45031786e-03 2.51015195e+02] [-6.39663439e-01 7.68626609e-01 -6.61976425e-03 -6.75547660e+01] [-9.96115993e-03 3.22192421e-04 9.99950335e-01 1.29162410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.762320588 meters 0.027514150342012614 Centerline is valid? [True, True] Translation: X:251.04, Y:-67.58, Z:1.29 [[ 7.68391132e-01 6.39929843e-01 8.05386317e-03 2.51038160e+02] [-6.39889847e-01 7.68433259e-01 -7.16318605e-03 -6.75783160e+01] [-1.07727928e-02 3.50543365e-04 9.99941910e-01 1.29214535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.792320588 meters 0.027680255110883036 Centerline is valid? [True, True] Translation: X:251.06, Y:-67.60, Z:1.29 [[ 7.68684903e-01 6.39580495e-01 7.76595436e-03 2.51058741e+02] [-6.39543227e-01 7.68724053e-01 -6.91311346e-03 -6.76038959e+01] [-1.03913684e-02 3.47342444e-04 9.99945948e-01 1.29301647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.822320588 meters 0.027726229585789075 Centerline is valid? [True, True] Translation: X:251.08, Y:-67.63, Z:1.29 [[ 7.68609975e-01 6.39676118e-01 7.29182826e-03 2.51081229e+02] [-6.39643193e-01 7.68644492e-01 -6.49851953e-03 -6.76287928e+01] [-9.76177137e-03 3.30658614e-04 9.99952298e-01 1.29439747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.852320588 meters 0.027526402753962724 Centerline is valid? [True, True] Translation: X:251.10, Y:-67.65, Z:1.29 [[ 7.67602810e-01 6.40888577e-01 6.91071347e-03 2.51102404e+02] [-6.40859004e-01 7.67633858e-01 -6.16419539e-03 -6.76539152e+01] [-9.25546006e-03 3.02860749e-04 9.99957121e-01 1.29397636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.882320588 meters 0.027351011047830418 Centerline is valid? [True, True] Translation: X:251.12, Y:-67.68, Z:1.29 [[ 7.65696105e-01 6.43167910e-01 6.67191613e-03 2.51120437e+02] [-6.43140381e-01 7.65725125e-01 -5.95679684e-03 -6.76817495e+01] [-8.94007439e-03 2.70117457e-04 9.99960000e-01 1.29346468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.912320588 meters 0.0271898684005356 Centerline is valid? [True, True] Translation: X:251.14, Y:-67.71, Z:1.29 [[ 7.63899707e-01 6.45293814e-01 7.28912034e-03 2.51141114e+02] [-6.45260997e-01 7.63934434e-01 -6.51359923e-03 -6.77064623e+01] [-9.77159531e-03 2.72351483e-04 9.99952220e-01 1.29361731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.942320588 meters 0.026741726193670014 Centerline is valid? [True, True] Translation: X:251.16, Y:-67.73, Z:1.29 [[ 7.60449236e-01 6.49326222e-01 9.61337010e-03 2.51159882e+02] [-6.49269368e-01 7.60509940e-01 -8.59760876e-03 -6.77333185e+01] [-1.28937163e-02 2.96378279e-04 9.99916829e-01 1.29432670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.972320588 meters 0.026779463903269747 Centerline is valid? [True, True] Translation: X:251.18, Y:-67.76, Z:1.29 [[ 7.58592545e-01 6.51486274e-01 1.01481159e-02 2.51182140e+02] [-6.51422999e-01 7.58660369e-01 -9.08410213e-03 -6.77566484e+01] [-1.36171412e-02 2.80416075e-04 9.99907243e-01 1.29379198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.002320588 meters 0.026577607068472963 Centerline is valid? [True, True] Translation: X:251.20, Y:-67.78, Z:1.29 [[ 7.56603678e-01 6.53810777e-01 9.07427384e-03 2.51204152e+02] [-6.53760247e-01 7.56658060e-01 -8.13142167e-03 -6.77808415e+01] [-1.21825336e-02 2.19864037e-04 9.99925766e-01 1.29497903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.032320588 meters 0.02624364935781331 Centerline is valid? [True, True] Translation: X:251.22, Y:-67.81, Z:1.29 [[ 7.53813716e-01 6.57038431e-01 8.08594900e-03 2.51222982e+02] [-6.56998452e-01 7.53857067e-01 -7.24966654e-03 -6.78087446e+01] [-1.08589593e-02 1.52442100e-04 9.99941028e-01 1.29462952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.062320588 meters 0.0261923437189961 Centerline is valid? [True, True] Translation: X:251.24, Y:-67.83, Z:1.30 [[ 7.52660941e-01 6.58369898e-01 7.11235252e-03 2.51244921e+02] [-6.58338950e-01 7.52694535e-01 -6.38469393e-03 -6.78327797e+01] [-9.55691916e-03 1.23171051e-04 9.99954324e-01 1.29572742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.092320588 meters 0.02614295115592422 Centerline is valid? [True, True] Translation: X:251.27, Y:-67.86, Z:1.30 [[ 7.50460841e-01 6.60875035e-01 7.26049152e-03 2.51266130e+02] [-6.60842835e-01 7.50495955e-01 -6.52447421e-03 -6.78581652e+01] [-9.76083164e-03 9.83186047e-05 9.99952357e-01 1.29640379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.122320588 meters 0.026097253831450305 Centerline is valid? [True, True] Translation: X:251.29, Y:-67.88, Z:1.30 [[ 7.48442397e-01 6.63148286e-01 8.26618496e-03 2.51288870e+02] [-6.63106602e-01 7.48488039e-01 -7.43572704e-03 -6.78823506e+01] [-1.11181302e-02 8.38515532e-05 9.99938188e-01 1.29602486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15232058799998 meters 0.026106688734640327 Centerline is valid? [True, True] Translation: X:251.31, Y:-67.91, Z:1.30 [[ 7.47015922e-01 6.64761701e-01 7.68720048e-03 2.51311664e+02] [-6.64725661e-01 7.47055471e-01 -6.92235567e-03 -6.79055602e+01] [-1.03444821e-02 6.12304865e-05 9.99946493e-01 1.29669693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18232058799998 meters 0.02609258478159907 Centerline is valid? [True, True] Translation: X:251.34, Y:-67.93, Z:1.30 [[ 7.45763204e-01 6.66166402e-01 7.71805871e-03 2.51335125e+02] [-6.66130071e-01 7.45803139e-01 -6.95747827e-03 -6.79289087e+01] [-1.03909907e-02 4.74002952e-05 9.99946011e-01 1.29595595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21232058799998 meters 0.026082556753997673 Centerline is valid? [True, True] Translation: X:251.36, Y:-67.95, Z:1.30 [[ 7.44274390e-01 6.67837158e-01 7.01165623e-03 2.51356896e+02] [-6.67807181e-01 7.44307416e-01 -6.32763828e-03 -6.79533460e+01] [-9.44465970e-03 2.70647404e-05 9.99955398e-01 1.29547151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24232058799998 meters 0.026217265039356924 Centerline is valid? [True, True] Translation: X:251.38, Y:-67.98, Z:1.30 [[ 7.44342105e-01 6.67762961e-01 6.88907248e-03 2.51378005e+02] [-6.67733959e-01 7.44373984e-01 -6.22353739e-03 -6.79793011e+01] [-9.28389408e-03 3.23732794e-05 9.99956903e-01 1.29609844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27232058799999 meters 0.02631736509432523 Centerline is valid? [True, True] Translation: X:251.40, Y:-68.00, Z:1.30 [[ 7.44389943e-01 6.67707730e-01 7.07102051e-03 2.51401059e+02] [-6.67677111e-01 7.44423526e-01 -6.39450316e-03 -6.80025659e+01] [-9.53349321e-03 3.88452958e-05 9.99954554e-01 1.29713069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.302320588 meters 0.026243302171873616 Centerline is valid? [True, True] Translation: X:251.43, Y:-68.02, Z:1.30 [[ 7.44776615e-01 6.67277826e-01 6.93521876e-03 2.51425163e+02] [-6.67248292e-01 7.44808902e-01 -6.27821572e-03 -6.80249937e+01] [-9.35472680e-03 4.83553807e-05 9.99956242e-01 1.29755119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.332320588 meters 0.026216070913148582 Centerline is valid? [True, True] Translation: X:251.45, Y:-68.05, Z:1.30 [[ 7.45834928e-01 6.66096183e-01 6.79226552e-03 2.51449212e+02] [-6.66067746e-01 7.45865853e-01 -6.15529691e-03 -6.80473293e+01] [-9.16613869e-03 6.67264488e-05 9.99957988e-01 1.29761581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.362320588 meters 0.026197148321744735 Centerline is valid? [True, True] Translation: X:251.47, Y:-68.07, Z:1.30 [[ 7.45925295e-01 6.65987622e-01 7.47942132e-03 2.51472818e+02] [-6.65953066e-01 7.45962788e-01 -6.78476682e-03 -6.80696399e+01] [-1.00979407e-02 7.99856309e-05 9.99949011e-01 1.29780198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.392320588 meters 0.02637505199938579 Centerline is valid? [True, True] Translation: X:251.50, Y:-68.09, Z:1.30 [[ 7.45711105e-01 6.66210726e-01 8.84397439e-03 2.51496259e+02] [-6.66162333e-01 7.45763541e-01 -8.03032526e-03 -6.80921598e+01] [-1.19454025e-02 9.67801047e-05 9.99928646e-01 1.29769163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.422320588 meters 0.026482800569612167 Centerline is valid? [True, True] Translation: X:251.52, Y:-68.12, Z:1.30 [[ 7.45299643e-01 6.66660671e-01 9.59124040e-03 2.51519656e+02] [-6.66603679e-01 7.45361348e-01 -8.71759381e-03 -6.81153057e+01] [-1.29606168e-02 1.03663417e-04 9.99916002e-01 1.29657022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.452320588 meters 0.026445106316311445 Centerline is valid? [True, True] Translation: X:251.54, Y:-68.14, Z:1.30 [[ 7.44314845e-01 6.67766891e-01 9.09897818e-03 2.51542881e+02] [-6.67715573e-01 7.44370454e-01 -8.27897368e-03 -6.81385115e+01] [-1.23014350e-02 8.66335834e-05 9.99924331e-01 1.29654722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.482320588 meters 0.026369563625629915 Centerline is valid? [True, True] Translation: X:251.56, Y:-68.16, Z:1.30 [[ 7.42413801e-01 6.69901295e-01 7.34868624e-03 2.51564550e+02] [-6.69867836e-01 7.42450169e-01 -6.69546871e-03 -6.81641076e+01] [-9.94133650e-03 4.81598199e-05 9.99950583e-01 1.29860146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.512320588 meters 0.026405530152480785 Centerline is valid? [True, True] Translation: X:251.59, Y:-68.19, Z:1.30 [[ 7.41281980e-01 6.71155943e-01 7.12226665e-03 2.51589258e+02] [-6.71124499e-01 7.41316193e-01 -6.49683038e-03 -6.81874758e+01] [-9.64023793e-03 3.60556507e-05 9.99953531e-01 1.29940391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.542320588 meters 0.026409174836304908 Centerline is valid? [True, True] Translation: X:251.61, Y:-68.21, Z:1.30 [[ 7.40174455e-01 6.72379115e-01 6.93555215e-03 2.51614915e+02] [-6.72349282e-01 7.40206947e-01 -6.33389121e-03 -6.82099626e+01] [-9.39252005e-03 2.50709566e-05 9.99955889e-01 1.29967404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.572320588 meters 0.026515074906511192 Centerline is valid? [True, True] Translation: X:251.64, Y:-68.23, Z:1.30 [[ 7.39088949e-01 6.73561524e-01 7.89934100e-03 2.51641101e+02] [-6.73522820e-01 7.39131161e-01 -7.22062015e-03 -6.82298647e+01] [-1.07021810e-02 1.62941283e-05 9.99942730e-01 1.29664661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.602320588 meters 0.026378752169765977 Centerline is valid? [True, True] Translation: X:251.67, Y:-68.25, Z:1.30 [[ 7.38198686e-01 6.74536398e-01 7.95916478e-03 2.51665136e+02] [-6.74497066e-01 7.38241592e-01 -7.28423778e-03 -6.82528945e+01] [-1.07892700e-02 8.78146588e-06 9.99941794e-01 1.29661148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.632320588 meters 0.026544541581485188 Centerline is valid? [True, True] Translation: X:251.69, Y:-68.28, Z:1.30 [[ 7.37147608e-01 6.75690029e-01 7.50918026e-03 2.51686825e+02] [-6.75654995e-01 7.37185855e-01 -6.88067173e-03 -6.82786490e+01] [-1.01848627e-02 -1.54443922e-06 9.99948133e-01 1.29838253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.662320588 meters 0.026377128106447014 Centerline is valid? [True, True] Translation: X:251.71, Y:-68.30, Z:1.30 [[ 7.36434158e-01 6.76472298e-01 7.06840323e-03 2.51710685e+02] [-6.76441216e-01 7.36468079e-01 -6.48466880e-03 -6.83018372e+01] [-9.59235215e-03 -5.82766991e-06 9.99953992e-01 1.29997411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.692320588 meters 0.02626286580220252 Centerline is valid? [True, True] Translation: X:251.74, Y:-68.33, Z:1.30 [[ 7.35559136e-01 6.77420460e-01 7.36737568e-03 2.51735520e+02] [-6.77386664e-01 7.35596031e-01 -6.76661717e-03 -6.83251165e+01] [-1.00032572e-02 -1.33149580e-05 9.99949966e-01 1.30097341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.722320588 meters 0.026290566302758438 Centerline is valid? [True, True] Translation: X:251.76, Y:-68.35, Z:1.30 [[ 7.34738001e-01 6.78313453e-01 7.13644124e-03 2.51760967e+02] [-6.78281710e-01 7.34772658e-01 -6.56222942e-03 -6.83476505e+01] [-9.69491040e-03 -1.89982421e-05 9.99953003e-01 1.30167492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.752320588 meters 0.026182093030698603 Centerline is valid? [True, True] Translation: X:251.79, Y:-68.37, Z:1.30 [[ 7.33605722e-01 6.79548404e-01 6.05071449e-03 2.51787170e+02] [-6.79525569e-01 7.33630674e-01 -5.57091001e-03 -6.83688025e+01] [-8.22469276e-03 -2.47637400e-05 9.99966176e-01 1.30118256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.782320588 meters 0.026197081629141826 Centerline is valid? [True, True] Translation: X:251.81, Y:-68.39, Z:1.30 [[ 7.32569745e-01 6.80660144e-01 6.58307220e-03 2.51811640e+02] [-6.80633098e-01 7.32599322e-01 -6.06787188e-03 -6.83923989e+01] [-8.95291278e-03 -3.55174688e-05 9.99959921e-01 1.30053525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.812320588 meters 0.026259903471561742 Centerline is valid? [True, True] Translation: X:251.83, Y:-68.42, Z:1.30 [[ 7.32345834e-01 6.80884963e-01 8.07755523e-03 2.51834831e+02] [-6.80844171e-01 7.32390378e-01 -7.45308131e-03 -6.84163928e+01] [-1.09906147e-02 -4.13233537e-05 9.99939601e-01 1.30077330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.842320588 meters 0.026432021138943194 Centerline is valid? [True, True] Translation: X:251.86, Y:-68.44, Z:1.30 [[ 7.32944356e-01 6.80220773e-01 9.60574230e-03 2.51857986e+02] [-6.80162904e-01 7.33007298e-01 -8.87273866e-03 -6.84406529e+01] [-1.30765004e-02 -3.02458500e-05 9.99914498e-01 1.30040630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.872320588 meters 0.026411960270350497 Centerline is valid? [True, True] Translation: X:251.88, Y:-68.46, Z:1.30 [[ 7.33185351e-01 6.79971670e-01 8.81864477e-03 2.51881689e+02] [-6.79922763e-01 7.33238384e-01 -8.15532614e-03 -6.84649846e+01] [-1.20115596e-02 -1.66316550e-05 9.99927858e-01 1.30091046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90232058799998 meters 0.026367336012720465 Centerline is valid? [True, True] Translation: X:251.91, Y:-68.49, Z:1.30 [[ 7.32960547e-01 6.80230254e-01 7.45907974e-03 2.51906894e+02] [-6.80195191e-01 7.32998501e-01 -6.90652491e-03 -6.84876375e+01] [-1.01655215e-02 -1.14198940e-05 9.99948330e-01 1.29997964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93232058799998 meters 0.026186732627979138 Centerline is valid? [True, True] Translation: X:251.93, Y:-68.51, Z:1.30 [[ 7.30951143e-01 6.82410413e-01 5.14342801e-03 2.51931194e+02] [-6.82393748e-01 7.30969239e-01 -4.76913180e-03 -6.85104633e+01] [-7.01419286e-03 -2.38407795e-05 9.99975400e-01 1.30006298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96232058799998 meters 0.026269844852688795 Centerline is valid? [True, True] Translation: X:251.96, Y:-68.53, Z:1.30 [[ 7.28931063e-01 6.84564674e-01 5.54187924e-03 2.51955412e+02] [-6.84545347e-01 7.28952128e-01 -5.14418165e-03 -6.85336734e+01] [-7.56128970e-03 -4.39138578e-05 9.99971412e-01 1.29976237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99232058799998 meters 0.026514968525395678 Centerline is valid? [True, True] Translation: X:251.98, Y:-68.56, Z:1.30 [[ 7.26945420e-01 6.86655775e-01 7.36225666e-03 2.51980001e+02] [-6.86621701e-01 7.26982696e-01 -6.84104530e-03 -6.85562496e+01] [-1.00496765e-02 -8.20186441e-05 9.99949497e-01 1.30041367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02232058799996 meters 0.026712192979315978 Centerline is valid? [True, True] Translation: X:252.00, Y:-68.58, Z:1.30 [[ 7.25103533e-01 6.88583910e-01 8.77870669e-03 2.52004700e+02] [-6.88535502e-01 7.25156662e-01 -8.16568877e-03 -6.85786021e+01] [-1.19886995e-02 -1.23481442e-04 9.99928125e-01 1.30126376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.052320588 meters 0.027277757000650698 Centerline is valid? [True, True] Translation: X:252.03, Y:-68.60, Z:1.30 [[ 7.21319472e-01 6.92558937e-01 7.76774630e-03 2.52030040e+02] [-6.92521177e-01 7.21361277e-01 -7.23378144e-03 -6.86010009e+01] [-1.06131714e-02 -1.61461405e-04 9.99943666e-01 1.30202377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08232058799996 meters 0.027277757000650698 Centerline is valid? [True, True] Translation: X:252.05, Y:-68.62, Z:1.30 [[ 7.20936200e-01 6.92957949e-01 7.76376591e-03 2.52054568e+02] [-6.92920166e-01 7.20977985e-01 -7.23805440e-03 -6.86233662e+01] [-1.06131716e-02 -1.61494526e-04 9.99943666e-01 1.30219185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.112320588 meters 0.02750453483652106 Centerline is valid? [True, True] Translation: X:252.08, Y:-68.64, Z:1.30 [[ 7.19025430e-01 6.94948973e-01 6.95388755e-03 2.52081066e+02] [-6.94918682e-01 7.19059036e-01 -6.49058667e-03 -6.86445241e+01] [-9.51088222e-03 -1.65489503e-04 9.99954757e-01 1.30170743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14232058799996 meters 0.027612822767441658 Centerline is valid? [True, True] Translation: X:252.11, Y:-68.67, Z:1.30 [[ 7.18343062e-01 6.95654825e-01 6.89997806e-03 2.52107182e+02] [-6.95624967e-01 7.18376180e-01 -6.44746132e-03 -6.86658403e+01] [-9.44198746e-03 -1.68307905e-04 9.99955409e-01 1.30132978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.172320588 meters 0.027150402532752062 Centerline is valid? [True, True] Translation: X:252.13, Y:-68.69, Z:1.30 [[ 7.18676309e-01 6.95314926e-01 6.44338464e-03 2.52134074e+02] [-6.95288833e-01 7.18705177e-01 -6.02556406e-03 -6.86868368e+01] [-8.82055853e-03 -1.49583250e-04 9.99961087e-01 1.30168674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20232058799996 meters 0.02731126413175469 Centerline is valid? [True, True] Translation: X:252.16, Y:-68.71, Z:1.30 [[ 7.18585005e-01 6.95411390e-01 6.21204651e-03 2.52159755e+02] [-6.95387075e-01 7.18611842e-01 -5.81690558e-03 -6.87084125e+01] [-8.50919258e-03 -1.39835730e-04 9.99963786e-01 1.30170244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.232320588 meters 0.027227383736498165 Centerline is valid? [True, True] Translation: X:252.19, Y:-68.73, Z:1.30 [[ 7.18810996e-01 6.95164774e-01 7.52926771e-03 2.52188586e+02] [-6.95128969e-01 7.18850410e-01 -7.05728823e-03 -6.87265878e+01] [-1.03183954e-02 -1.60955717e-04 9.99946751e-01 1.30279244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26232058799997 meters 0.027183558804069717 Centerline is valid? [True, True] Translation: X:252.22, Y:-68.75, Z:1.30 [[ 7.19202466e-01 6.94766789e-01 6.84997451e-03 2.52216633e+02] [-6.94737064e-01 7.19235073e-01 -6.42818963e-03 -6.87461846e+01] [-9.39283459e-03 -1.35761348e-04 9.99955877e-01 1.30334389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29232058799994 meters 0.02699426519095153 Centerline is valid? [True, True] Translation: X:252.24, Y:-68.77, Z:1.30 [[ 7.19514428e-01 6.94443260e-01 6.89542698e-03 2.52241735e+02] [-6.94413055e-01 7.19547457e-01 -6.47813934e-03 -6.87689715e+01] [-9.46028715e-03 -1.27159792e-04 9.99955242e-01 1.30321205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32232058799997 meters 0.026904283729149044 Centerline is valid? [True, True] Translation: X:252.27, Y:-68.79, Z:1.30 [[ 7.19515799e-01 6.94452144e-01 5.76493240e-03 2.52267242e+02] [-6.94430975e-01 7.19538887e-01 -5.42327330e-03 -6.87915020e+01] [-7.91429681e-03 -1.01216802e-04 9.99968676e-01 1.30387023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35232058799994 meters 0.02666463556115398 Centerline is valid? [True, True] Translation: X:252.30, Y:-68.81, Z:1.30 [[ 7.21766136e-01 6.92101392e-01 7.02200232e-03 2.52295573e+02] [-6.92069802e-01 7.21800288e-01 -6.61306248e-03 -6.88110341e+01] [-9.64539304e-03 -8.66312020e-05 9.99953478e-01 1.30366103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38232058799997 meters 0.02673161136021488 Centerline is valid? [True, True] Translation: X:252.32, Y:-68.83, Z:1.30 [[ 7.22130674e-01 6.91714290e-01 7.65711402e-03 2.52321560e+02] [-6.91676623e-01 7.22171264e-01 -7.21907014e-03 -6.88319844e+01] [-1.05232817e-02 -8.31347815e-05 9.99944625e-01 1.30419449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41232058799994 meters 0.026515827545537003 Centerline is valid? [True, True] Translation: X:252.35, Y:-68.85, Z:1.31 [[ 7.23393734e-01 6.90387432e-01 8.16700612e-03 2.52347563e+02] [-6.90344402e-01 7.23439832e-01 -7.70825009e-03 -6.88531168e+01] [-1.12300165e-02 -6.19471367e-05 9.99936939e-01 1.30527672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.442320588 meters 0.026474667218039132 Centerline is valid? [True, True] Translation: X:252.37, Y:-68.87, Z:1.30 [[ 7.25605715e-01 6.88065546e-01 7.88355436e-03 2.52372680e+02] [-6.88025218e-01 7.25648541e-01 -7.44950198e-03 -6.88749773e+01] [-1.08464354e-02 -1.86829940e-05 9.99941176e-01 1.30468720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47232058799995 meters 0.026368260440265613 Centerline is valid? [True, True] Translation: X:252.40, Y:-68.90, Z:1.30 [[ 7.26964910e-01 6.86626700e-01 8.11138133e-03 2.52397375e+02] [-6.86583835e-01 7.27010162e-01 -7.67214814e-03 -6.88970899e+01] [-1.11649584e-02 8.23917807e-06 9.99937670e-01 1.30404077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.502320588 meters 0.026385843213823333 Centerline is valid? [True, True] Translation: X:252.42, Y:-68.92, Z:1.30 [[ 7.28603135e-01 6.84892027e-01 7.77071709e-03 2.52419870e+02] [-6.84852506e-01 7.28644571e-01 -7.35767385e-03 -6.89209054e+01] [-1.07013030e-02 3.90291630e-05 9.99942739e-01 1.30448650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53232058799995 meters 0.02643802383332371 Centerline is valid? [True, True] Translation: X:252.44, Y:-68.94, Z:1.31 [[ 7.29286460e-01 6.84157622e-01 8.34311410e-03 2.52443133e+02] [-6.84111925e-01 7.29334179e-01 -7.90756282e-03 -6.89443100e+01] [-1.14949376e-02 5.92546522e-05 9.99933929e-01 1.30507755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.562320588 meters 0.026407961158722314 Centerline is valid? [True, True] Translation: X:252.47, Y:-68.97, Z:1.31 [[ 7.30227839e-01 6.83162963e-01 7.46114618e-03 2.52467365e+02] [-6.83126285e-01 7.30265952e-01 -7.07937256e-03 -6.89670757e+01] [-1.02849861e-02 7.26498529e-05 9.99947105e-01 1.30654204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59232058799995 meters 0.02635056809461526 Centerline is valid? [True, True] Translation: X:252.49, Y:-68.99, Z:1.31 [[ 7.31842105e-01 6.81429508e-01 7.80768690e-03 2.52491775e+02] [-6.81389164e-01 7.31883744e-01 -7.41566242e-03 -6.89895593e+01] [-1.07675703e-02 1.07020734e-04 9.99942022e-01 1.30613756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.622320588 meters 0.02661219773483808 Centerline is valid? [True, True] Translation: X:252.52, Y:-69.01, Z:1.30 [[ 7.32824956e-01 6.80360850e-01 8.75771479e-03 2.52515699e+02] [-6.80309914e-01 7.32877270e-01 -8.32628241e-03 -6.90124508e+01] [-1.20832067e-02 1.43747341e-04 9.99926985e-01 1.30447794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65232058799995 meters 0.02687594507210469 Centerline is valid? [True, True] Translation: X:252.54, Y:-69.04, Z:1.30 [[ 7.34449496e-01 6.78600252e-01 9.25396904e-03 2.52537841e+02] [-6.78543127e-01 7.34507768e-01 -8.80696548e-03 -6.90375058e+01] [-1.27735211e-02 1.89054269e-04 9.99918397e-01 1.30494571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.682320588 meters 0.02687617770550342 Centerline is valid? [True, True] Translation: X:252.56, Y:-69.06, Z:1.31 [[ 7.34611874e-01 6.78423944e-01 9.29227455e-03 2.52561203e+02] [-6.78366211e-01 7.34670615e-01 -8.85274593e-03 -6.90611464e+01] [-1.28326759e-02 1.99767205e-04 9.99917638e-01 1.30558316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71232058799995 meters 0.026803366956248683 Centerline is valid? [True, True] Translation: X:252.58, Y:-69.08, Z:1.31 [[ 7.34575554e-01 6.78486491e-01 7.40513041e-03 2.52583914e+02] [-6.78449749e-01 7.34612860e-01 -7.06289646e-03 -6.90847546e+01] [-1.02319839e-02 1.64222220e-04 9.99947638e-01 1.30642474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.742320588 meters 0.027061831814888488 Centerline is valid? [True, True] Translation: X:252.61, Y:-69.11, Z:1.30 [[ 7.36655682e-01 6.76222487e-01 7.84571848e-03 2.52606520e+02] [-6.76181032e-01 7.36697430e-01 -7.49058990e-03 -6.91088546e+01] [-1.08452260e-02 2.12859589e-04 9.99941166e-01 1.30440621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77232058799996 meters 0.02707889311695644 Centerline is valid? [True, True] Translation: X:252.63, Y:-69.13, Z:1.30 [[ 7.37355682e-01 6.75461787e-01 7.61394267e-03 2.52628987e+02] [-6.75422619e-01 7.37394958e-01 -7.27749618e-03 -6.91326227e+01] [-1.05301535e-02 2.23474068e-04 9.99944531e-01 1.30457217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.802320588 meters 0.027353386565722712 Centerline is valid? [True, True] Translation: X:252.65, Y:-69.16, Z:1.30 [[ 7.39984506e-01 6.72569262e-01 8.57435504e-03 2.52648820e+02] [-6.72519309e-01 7.40034118e-01 -8.20258373e-03 -6.91587797e+01] [-1.18621210e-02 3.03365535e-04 9.99929597e-01 1.30311284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83232058799996 meters 0.027568438460217188 Centerline is valid? [True, True] Translation: X:252.67, Y:-69.18, Z:1.30 [[ 7.40466756e-01 6.72040961e-01 8.36244231e-03 2.52670799e+02] [-6.71993315e-01 7.40513910e-01 -8.00841277e-03 -6.91831123e+01] [-1.15744863e-02 3.10458093e-04 9.99932965e-01 1.30309246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.862320588 meters 0.027582682594012697 Centerline is valid? [True, True] Translation: X:252.69, Y:-69.21, Z:1.30 [[ 7.41189776e-01 6.71253284e-01 7.53285354e-03 2.52692861e+02] [-6.71214501e-01 7.41227995e-01 -7.22169939e-03 -6.92076444e+01] [-1.04311514e-02 2.96489223e-04 9.99945550e-01 1.30272793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89232058799996 meters 0.027784306349438376 Centerline is valid? [True, True] Translation: X:252.71, Y:-69.24, Z:1.30 [[ 7.42233610e-01 6.70089553e-01 8.32220634e-03 2.52712251e+02] [-6.70042044e-01 7.42280181e-01 -7.98702462e-03 -6.92353443e+01] [-1.15294306e-02 3.52009962e-04 9.99933472e-01 1.30289335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.922320588 meters 0.02783783815498915 Centerline is valid? [True, True] Translation: X:252.73, Y:-69.26, Z:1.30 [[ 7.42810536e-01 6.69423670e-01 1.02204449e-02 2.52733741e+02] [-6.69351786e-01 7.42880706e-01 -9.82052524e-03 -6.92619878e+01] [-1.41666634e-02 4.53716583e-04 9.99899545e-01 1.30286285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95232058799996 meters 0.02823155629539618 Centerline is valid? [True, True] Translation: X:252.75, Y:-69.29, Z:1.30 [[ 7.43066899e-01 6.69141349e-01 1.00717276e-02 2.52753001e+02] [-6.69071357e-01 7.43135010e-01 -9.68897711e-03 -6.92907737e+01] [-1.39679486e-02 4.60853735e-04 9.99902337e-01 1.30309163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.982320588 meters 0.027921198147872674 Centerline is valid? [True, True] Translation: X:252.78, Y:-69.32, Z:1.30 [[ 7.42641714e-01 6.69641246e-01 7.99287199e-03 2.52775410e+02] [-6.69597089e-01 7.42684636e-01 -7.69874349e-03 -6.93165384e+01] [-1.10915794e-02 3.65404245e-04 9.99938420e-01 1.30288793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01232058799997 meters 0.02796165746399658 Centerline is valid? [True, True] Translation: X:252.80, Y:-69.34, Z:1.30 [[ 7.42412930e-01 6.69908126e-01 6.79291657e-03 2.52796926e+02] [-6.69876167e-01 7.42443940e-01 -6.55110543e-03 -6.93425644e+01] [-9.43199850e-03 3.13212464e-04 9.99955469e-01 1.30128745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04232058799994 meters 0.027793030475395226 Centerline is valid? [True, True] Translation: X:252.81, Y:-69.37, Z:1.30 [[ 7.41371411e-01 6.71058256e-01 7.01765717e-03 2.52814382e+02] [-6.71024123e-01 7.41404558e-01 -6.77561171e-03 -6.93726677e+01] [-9.74975319e-03 3.14227565e-04 9.99952421e-01 1.30079906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07232058799997 meters 0.02767660903335655 Centerline is valid? [True, True] Translation: X:252.84, Y:-69.40, Z:1.30 [[ 7.39394652e-01 6.73218981e-01 8.47061281e-03 2.52835914e+02] [-6.73169270e-01 7.39443087e-01 -8.18874203e-03 -6.94002934e+01] [-1.17763527e-02 3.52555822e-04 9.99930594e-01 1.30141530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10232058799994 meters 0.027247382908618386 Centerline is valid? [True, True] Translation: X:252.86, Y:-69.43, Z:1.30 [[ 7.35965816e-01 6.76950927e-01 9.57914433e-03 2.52855163e+02] [-6.76887537e-01 7.36028076e-01 -9.27007068e-03 -6.94285449e+01] [-1.33259021e-02 3.38451728e-04 9.99911149e-01 1.30408913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13232058799997 meters 0.02689795777788202 Centerline is valid? [True, True] Translation: X:252.88, Y:-69.45, Z:1.30 [[ 7.33388848e-01 6.79752221e-01 8.81568319e-03 2.52876995e+02] [-6.79698610e-01 7.33441780e-01 -8.54139111e-03 -6.94543816e+01] [-1.22718199e-02 2.72153375e-04 9.99924661e-01 1.30459756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16232058799994 meters 0.026673459559681117 Centerline is valid? [True, True] Translation: X:252.90, Y:-69.48, Z:1.30 [[ 7.30563719e-01 6.82797245e-01 8.03587509e-03 2.52899469e+02] [-6.82752761e-01 7.30607883e-01 -7.79676193e-03 -6.94812125e+01] [-1.11946813e-02 2.09515483e-04 9.99937316e-01 1.30414986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.192320588 meters 0.026309557595485065 Centerline is valid? [True, True] Translation: X:252.92, Y:-69.51, Z:1.30 [[ 7.24186006e-01 6.89581719e-01 5.62860146e-03 2.52920094e+02] [-6.89560027e-01 7.24207875e-01 -5.47022104e-03 -6.95101951e+01] [-7.84844193e-03 8.01989524e-05 9.99969197e-01 1.30445152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22232058799995 meters 0.02602913059281723 Centerline is valid? [True, True] Translation: X:252.94, Y:-69.54, Z:1.31 [[ 7.21261234e-01 6.92643441e-01 5.22449726e-03 2.52944186e+02] [-6.92624776e-01 7.21280154e-01 -5.08518431e-03 -6.95359824e+01] [-7.29054575e-03 4.91300634e-05 9.99973422e-01 1.30511070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.252320588 meters 0.026243485022753404 Centerline is valid? [True, True] Translation: X:252.97, Y:-69.56, Z:1.30 [[ 7.16291510e-01 6.97769321e-01 6.66692841e-03 2.52969140e+02] [-6.97739071e-01 7.16322535e-01 -6.49719936e-03 -6.95609388e+01] [-9.30921745e-03 2.11229964e-06 9.99956668e-01 1.30360399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28232058799995 meters 0.026185743472914177 Centerline is valid? [True, True] Translation: X:252.99, Y:-69.59, Z:1.30 [[ 7.14186007e-01 6.99924396e-01 6.64733336e-03 2.52994694e+02] [-6.99894333e-01 7.14216941e-01 -6.48710968e-03 -6.95852419e+01] [-9.28812443e-03 -1.94279894e-05 9.99956864e-01 1.30248743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.312320588 meters 0.02624886527526213 Centerline is valid? [True, True] Translation: X:253.02, Y:-69.61, Z:1.30 [[ 7.12133917e-01 7.02023475e-01 5.32210771e-03 2.53020601e+02] [-7.02004193e-01 7.12153804e-01 -5.20318343e-03 -6.96109443e+01] [-7.44291615e-03 -3.07785290e-05 9.99972301e-01 1.30197699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34232058799995 meters 0.026330522813958503 Centerline is valid? [True, True] Translation: X:253.05, Y:-69.64, Z:1.30 [[ 7.10009671e-01 7.04175334e-01 4.83378883e-03 2.53045751e+02] [-7.04159426e-01 7.10026124e-01 -4.73352334e-03 -6.96367095e+01] [-6.76534673e-03 -4.29106201e-05 9.99977114e-01 1.30187563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.372320588 meters 0.026509036837442494 Centerline is valid? [True, True] Translation: X:253.07, Y:-69.66, Z:1.30 [[ 7.08605242e-01 7.05575799e-01 6.43455176e-03 2.53069879e+02] [-7.05547595e-01 7.08634453e-01 -6.30907640e-03 -6.96629289e+01] [-9.01127668e-03 -6.92379099e-05 9.99959395e-01 1.30239889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40232058799995 meters 0.02634787230088647 Centerline is valid? [True, True] Translation: X:253.10, Y:-69.69, Z:1.30 [[ 7.07885099e-01 7.06297553e-01 6.51559933e-03 2.53095372e+02] [-7.06268577e-01 7.07915081e-01 -6.39808547e-03 -6.96884394e+01] [-9.13144313e-03 -7.26536937e-05 9.99958305e-01 1.30311340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.432320588 meters 0.02646402125294193 Centerline is valid? [True, True] Translation: X:253.12, Y:-69.71, Z:1.30 [[ 7.08258620e-01 7.05909488e-01 7.84362898e-03 2.53121272e+02] [-7.05867361e-01 7.08302047e-01 -7.71231219e-03 -6.97128967e+01] [-1.09998528e-02 -7.42500956e-05 9.99939497e-01 1.30250632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46232058799995 meters 0.026113304372222333 Centerline is valid? [True, True] Translation: X:253.15, Y:-69.74, Z:1.30 [[ 7.09893734e-01 7.04283279e-01 5.99573473e-03 2.53147364e+02] [-7.04258514e-01 7.09919053e-01 -5.90625372e-03 -6.97377077e+01] [-8.41616206e-03 -2.97347272e-05 9.99964583e-01 1.30259494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.492320588 meters 0.025846953794765017 Centerline is valid? [True, True] Translation: X:253.17, Y:-69.76, Z:1.30 [[ 7.10492080e-01 7.03690809e-01 4.49997120e-03 2.53172555e+02] [-7.03676796e-01 7.10506330e-01 -4.44091288e-03 -6.97632419e+01] [-6.32228760e-03 -1.12918859e-05 9.99980014e-01 1.30274832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52232058799996 meters 0.025740768195499072 Centerline is valid? [True, True] Translation: X:253.20, Y:-69.79, Z:1.30 [[ 7.13415841e-01 7.00727244e-01 4.37795588e-03 2.53195666e+02] [-7.00713883e-01 7.13429274e-01 -4.32726973e-03 -6.97914014e+01] [-6.15559768e-03 1.94483099e-05 9.99981054e-01 1.30145236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.552320588 meters 0.025688473459411523 Centerline is valid? [True, True] Translation: X:253.22, Y:-69.82, Z:1.30 [[ 7.14612918e-01 6.99503813e-01 4.77415448e-03 2.53218827e+02] [-6.99487851e-01 7.14628864e-01 -4.72569062e-03 -6.98185967e+01] [-6.71738720e-03 3.75765021e-05 9.99977437e-01 1.30063531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58232058799996 meters 0.02562008978260426 Centerline is valid? [True, True] Translation: X:253.24, Y:-69.85, Z:1.30 [[ 7.15321767e-01 6.98776179e-01 5.15959699e-03 2.53242065e+02] [-6.98757458e-01 7.15340372e-01 -5.11536949e-03 -6.98464753e+01] [-7.26536638e-03 5.38282652e-05 9.99973605e-01 1.30069042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.612320588 meters 0.025550144484691204 Centerline is valid? [True, True] Translation: X:253.26, Y:-69.88, Z:1.30 [[ 7.15661568e-01 6.98416739e-01 6.52520719e-03 2.53263173e+02] [-6.98386702e-01 7.15691311e-01 -6.47778797e-03 -6.98768097e+01] [-9.19422964e-03 7.87859637e-05 9.99957729e-01 1.30162510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64232058799996 meters 0.025540320336486066 Centerline is valid? [True, True] Translation: X:253.29, Y:-69.90, Z:1.30 [[ 7.14583921e-01 6.99516529e-01 6.81506716e-03 2.53286499e+02] [-6.99483715e-01 7.14616415e-01 -6.77588745e-03 -6.99044444e+01] [-9.61000413e-03 7.49117344e-05 9.99953820e-01 1.30137827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.672320588 meters 0.02529765466277984 Centerline is valid? [True, True] Translation: X:253.31, Y:-69.93, Z:1.30 [[ 7.11949393e-01 7.02207018e-01 5.77626491e-03 2.53308433e+02] [-7.02183442e-01 7.11972824e-01 -5.75428271e-03 -6.99345194e+01] [-8.15324135e-03 4.07605097e-05 9.99966761e-01 1.30190858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70232058799996 meters 0.025205770973394215 Centerline is valid? [True, True] Translation: X:253.33, Y:-69.96, Z:1.30 [[ 7.10324424e-01 7.03851198e-01 5.71865641e-03 2.53332410e+02] [-7.03828066e-01 7.10347443e-01 -5.70638258e-03 -6.99625361e+01] [-8.07867717e-03 2.84320420e-05 9.99967367e-01 1.30261537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.732320588 meters 0.025170014298695045 Centerline is valid? [True, True] Translation: X:253.36, Y:-69.99, Z:1.30 [[ 7.08498742e-01 7.05692281e-01 5.28551682e-03 2.53356135e+02] [-7.05672499e-01 7.08518457e-01 -5.28393011e-03 -6.99912986e+01] [-7.47371492e-03 1.38139759e-05 9.99972071e-01 1.30364251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76232058799997 meters 0.025370217685893676 Centerline is valid? [True, True] Translation: X:253.38, Y:-70.02, Z:1.31 [[ 7.06265879e-01 7.07934472e-01 4.15822747e-03 2.53376069e+02] [-7.07922219e-01 7.06278120e-01 -4.16519114e-03 -7.00238464e+01] [-5.88554747e-03 -1.96923241e-06 9.99982680e-01 1.30626884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79232058799994 meters 0.025205219690788188 Centerline is valid? [True, True] Translation: X:253.99, Y:-69.45, Z:3.18 [[ 7.62265657e-01 -6.47164710e-01 1.13536824e-02 2.53990969e+02] [-6.47084408e-01 -7.62350085e-01 -1.02037578e-02 -6.94515133e+01] [ 1.52589927e-02 4.31183303e-04 -9.99883482e-01 3.17530501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82232058799997 meters 0.025327577298647576 Centerline is valid? [True, True] Translation: X:253.47, Y:-70.13, Z:1.30 [[ 7.57289934e-01 6.53070268e-01 3.34392760e-03 2.53468899e+02] [-6.53064022e-01 7.57297316e-01 -2.85635866e-03 -7.01285620e+01] [-4.39775031e-03 -2.07071481e-05 9.99990330e-01 1.30315557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85232058799994 meters 0.025347060587507225 Centerline is valid? [True, True] Translation: X:253.50, Y:-70.15, Z:1.30 [[ 7.55968999e-01 6.54597639e-01 3.57818974e-03 2.53496348e+02] [-6.54590480e-01 7.55977467e-01 -3.06167495e-03 -7.01511959e+01] [-4.70919601e-03 -2.77175922e-05 9.99988911e-01 1.30330649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88232058799997 meters 0.02552705353839695 Centerline is valid? [True, True] Translation: X:253.52, Y:-70.18, Z:1.31 [[ 7.53846970e-01 6.57043015e-01 3.03688107e-03 2.53523138e+02] [-6.57037857e-01 7.53853086e-01 -2.60363103e-03 -7.01758600e+01] [-4.00005974e-03 -3.26064673e-05 9.99991999e-01 1.30592999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91232058799994 meters 0.026051372783502006 Centerline is valid? [True, True] Translation: X:253.55, Y:-70.20, Z:1.31 [[ 7.50292093e-01 6.61093291e-01 4.17557461e-03 2.53547784e+02] [-6.61083583e-01 7.50303709e-01 -3.58339820e-03 -7.02024056e+01] [-5.50190962e-03 -7.18084832e-05 9.99984862e-01 1.30830626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.942320588 meters 0.026396933250585116 Centerline is valid? [True, True] Translation: X:253.57, Y:-70.23, Z:1.31 [[ 7.48487091e-01 6.63141650e-01 3.19775106e-03 2.53573934e+02] [-6.63135954e-01 7.48493920e-01 -2.74944855e-03 -7.02265635e+01] [-4.21677108e-03 -6.26169543e-05 9.99991107e-01 1.30820298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97232058799995 meters 0.026396933250585116 Centerline is valid? [True, True] Translation: X:253.60, Y:-70.25, Z:1.31 [[ 7.47990453e-01 6.63701793e-01 3.19566414e-03 2.53601172e+02] [-6.63696091e-01 7.47997277e-01 -2.75187611e-03 -7.02494082e+01] [-4.21677318e-03 -6.25727429e-05 9.99991107e-01 1.30838311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.002320588 meters 0.02654678569022892 Centerline is valid? [True, True] Translation: X:253.63, Y:-70.27, Z:1.31 [[ 7.46137172e-01 6.65786429e-01 2.78403622e-03 2.53627549e+02] [-6.65782100e-01 7.46142364e-01 -2.40166649e-03 -7.02741917e+01] [-3.67628432e-03 -6.15888440e-05 9.99993241e-01 1.30701318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03232058799995 meters 0.026880551973439797 Centerline is valid? [True, True] Translation: X:253.65, Y:-70.30, Z:1.31 [[ 7.44879870e-01 6.67194902e-01 2.22290637e-03 2.53654385e+02] [-6.67192137e-01 7.44883185e-01 -1.92149396e-03 -7.02986246e+01] [-2.93781655e-03 -5.18234822e-05 9.99995683e-01 1.30698005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.062320588 meters 0.02703740864263099 Centerline is valid? [True, True] Translation: X:253.68, Y:-70.32, Z:1.31 [[ 7.43393492e-01 6.68844285e-01 3.66579637e-03 2.53682423e+02] [-6.68836780e-01 7.43402524e-01 -3.17006136e-03 -7.03212265e+01] [-4.84543969e-03 -9.52164544e-05 9.99988256e-01 1.30956756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09232058799995 meters 0.027251354442944315 Centerline is valid? [True, True] Translation: X:253.71, Y:-70.34, Z:1.31 [[ 7.42344904e-01 6.70004908e-01 4.17931993e-03 2.53710210e+02] [-6.69995145e-01 7.42356660e-01 -3.61887800e-03 -7.03435282e+01] [-5.52721200e-03 -1.13668419e-04 9.99984718e-01 1.30939593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.122320588 meters 0.027423246740851663 Centerline is valid? [True, True] Translation: X:253.74, Y:-70.37, Z:1.31 [[ 7.40800061e-01 6.71714673e-01 3.82991220e-03 2.53737894e+02] [-6.71706470e-01 7.40809952e-01 -3.32162528e-03 -7.03665302e+01] [-5.06842152e-03 -1.11916590e-04 9.99987149e-01 1.30948459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15232058799995 meters 0.02837717366030043 Centerline is valid? [True, True] Translation: X:253.76, Y:-70.39, Z:1.31 [[ 7.37440984e-01 6.75405889e-01 2.77148379e-03 2.53763365e+02] [-6.75401601e-01 7.37446185e-01 -2.40860865e-03 -7.03918063e+01] [-3.67060861e-03 -9.56578568e-05 9.99993259e-01 1.30942477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.182320588 meters 0.028518469725069186 Centerline is valid? [True, True] Translation: X:253.79, Y:-70.42, Z:1.31 [[ 7.35869572e-01 6.77120078e-01 2.09117980e-03 2.53790134e+02] [-6.77117634e-01 7.35872539e-01 -1.82076115e-03 -7.04152450e+01] [-2.77171572e-03 -7.61319940e-05 9.99996156e-01 1.30959077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21232058799995 meters 0.02961634063763355 Centerline is valid? [True, True] Translation: X:253.82, Y:-70.44, Z:1.31 [[ 7.33085851e-01 6.80126835e-01 3.55284944e-03 2.53818120e+02] [-6.80119810e-01 7.33094445e-01 -3.09475245e-03 -7.04376815e+01] [-4.70939838e-03 -1.47644052e-04 9.99988900e-01 1.30979563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.242320588 meters 0.029692264535482633 Centerline is valid? [True, True] Translation: X:253.85, Y:-70.46, Z:1.31 [[ 7.31297327e-01 6.82047929e-01 3.85262494e-03 2.53846853e+02] [-6.82039674e-01 7.31307455e-01 -3.35992716e-03 -7.04595303e+01] [-5.10908470e-03 -1.70537304e-04 9.99986934e-01 1.31076409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27232058799996 meters 0.03009570753508015 Centerline is valid? [True, True] Translation: X:253.88, Y:-70.48, Z:1.31 [[ 7.29741653e-01 6.83715462e-01 3.20745433e-03 2.53875009e+02] [-6.83709735e-01 7.29748686e-01 -2.80230335e-03 -7.04823420e+01] [-4.25661371e-03 -1.48010269e-04 9.99990930e-01 1.31088091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.302320588 meters 0.030217416180111673 Centerline is valid? [True, True] Translation: X:253.90, Y:-70.51, Z:1.31 [[ 7.29438072e-01 6.84042678e-01 2.39033654e-03 2.53901893e+02] [-6.84039486e-01 7.29441980e-01 -2.09261914e-03 -7.05064365e+01] [-3.17505262e-03 -1.08648512e-04 9.99994954e-01 1.31133632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33232058799996 meters 0.02996942645980791 Centerline is valid? [True, True] Translation: X:253.93, Y:-70.53, Z:1.31 [[ 7.28885721e-01 6.84635334e-01 2.54774666e-04 2.53929352e+02] [-6.84635296e-01 7.28885766e-01 -2.27785176e-04 -7.05301495e+01] [-3.41651408e-04 -8.39836637e-06 9.99999942e-01 1.31158810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.362320588 meters 0.029435463583894372 Centerline is valid? [True, True] Translation: X:253.96, Y:-70.55, Z:1.31 [[ 7.29202536e-01 6.84297926e-01 -1.01678941e-04 2.53958470e+02] [-6.84297921e-01 7.29202543e-01 8.40887245e-05 -7.05523570e+01] [ 1.31686283e-04 8.26097676e-06 9.99999991e-01 1.31089424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39232058799996 meters 0.029989978672320058 Centerline is valid? [True, True] Translation: X:253.99, Y:-70.58, Z:1.31 [[ 7.28815755e-01 6.84709107e-01 1.01709095e-03 2.53985881e+02] [-6.84708521e-01 7.28816463e-01 -8.97215307e-04 -7.05751311e+01] [-1.35560412e-03 -4.25061859e-05 9.99999080e-01 1.31004898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.422320588 meters 0.02987285559283224 Centerline is valid? [True, True] Translation: X:254.01, Y:-70.60, Z:1.31 [[ 7.28864705e-01 6.84651911e-01 2.82897580e-03 2.54014136e+02] [-6.84647392e-01 7.28870185e-01 -2.49039569e-03 -7.05977082e+01] [-3.76701028e-03 -1.21689386e-04 9.99992897e-01 1.30926154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45232058799996 meters 0.030007880814523293 Centerline is valid? [True, True] Translation: X:254.04, Y:-70.62, Z:1.31 [[ 7.28098335e-01 6.85470808e-01 1.60836041e-03 2.54041935e+02] [-6.85469340e-01 7.28100108e-01 -1.41992270e-03 -7.06210460e+01] [-2.14436295e-03 -6.86384017e-05 9.99997698e-01 1.30982847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.482320588 meters 0.029720950467615168 Centerline is valid? [True, True] Translation: X:254.07, Y:-70.64, Z:1.31 [[ 7.27780237e-01 6.85810271e-01 4.45247682e-04 2.54070379e+02] [-6.85810156e-01 7.27780373e-01 -3.97282681e-04 -7.06438245e+01] [-5.96503067e-04 -1.62208984e-05 9.99999822e-01 1.31003732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51232058799997 meters 0.029261142595082886 Centerline is valid? [True, True] Translation: X:254.10, Y:-70.67, Z:1.31 [[ 7.28797304e-01 6.84728703e-01 1.04510026e-03 2.54098261e+02] [-6.84728077e-01 7.28798053e-01 -9.27002109e-04 -7.06660660e+01] [-1.39641198e-03 -4.00128525e-05 9.99999024e-01 1.30966929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54232058799994 meters 0.02915356168904545 Centerline is valid? [True, True] Translation: X:254.12, Y:-70.69, Z:1.31 [[ 7.28568729e-01 6.84971126e-01 1.47103033e-03 2.54124395e+02] [-6.84969885e-01 7.28570212e-01 -1.30487593e-03 -7.06905309e+01] [-1.96555121e-03 -5.69196793e-05 9.99998067e-01 1.31036987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57232058799997 meters 0.029050762852558077 Centerline is valid? [True, True] Translation: X:254.15, Y:-70.72, Z:1.31 [[ 7.29246641e-01 6.84247599e-01 2.13542485e-03 2.54151003e+02] [-6.84244980e-01 7.29249763e-01 -1.89478816e-03 -7.07151221e+01] [-2.85376232e-03 -7.93858350e-05 9.99995925e-01 1.31071351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60232058799994 meters 0.02906543686888089 Centerline is valid? [True, True] Translation: X:254.18, Y:-70.74, Z:1.31 [[ 7.29788713e-01 6.83663870e-01 3.48530117e-03 2.54178633e+02] [-6.83656881e-01 7.29797025e-01 -3.09390173e-03 -7.07378818e+01] [-4.65875126e-03 -1.24855563e-04 9.99989140e-01 1.31148331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63232058799997 meters 0.028505685148710495 Centerline is valid? [True, True] Translation: X:254.21, Y:-70.76, Z:1.31 [[ 7.30182744e-01 6.83247031e-01 2.57957135e-03 2.54207809e+02] [-6.83243184e-01 7.30187296e-01 -2.29446319e-03 -7.07598574e+01] [-3.45125539e-03 -8.70971131e-05 9.99994041e-01 1.31095736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66232058799994 meters 0.028242858966814187 Centerline is valid? [True, True] Translation: X:254.24, Y:-70.78, Z:1.31 [[ 7.30821869e-01 6.82567207e-01 1.18464614e-03 2.54235087e+02] [-6.82566388e-01 7.30822828e-01 -1.05791464e-03 -7.07832545e+01] [-1.58786428e-03 -3.54524815e-05 9.99998739e-01 1.31015711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.692320588 meters 0.028236212643292534 Centerline is valid? [True, True] Translation: X:254.26, Y:-70.81, Z:1.31 [[ 7.30133533e-01 6.83301316e-01 2.08207383e-03 2.54261219e+02] [-6.83298792e-01 7.30136499e-01 -1.85829989e-03 -7.08080404e+01] [-2.78997685e-03 -6.58714713e-05 9.99996106e-01 1.31025892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72232058799995 meters 0.028617457145659886 Centerline is valid? [True, True] Translation: X:254.29, Y:-70.83, Z:1.31 [[ 7.28942846e-01 6.84568636e-01 2.84796541e-03 2.54286841e+02] [-6.84563916e-01 7.28948403e-01 -2.54388794e-03 -7.08337304e+01] [-3.81748574e-03 -9.52654407e-05 9.99992709e-01 1.30981392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.752320588 meters 0.02898343488193695 Centerline is valid? [True, True] Translation: X:254.31, Y:-70.86, Z:1.31 [[ 7.27753651e-01 6.85833789e-01 2.57620024e-03 2.54313668e+02] [-6.85829922e-01 7.27758206e-01 -2.30485389e-03 -7.08583999e+01] [-3.45559754e-03 -8.94693775e-05 9.99994025e-01 1.30983398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78232058799995 meters 0.02928942795179779 Centerline is valid? [True, True] Translation: X:254.34, Y:-70.88, Z:1.31 [[ 7.26417943e-01 6.87250344e-01 1.98400732e-03 2.54339798e+02] [-6.87248046e-01 7.26420649e-01 -1.77874737e-03 -7.08838817e+01] [-2.66366862e-03 -7.13911431e-05 9.99996450e-01 1.31150253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.812320588 meters 0.029413372927727822 Centerline is valid? [True, True] Translation: X:254.37, Y:-70.91, Z:1.31 [[ 7.25180962e-01 6.88556178e-01 1.72115725e-03 2.54365889e+02] [-6.88554445e-01 7.25183002e-01 -1.54593881e-03 -7.09087132e+01] [-2.31261969e-03 -6.40250819e-05 9.99997324e-01 1.31407300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84232058799995 meters 0.0296456504657006 Centerline is valid? [True, True] Translation: X:254.39, Y:-70.93, Z:1.31 [[ 7.24494398e-01 6.89277328e-01 2.15202168e-03 2.54394500e+02] [-6.89274619e-01 7.24497590e-01 -1.93450767e-03 -7.09314842e+01] [-2.89254680e-03 -8.17939506e-05 9.99995813e-01 1.31350176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.872320588 meters 0.02949975685361062 Centerline is valid? [True, True] Translation: X:254.42, Y:-70.95, Z:1.31 [[ 7.24247953e-01 6.89533293e-01 2.95642164e-03 2.54423663e+02] [-6.89528173e-01 7.24253979e-01 -2.65961475e-03 -7.09523878e+01] [-3.97509305e-03 -1.12315474e-04 9.99992093e-01 1.31124282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90232058799995 meters 0.029305925754874618 Centerline is valid? [True, True] Translation: X:254.45, Y:-70.98, Z:1.31 [[ 7.24109959e-01 6.89673361e-01 3.92727286e-03 2.54450525e+02] [-6.89664309e-01 7.24120593e-01 -3.53656647e-03 -7.09762801e+01] [-5.28289483e-03 -1.47636924e-04 9.99986035e-01 1.31012840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.932320588 meters 0.029524087821001715 Centerline is valid? [True, True] Translation: X:254.48, Y:-71.00, Z:1.31 [[ 7.23214334e-01 6.90616222e-01 3.20315138e-03 2.54476226e+02] [-6.90610188e-01 7.23221417e-01 -2.88964090e-03 -7.10017210e+01] [-4.31222057e-03 -1.22299259e-04 9.99990695e-01 1.31172205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96232058799995 meters 0.028945195550940984 Centerline is valid? [True, True] Translation: X:254.51, Y:-71.02, Z:1.31 [[ 7.24389945e-01 6.89380585e-01 3.69007245e-03 2.54505161e+02] [-6.89372538e-01 7.24399332e-01 -3.33332469e-03 -7.10236574e+01] [-4.97101534e-03 -1.29207718e-04 9.99987636e-01 1.31353877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.992320588 meters 0.028975592773863662 Centerline is valid? [True, True] Translation: X:254.53, Y:-71.05, Z:1.31 [[ 7.24022375e-01 6.89771136e-01 2.71660615e-03 2.54533062e+02] [-6.89766760e-01 7.24027465e-01 -2.45877905e-03 -7.10463169e+01] [-3.66289228e-03 -9.36135773e-05 9.99993287e-01 1.31389020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02232058799996 meters 0.028505218561373384 Centerline is valid? [True, True] Translation: X:254.56, Y:-71.07, Z:1.31 [[ 7.24612012e-01 6.89156983e-01 2.91186536e-04 2.54559407e+02] [-6.89156931e-01 7.24612070e-01 -2.68354340e-04 -7.10701633e+01] [-3.95935546e-04 -6.22044111e-06 9.99999922e-01 1.31386862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.052320588 meters 0.028440042927885104 Centerline is valid? [True, True] Translation: X:254.59, Y:-71.10, Z:1.31 [[ 7.25162030e-01 6.88575607e-01 1.91394151e-03 2.54585563e+02] [-6.88573414e-01 7.25164554e-01 -1.73889548e-03 -7.10952280e+01] [-2.58528355e-03 -5.69082646e-05 9.99996657e-01 1.31246704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08232058799996 meters 0.028507931773357125 Centerline is valid? [True, True] Translation: X:254.61, Y:-71.12, Z:1.31 [[ 7.25045444e-01 6.88697151e-01 2.31069113e-03 2.54611990e+02] [-6.88693948e-01 7.25049123e-01 -2.10141419e-03 -7.11202701e+01] [-3.12260255e-03 -6.77382121e-05 9.99995122e-01 1.31308195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.112320588 meters 0.02870594317906918 Centerline is valid? [True, True] Translation: X:254.64, Y:-71.14, Z:1.31 [[ 7.23960798e-01 6.89836884e-01 2.41601000e-03 2.54638813e+02] [-6.89833379e-01 7.23964826e-01 -2.20013748e-03 -7.11445077e+01] [-3.26684224e-03 -7.38310561e-05 9.99994661e-01 1.31455269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14232058799996 meters 0.028761025133944254 Centerline is valid? [True, True] Translation: X:254.67, Y:-71.17, Z:1.32 [[ 7.22901794e-01 6.90946955e-01 2.30258836e-03 2.54665971e+02] [-6.90943767e-01 7.22905457e-01 -2.10012677e-03 -7.11689124e+01] [-3.11562988e-03 -7.27736673e-05 9.99995144e-01 1.31541332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.172320588 meters 0.02915641173526419 Centerline is valid? [True, True] Translation: X:254.69, Y:-71.19, Z:1.31 [[ 7.20674090e-01 6.93272009e-01 1.66634477e-03 2.54693153e+02] [-6.93270337e-01 7.20676014e-01 -1.52398755e-03 -7.11936708e+01] [-2.25743262e-03 -5.69290625e-05 9.99997450e-01 1.31490028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20232058799996 meters 0.029578934663198095 Centerline is valid? [True, True] Translation: X:254.72, Y:-71.22, Z:1.31 [[ 7.19326238e-01 6.94669464e-01 2.02485666e-03 2.54720057e+02] [-6.94666994e-01 7.19329084e-01 -1.85369766e-03 -7.12184005e+01] [-2.74424544e-03 -7.31877311e-05 9.99996232e-01 1.31346442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.232320588 meters 0.03017655183853853 Centerline is valid? [True, True] Translation: X:254.75, Y:-71.24, Z:1.31 [[ 7.16896808e-01 6.97174377e-01 2.61812721e-03 2.54747527e+02] [-6.97170258e-01 7.16901581e-01 -2.39879531e-03 -7.12424205e+01] [-3.54931816e-03 -1.05591718e-04 9.99993696e-01 1.31315043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26232058799997 meters 0.030450408201791374 Centerline is valid? [True, True] Translation: X:254.77, Y:-71.27, Z:1.31 [[ 7.15424326e-01 6.98682621e-01 3.26028311e-03 2.54774622e+02] [-6.98676234e-01 7.15431741e-01 -2.99061410e-03 -7.12669738e+01] [-4.42200012e-03 -1.38324248e-04 9.99990213e-01 1.31319376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29232058799994 meters 0.030998820832686052 Centerline is valid? [True, True] Translation: X:254.80, Y:-71.29, Z:1.32 [[ 7.13648093e-01 7.00496236e-01 3.37964513e-03 2.54801816e+02] [-7.00489372e-01 7.13656080e-01 -3.10470886e-03 -7.12920890e+01] [-4.58674116e-03 -1.51735931e-04 9.99989469e-01 1.31513072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32232058799997 meters 0.03138202796336445 Centerline is valid? [True, True] Translation: X:254.83, Y:-71.32, Z:1.32 [[ 7.11982983e-01 7.02190185e-01 3.02916456e-03 2.54829388e+02] [-7.02184666e-01 7.11989413e-01 -2.78754670e-03 -7.13164180e+01] [-4.11412103e-03 -1.42347091e-04 9.99991527e-01 1.31648080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35232058799994 meters 0.03192334578513145 Centerline is valid? [True, True] Translation: X:254.86, Y:-71.34, Z:1.32 [[ 7.10465423e-01 7.03730722e-01 1.39773145e-03 2.54856445e+02] [-7.03729541e-01 7.10466795e-01 -1.29102885e-03 -7.13408888e+01] [-1.90157845e-03 -6.63935532e-05 9.99998190e-01 1.31724687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38232058799997 meters 0.0325399053455712 Centerline is valid? [True, True] Translation: X:254.89, Y:-71.36, Z:1.32 [[ 7.07819508e-01 7.06393241e-01 3.66390558e-04 2.54885543e+02] [-7.06393158e-01 7.07819602e-01 -3.42609935e-04 -7.13640693e+01] [-5.01355761e-04 -1.63097874e-05 9.99999874e-01 1.31520583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41232058799994 meters 0.0325385567914584 Centerline is valid? [True, True] Translation: X:254.91, Y:-71.39, Z:1.32 [[ 7.06433201e-01 7.07779720e-01 -2.40955532e-05 2.54913611e+02] [-7.07779720e-01 7.06433201e-01 1.70647021e-05 -7.13875800e+01] [ 2.90999494e-05 4.99927180e-06 1.00000000e+00 1.31576197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.442320588 meters 0.03342972185437369 Centerline is valid? [True, True] Translation: X:254.94, Y:-71.41, Z:1.32 [[ 7.03412952e-01 7.10779661e-01 -1.57857951e-03 2.54941685e+02] [-7.10778182e-01 7.03414717e-01 1.45346182e-03 -7.14103528e+01] [ 2.14348716e-03 9.96360024e-05 9.99997698e-01 1.31609105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47232058799995 meters 0.034049720976751394 Centerline is valid? [True, True] Translation: X:254.97, Y:-71.43, Z:1.32 [[ 7.01732787e-01 7.12439694e-01 -8.82599241e-04 2.54970113e+02] [-7.12439234e-01 7.01733339e-01 8.11752403e-04 -7.14337577e+01] [ 1.19767395e-03 5.91650509e-05 9.99999281e-01 1.31605594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.502320588 meters 0.03434534281200617 Centerline is valid? [True, True] Translation: X:255.00, Y:-71.46, Z:1.32 [[ 7.00801283e-01 7.13356510e-01 2.25928500e-04 2.54999246e+02] [-7.13356478e-01 7.00801320e-01 -2.14560543e-04 -7.14570444e+01] [-3.11389150e-04 -1.08032551e-05 9.99999951e-01 1.31652885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53232058799995 meters 0.03430639938954464 Centerline is valid? [True, True] Translation: X:255.03, Y:-71.48, Z:1.32 [[ 7.00600852e-01 7.13549351e-01 2.40197839e-03 2.55028265e+02] [-7.13545869e-01 7.00604954e-01 -2.23423139e-03 -7.14786720e+01] [-3.27707232e-03 -1.48617344e-04 9.99994619e-01 1.31594092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.562320588 meters 0.03382577293375995 Centerline is valid? [True, True] Translation: X:255.06, Y:-71.50, Z:1.32 [[ 7.00805405e-01 7.13348217e-01 2.47099666e-03 2.55055697e+02] [-7.13344520e-01 7.00809745e-01 -2.30146473e-03 -7.15025850e+01] [-3.37344430e-03 -1.49793004e-04 9.99994299e-01 1.31601019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59232058799995 meters 0.033320630869086716 Centerline is valid? [True, True] Translation: X:255.08, Y:-71.53, Z:1.32 [[ 7.02449681e-01 7.11726280e-01 3.18552609e-03 2.55083776e+02] [-7.11720107e-01 7.02456881e-01 -2.96980077e-03 -7.15253879e+01] [-4.35137998e-03 -1.81067364e-04 9.99990516e-01 1.31629413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.622320588 meters 0.03261355718655013 Centerline is valid? [True, True] Translation: X:255.11, Y:-71.55, Z:1.32 [[ 7.03325180e-01 7.10857831e-01 3.85157607e-03 2.55112573e+02] [-7.10848773e-01 7.03335695e-01 -3.59475541e-03 -7.15476669e+01] [-5.26431097e-03 -2.09606128e-04 9.99986121e-01 1.31529844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65232058799995 meters 0.03091648114363894 Centerline is valid? [True, True] Translation: X:255.14, Y:-71.57, Z:1.32 [[ 7.07028567e-01 7.07177023e-01 3.35605096e-03 2.55142527e+02] [-7.07170082e-01 7.07036515e-01 -3.13706176e-03 -7.15680782e+01] [-4.59130857e-03 -1.55306547e-04 9.99989448e-01 1.31617144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.682320588 meters 0.030032908524051112 Centerline is valid? [True, True] Translation: X:255.17, Y:-71.59, Z:1.32 [[ 7.08278433e-01 7.05924550e-01 3.49153548e-03 2.55169668e+02] [-7.05916999e-01 7.08287023e-01 -3.26845615e-03 -7.15917492e+01] [-4.78029271e-03 -1.49757253e-04 9.99988563e-01 1.31600360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71232058799995 meters 0.029730135386820816 Centerline is valid? [True, True] Translation: X:255.20, Y:-71.62, Z:1.32 [[ 7.08964652e-01 7.05237350e-01 3.06644940e-03 2.55195940e+02] [-7.05231499e-01 7.08971273e-01 -2.87538624e-03 -7.16160439e+01] [-4.20185431e-03 -1.24009502e-04 9.99991164e-01 1.31532085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.742320588 meters 0.029445601640789697 Centerline is valid? [True, True] Translation: X:255.22, Y:-71.64, Z:1.32 [[ 7.10538425e-01 7.03653139e-01 2.72164354e-03 2.55223221e+02] [-7.03648504e-01 7.10543630e-01 -2.55599371e-03 -7.16393776e+01] [-3.73237948e-03 -9.89486621e-05 9.99993030e-01 1.31523888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77232058799996 meters 0.028820763062549444 Centerline is valid? [True, True] Translation: X:255.25, Y:-71.66, Z:1.32 [[ 7.11336028e-01 7.02844818e-01 3.19648625e-03 2.55250574e+02] [-7.02838400e-01 7.11343201e-01 -3.00559642e-03 -7.16633528e+01] [-4.38626663e-03 -1.08624265e-04 9.99990374e-01 1.31653440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.802320588 meters 0.028156627664172807 Centerline is valid? [True, True] Translation: X:255.28, Y:-71.69, Z:1.32 [[ 7.12598143e-01 7.01562081e-01 3.81222665e-03 2.55275875e+02] [-7.01552909e-01 7.12608331e-01 -3.58934601e-03 -7.16893330e+01] [-5.23477353e-03 -1.16717394e-04 9.99986292e-01 1.31775979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83232058799996 meters 0.02784012225696533 Centerline is valid? [True, True] Translation: X:255.30, Y:-71.72, Z:1.32 [[ 7.13308205e-01 7.00842971e-01 3.24582070e-03 2.55300929e+02] [-7.00836291e-01 7.13315584e-01 -3.06125940e-03 -7.17151478e+01] [-4.46075662e-03 -9.11674917e-05 9.99990047e-01 1.31827832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.862320588 meters 0.027541703909796336 Centerline is valid? [True, True] Translation: X:255.33, Y:-71.74, Z:1.32 [[ 7.14481893e-01 6.99640646e-01 4.31168353e-03 2.55326836e+02] [-6.99628812e-01 7.14494894e-01 -4.07074221e-03 -7.17403222e+01] [-5.92873258e-03 -1.08106423e-04 9.99982419e-01 1.31734018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89232058799996 meters 0.027541703909796336 Centerline is valid? [True, True] Translation: X:255.35, Y:-71.76, Z:1.32 [[ 7.13961664e-01 7.00171535e-01 4.30862375e-03 2.55352991e+02] [-7.00159691e-01 7.13974656e-01 -4.07398272e-03 -7.17644289e+01] [-5.92873490e-03 -1.08057190e-04 9.99982419e-01 1.31752032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.922320588 meters 0.026913973270964765 Centerline is valid? [True, True] Translation: X:255.38, Y:-71.79, Z:1.32 [[ 7.17199914e-01 6.96846342e-01 5.42756486e-03 2.55376449e+02] [-6.96827397e-01 7.17220444e-01 -5.13940166e-03 -7.17936016e+01] [-7.47413373e-03 -9.60974640e-05 9.99972064e-01 1.31619953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95232058799996 meters 0.026480037836181917 Centerline is valid? [True, True] Translation: X:255.40, Y:-71.82, Z:1.32 [[ 7.18923505e-01 6.95070951e-01 5.03649225e-03 2.55401861e+02] [-6.95054534e-01 7.18941144e-01 -4.77765226e-03 -7.18209963e+01] [-6.94174880e-03 -6.58702602e-05 9.99975904e-01 1.31673279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.982320588 meters 0.025894219226321836 Centerline is valid? [True, True] Translation: X:255.43, Y:-71.85, Z:1.32 [[ 7.20861639e-01 6.93065479e-01 4.32882397e-03 2.55427746e+02] [-6.93053276e-01 7.20874636e-01 -4.11295835e-03 -7.18468289e+01] [-5.97108885e-03 -3.52317368e-05 9.99982172e-01 1.31694396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01232058799997 meters 0.02560803033746779 Centerline is valid? [True, True] Translation: X:255.45, Y:-71.88, Z:1.32 [[ 7.23967679e-01 6.89821985e-01 4.05327393e-03 2.55451520e+02] [-6.89811194e-01 7.23979025e-01 -3.85844497e-03 -7.18757182e+01] [-5.59612548e-03 -2.60427993e-06 9.99984342e-01 1.31581461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04232058799994 meters 0.025406139417980676 Centerline is valid? [True, True] Translation: X:255.48, Y:-71.90, Z:1.32 [[ 7.24387306e-01 6.89378330e-01 4.53298588e-03 2.55475676e+02] [-6.89364782e-01 7.24401489e-01 -4.32209458e-03 -7.19038154e+01] [-6.26326007e-03 5.98963473e-06 9.99980386e-01 1.31543378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07232058799997 meters 0.025432251032383047 Centerline is valid? [True, True] Translation: X:255.50, Y:-71.94, Z:1.32 [[ 7.23589862e-01 6.90210248e-01 5.24642664e-03 2.55495258e+02] [-6.90192066e-01 7.23608882e-01 -5.00986588e-03 -7.19367060e+01] [-7.25422169e-03 4.04612072e-06 9.99973688e-01 1.31751164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10232058799994 meters 0.0254696480528733 Centerline is valid? [True, True] Translation: X:255.52, Y:-71.97, Z:1.32 [[ 7.21644236e-01 6.92249557e-01 4.48865771e-03 2.55519487e+02] [-6.92236203e-01 7.21658195e-01 -4.29980582e-03 -7.19655342e+01] [-6.21581530e-03 -4.28128553e-06 9.99980682e-01 1.31788512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13232058799997 meters 0.025473093630629762 Centerline is valid? [True, True] Translation: X:255.54, Y:-71.99, Z:1.32 [[ 7.19754566e-01 6.94217803e-01 3.87394581e-03 2.55543222e+02] [-6.94207857e-01 7.19764991e-01 -3.71612180e-03 -7.19943047e+01] [-5.36812848e-03 -1.46279889e-05 9.99985591e-01 1.31749530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16232058799994 meters 0.025603921438498527 Centerline is valid? [True, True] Translation: X:255.56, Y:-72.03, Z:1.32 [[ 7.15962397e-01 6.98137125e-01 1.54977743e-03 2.55562782e+02] [-6.98135521e-01 7.15964074e-01 -1.49628388e-03 -7.20279369e+01] [-2.15419628e-03 -1.06716791e-05 9.99997680e-01 1.31872416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.192320588 meters 0.026156346249364235 Centerline is valid? [True, True] Translation: X:255.59, Y:-72.06, Z:1.32 [[ 7.13150262e-01 7.01003381e-01 3.31118134e-03 2.55587865e+02] [-7.00996094e-01 7.13157948e-01 -3.19645071e-03 -7.20579375e+01] [-4.60211804e-03 -4.15755246e-05 9.99989409e-01 1.31810802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22232058799995 meters 0.02688814306659431 Centerline is valid? [True, True] Translation: X:255.63, Y:-72.11, Z:1.32 [[ 7.04779383e-01 7.09419527e-01 3.15537509e-03 2.55633672e+02] [-7.09412679e-01 7.04786445e-01 -3.11736371e-03 -7.21071525e+01] [-4.43538428e-03 -4.14094199e-05 9.99990163e-01 1.31913469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.252320588 meters 0.02690377993002241 Centerline is valid? [True, True] Translation: X:255.66, Y:-72.14, Z:1.32 [[ 7.02048970e-01 7.12122817e-01 2.88741367e-03 2.55660899e+02] [-7.12117191e-01 7.02054905e-01 -2.83134183e-03 -7.21371594e+01] [-4.04338605e-03 -6.84362983e-05 9.99991823e-01 1.31969357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28232058799995 meters 0.02826284268417562 Centerline is valid? [True, True] Translation: X:255.69, Y:-72.17, Z:1.32 [[ 6.96307951e-01 7.17741324e-01 1.62157342e-03 2.55685700e+02] [-7.17739544e-01 6.96309837e-01 -1.59911212e-03 -7.21703115e+01] [-2.27686637e-03 -5.03928775e-05 9.99997407e-01 1.32004343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.312320588 meters 0.028764536105982487 Centerline is valid? [True, True] Translation: X:255.71, Y:-72.20, Z:1.32 [[ 6.93019028e-01 7.20916690e-01 1.93720316e-03 2.55712148e+02] [-7.20914159e-01 6.93021732e-01 -1.91158563e-03 -7.21986324e+01] [-2.72061787e-03 -7.17919693e-05 9.99996297e-01 1.32106048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34232058799995 meters 0.03051866508592008 Centerline is valid? [True, True] Translation: X:255.74, Y:-72.23, Z:1.32 [[ 6.87060124e-01 7.26596408e-01 2.45874413e-03 2.55737413e+02] [-7.26592353e-01 6.87064514e-01 -2.43028964e-03 -7.22287726e+01] [-3.45515557e-03 -1.16749579e-04 9.99994024e-01 1.32138406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.372320588 meters 0.03105772306365051 Centerline is valid? [True, True] Translation: X:255.76, Y:-72.26, Z:1.32 [[ 6.84138870e-01 7.29351064e-01 1.01574468e-03 2.55764514e+02] [-7.29350364e-01 6.84139623e-01 -1.01149094e-03 -7.22565567e+01] [-1.43264317e-03 -4.88334828e-05 9.99998973e-01 1.32234503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40232058799995 meters 0.03159943422090505 Centerline is valid? [True, True] Translation: X:255.79, Y:-72.28, Z:1.32 [[ 6.81489893e-01 7.31827486e-01 -2.38240283e-04 2.55792060e+02] [-7.31827451e-01 6.81489934e-01 2.27127623e-04 -7.22839393e+01] [ 3.28576592e-04 1.95655995e-05 9.99999946e-01 1.32202641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.432320588 meters 0.03353719129919774 Centerline is valid? [True, True] Translation: X:255.82, Y:-72.31, Z:1.32 [[ 6.75712694e-01 7.37164965e-01 -4.11953471e-04 2.55820294e+02] [-7.37164857e-01 6.75712819e-01 3.99745961e-04 -7.23121712e+01] [ 5.73040958e-04 3.35642013e-05 9.99999835e-01 1.32058545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46232058799995 meters 0.03429762246221176 Centerline is valid? [True, True] Translation: X:255.85, Y:-72.34, Z:1.32 [[ 6.73409598e-01 7.39269251e-01 6.98670247e-04 2.55848859e+02] [-7.39268918e-01 6.73409959e-01 -7.03420029e-04 -7.23385314e+01] [-9.90508300e-04 -4.28153992e-05 9.99999509e-01 1.32111618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.492320588 meters 0.03832645749391369 Centerline is valid? [True, True] Translation: X:255.88, Y:-72.37, Z:1.32 [[ 6.69464935e-01 7.42840690e-01 2.09996775e-03 2.55875935e+02] [-7.42837730e-01 6.69468211e-01 -2.10271277e-03 -7.23682251e+01] [-2.96784226e-03 -1.52242815e-04 9.99995584e-01 1.32216356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52232058799996 meters 0.03588991307784095 Centerline is valid? [True, True] Translation: X:255.91, Y:-72.39, Z:1.32 [[ 6.68192084e-01 7.43984123e-01 2.63868208e-03 2.55908088e+02] [-7.43979445e-01 6.68197266e-01 -2.64560360e-03 -7.23919617e+01] [-3.73144722e-03 -1.95353847e-04 9.99993019e-01 1.32155571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.552320588 meters 0.03504102150627259 Centerline is valid? [True, True] Translation: X:255.94, Y:-72.42, Z:1.32 [[ 6.67615507e-01 7.44505523e-01 -1.02994488e-03 2.55939368e+02] [-7.44504826e-01 6.67616296e-01 1.02265450e-03 -7.24184266e+01] [ 1.44897991e-03 8.40589251e-05 9.99998947e-01 1.32245331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58232058799996 meters 0.03528561361171055 Centerline is valid? [True, True] Translation: X:256.66, Y:-71.75, Z:3.19 [[ 7.93571347e-01 -6.08453324e-01 5.39154668e-03 2.56658029e+02] [-6.08432218e-01 -7.93589269e-01 -5.12908304e-03 -7.17528694e+01] [ 7.39948121e-03 7.89902629e-04 -9.99972311e-01 3.19361255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.612320588 meters 0.034724749387436915 Centerline is valid? [True, True] Translation: X:256.05, Y:-72.53, Z:1.32 [[ 7.25970829e-01 6.87722917e-01 1.88256423e-03 2.56049884e+02] [-6.87721042e-01 7.25973260e-01 -1.61088662e-03 -7.25291367e+01] [-2.47453493e-03 -1.25222340e-04 9.99996930e-01 1.32254517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64232058799996 meters 0.03482916907680835 Centerline is valid? [True, True] Translation: X:256.08, Y:-72.55, Z:1.32 [[ 7.26182312e-01 6.87492770e-01 3.59752174e-03 2.56079053e+02] [-6.87485897e-01 7.26191185e-01 -3.08306361e-03 -7.25523574e+01] [-4.73207252e-03 -2.34379198e-04 9.99988776e-01 1.32225992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.672320588 meters 0.034790448802768874 Centerline is valid? [True, True] Translation: X:256.11, Y:-72.58, Z:1.32 [[ 7.26295524e-01 6.87370785e-01 4.02691333e-03 2.56108344e+02] [-6.87362148e-01 7.26306641e-01 -3.45560863e-03 -7.25753675e+01] [-5.30005832e-03 -2.58154714e-04 9.99985921e-01 1.32259107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70232058799996 meters 0.03444533765469122 Centerline is valid? [True, True] Translation: X:256.14, Y:-72.60, Z:1.32 [[ 7.25862687e-01 6.87834597e-01 2.63202707e-03 2.56138922e+02] [-6.87830892e-01 7.25867439e-01 -2.26361364e-03 -7.25962618e+01] [-3.46749452e-03 -1.67316854e-04 9.99993974e-01 1.32175538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.732320588 meters 0.034230419826489514 Centerline is valid? [True, True] Translation: X:256.17, Y:-72.62, Z:1.32 [[ 7.26467199e-01 6.87196875e-01 2.42165046e-03 2.56168757e+02] [-6.87193724e-01 7.26471220e-01 -2.08612019e-03 -7.26174138e+01] [-3.19283464e-03 -1.48645109e-04 9.99994892e-01 1.32094807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76232058799997 meters 0.03332822823747426 Centerline is valid? [True, True] Translation: X:256.20, Y:-72.64, Z:1.32 [[ 7.27188733e-01 6.86433977e-01 2.22306634e-03 2.56197933e+02] [-6.86431309e-01 7.27192119e-01 -1.91846537e-03 -7.26403899e+01] [-2.93349614e-03 -1.30895931e-04 9.99995689e-01 1.32270327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79232058799994 meters 0.032839402350026796 Centerline is valid? [True, True] Translation: X:256.23, Y:-72.66, Z:1.32 [[ 7.28167116e-01 6.85391175e-01 3.40429541e-03 2.56225692e+02] [-6.85384898e-01 7.28175048e-01 -2.93950615e-03 -7.26638552e+01] [-4.49363455e-03 -1.92800948e-04 9.99989885e-01 1.32351800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82232058799997 meters 0.03169698511775249 Centerline is valid? [True, True] Translation: X:256.25, Y:-72.69, Z:1.33 [[ 7.30539014e-01 6.82867037e-01 2.31492672e-03 2.56254513e+02] [-6.82864108e-01 7.30542672e-01 -2.00362108e-03 -7.26872728e+01] [-3.05935954e-03 -1.17057003e-04 9.99995313e-01 1.32513676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85232058799994 meters 0.0310508517244094 Centerline is valid? [True, True] Translation: X:256.28, Y:-72.71, Z:1.32 [[ 7.32100052e-01 6.81196408e-01 9.84141105e-04 2.56283679e+02] [-6.81195871e-01 7.32100712e-01 -8.55855753e-04 -7.27096600e+01] [-1.30349627e-03 -4.38208164e-05 9.99999149e-01 1.32471980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88232058799997 meters 0.029890431883929775 Centerline is valid? [True, True] Translation: X:256.32, Y:-72.73, Z:1.32 [[ 7.34499761e-01 6.78608925e-01 1.66323710e-04 2.56315066e+02] [-6.78608908e-01 7.34499780e-01 -1.49088481e-04 -7.27297681e+01] [-2.23337501e-04 -3.36329753e-06 9.99999975e-01 1.32242577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91232058799994 meters 0.02924774782540886 Centerline is valid? [True, True] Translation: X:256.34, Y:-72.75, Z:1.32 [[ 7.35358418e-01 6.77678382e-01 9.19916967e-05 2.56343082e+02] [-6.77678377e-01 7.35358423e-01 -8.48685485e-05 -7.27528698e+01] [-1.25160449e-04 6.80179005e-08 9.99999992e-01 1.32341973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.942320588 meters 0.02864241452019901 Centerline is valid? [True, True] Translation: X:256.37, Y:-72.78, Z:1.32 [[ 7.36362575e-01 6.76585938e-01 1.27533950e-03 2.56370521e+02] [-6.76585024e-01 7.36363678e-01 -1.11302801e-03 -7.27777462e+01] [-1.69217279e-03 -4.32834352e-05 9.99998567e-01 1.32377688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97232058799995 meters 0.02825090306848149 Centerline is valid? [True, True] Translation: X:256.39, Y:-72.81, Z:1.33 [[ 7.38333454e-01 6.74424394e-01 3.93030202e-03 2.56394950e+02] [-6.74415709e-01 7.38343905e-01 -3.42480113e-03 -7.28059248e+01] [-5.21168397e-03 -1.22012172e-04 9.99986412e-01 1.32599568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.002320588 meters 0.02777030588111986 Centerline is valid? [True, True] Translation: X:256.42, Y:-72.83, Z:1.33 [[ 7.39346795e-01 6.73318224e-01 2.98103481e-03 2.56422183e+02] [-6.73313198e-01 7.39352800e-01 -2.60290155e-03 -7.28305713e+01] [-3.95661747e-03 -8.27231616e-05 9.99992169e-01 1.32628878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03232058799995 meters 0.027260965512699492 Centerline is valid? [True, True] Translation: X:256.45, Y:-72.86, Z:1.32 [[ 7.40796138e-01 6.71729713e-01 5.24276692e-04 2.56448891e+02] [-6.71729554e-01 7.40796323e-01 -4.62841911e-04 -7.28557174e+01] [-6.99286909e-04 -9.30064862e-06 9.99999755e-01 1.32488396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.062320588 meters 0.026820409010864615 Centerline is valid? [True, True] Translation: X:256.48, Y:-72.88, Z:1.32 [[ 7.41683564e-01 6.70749196e-01 1.00396822e-03 2.56476129e+02] [-6.70748614e-01 7.41684243e-01 -8.83191965e-04 -7.28812138e+01] [-1.33702771e-03 -1.83613290e-05 9.99999106e-01 1.32393334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09232058799995 meters 0.026466960462323153 Centerline is valid? [True, True] Translation: X:256.50, Y:-72.91, Z:1.33 [[ 7.42837364e-01 6.69470008e-01 1.59945442e-03 2.56500565e+02] [-6.69468525e-01 7.42839086e-01 -1.40939393e-03 -7.29100719e+01] [-2.13168423e-03 -2.38339253e-05 9.99997728e-01 1.32557873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.122320588 meters 0.026391370500584464 Centerline is valid? [True, True] Translation: X:256.53, Y:-72.94, Z:1.33 [[ 7.42868056e-01 6.69434021e-01 2.26778402e-03 2.56526655e+02] [-6.69431034e-01 7.42871517e-01 -1.99980385e-03 -7.29367049e+01] [-3.02340889e-03 -3.25345985e-05 9.99995429e-01 1.32636140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15232058799995 meters 0.02632761427370486 Centerline is valid? [True, True] Translation: X:256.55, Y:-72.97, Z:1.33 [[ 7.42778581e-01 6.69533694e-01 2.14782873e-03 2.56551197e+02] [-6.69531002e-01 7.42781685e-01 -1.89878671e-03 -7.29651600e+01] [-2.86666952e-03 -2.76598181e-05 9.99995891e-01 1.32589803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.182320588 meters 0.02638102533495347 Centerline is valid? [True, True] Translation: X:256.58, Y:-72.99, Z:1.33 [[ 7.42133421e-01 6.70250418e-01 1.53693537e-03 2.56577517e+02] [-6.70249030e-01 7.42135012e-01 -1.36416616e-03 -7.29921730e+01] [-2.05494649e-03 -1.77361404e-05 9.99997888e-01 1.32662103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21232058799995 meters 0.026345207477643785 Centerline is valid? [True, True] Translation: X:256.60, Y:-73.02, Z:1.33 [[ 7.41400920e-01 6.71059440e-01 1.97580475e-03 2.56603158e+02] [-6.71057144e-01 7.41403552e-01 -1.75560662e-03 -7.30195488e+01] [-2.64298505e-03 -2.42695303e-05 9.99996507e-01 1.32696793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.242320588 meters 0.0266256690870679 Centerline is valid? [True, True] Translation: X:256.63, Y:-73.05, Z:1.33 [[ 7.39640711e-01 6.72999979e-01 1.62705495e-03 2.56626777e+02] [-6.72998417e-01 7.39642500e-01 -1.45037073e-03 -7.30496209e+01] [-2.17953846e-03 -2.22521643e-05 9.99997625e-01 1.32780266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27232058799996 meters 0.026940088799488317 Centerline is valid? [True, True] Translation: X:256.65, Y:-73.08, Z:1.33 [[ 7.38000290e-01 6.74797606e-01 1.93950626e-03 2.56653733e+02] [-6.74795384e-01 7.38002838e-01 -1.73214463e-03 -7.30775902e+01] [-2.60020817e-03 -3.04466357e-05 9.99996619e-01 1.32717987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.302320588 meters 0.02708987664757893 Centerline is valid? [True, True] Translation: X:256.68, Y:-73.11, Z:1.33 [[ 7.36034031e-01 6.76944408e-01 -4.18174727e-04 2.56677840e+02] [-6.76944310e-01 7.36034149e-01 3.64482521e-04 -7.31076040e+01] [ 5.54525284e-04 1.48094623e-05 9.99999846e-01 1.32821002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33232058799996 meters 0.027248140729378773 Centerline is valid? [True, True] Translation: X:256.70, Y:-73.14, Z:1.33 [[ 7.34104533e-01 6.79034030e-01 -1.82228085e-03 2.56704519e+02] [-6.79032101e-01 7.34106793e-01 1.61929295e-03 -7.31365844e+01] [ 2.43730377e-03 4.86569027e-05 9.99997029e-01 1.32995355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.362320588 meters 0.027355639881123748 Centerline is valid? [True, True] Translation: X:256.73, Y:-73.16, Z:1.33 [[ 7.33404700e-01 6.79792106e-01 -4.88594967e-04 2.56731751e+02] [-6.79791971e-01 7.33404862e-01 4.29012707e-04 -7.31644802e+01] [ 6.49977377e-04 1.75030005e-05 9.99999789e-01 1.32988844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39232058799996 meters 0.027570950140179722 Centerline is valid? [True, True] Translation: X:256.77, Y:-73.20, Z:1.33 [[ 7.29932305e-01 6.83518457e-01 1.16135531e-03 2.56769845e+02] [-6.83517618e-01 7.29933229e-01 -1.07144182e-03 -7.32025606e+01] [-1.58006209e-03 -1.17268174e-05 9.99998752e-01 1.33115197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.422320588 meters 0.02781214377697646 Centerline is valid? [True, True] Translation: X:256.80, Y:-73.23, Z:1.33 [[ 7.28534880e-01 6.85007980e-01 9.98206774e-04 2.56798608e+02] [-6.85007373e-01 7.28535564e-01 -9.11843939e-04 -7.32305726e+01] [-1.35184951e-03 -1.94688852e-05 9.99999086e-01 1.33056293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45232058799996 meters 0.027987468945675397 Centerline is valid? [True, True] Translation: X:256.83, Y:-73.26, Z:1.33 [[ 7.26875331e-01 6.86769430e-01 -5.55691367e-05 2.56825454e+02] [-6.86769429e-01 7.26875333e-01 4.09516140e-05 -7.32621836e+01] [ 6.85161520e-05 8.39646635e-06 9.99999998e-01 1.33002019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.482320588 meters 0.028204880367423957 Centerline is valid? [True, True] Translation: X:256.85, Y:-73.29, Z:1.33 [[ 7.25760374e-01 6.87947192e-01 -7.35319563e-04 2.56852648e+02] [-6.87946876e-01 7.25760746e-01 6.60041973e-04 -7.32896688e+01] [ 9.87740097e-04 2.68284870e-05 9.99999512e-01 1.32966501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51232058799997 meters 0.028262514790519565 Centerline is valid? [True, True] Translation: X:256.88, Y:-73.32, Z:1.33 [[ 7.24550152e-01 6.89221862e-01 -5.50329725e-04 2.56879607e+02] [-6.89221686e-01 7.24550360e-01 4.93000458e-04 -7.33185677e+01] [ 7.38528294e-04 2.20956246e-05 9.99999727e-01 1.33004900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54232058799994 meters 0.028154698759568195 Centerline is valid? [True, True] Translation: X:256.91, Y:-73.35, Z:1.33 [[ 7.23820091e-01 6.89988751e-01 -2.63396643e-06 2.56908809e+02] [-6.89988751e-01 7.23820091e-01 -6.70121122e-06 -7.33458051e+01] [-2.71724195e-06 6.66787853e-06 1.00000000e+00 1.32996705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57232058799997 meters 0.02806071406914366 Centerline is valid? [True, True] Translation: X:256.94, Y:-73.37, Z:1.33 [[ 7.23612185e-01 6.90206778e-01 1.01411218e-04 2.56937406e+02] [-6.90206770e-01 7.23612192e-01 -1.02047480e-04 -7.33735647e+01] [-1.43816256e-04 3.84809054e-06 9.99999990e-01 1.33160077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60232058799994 meters 0.027778976684545587 Centerline is valid? [True, True] Translation: X:256.96, Y:-73.40, Z:1.33 [[ 7.24793017e-01 6.88966461e-01 5.45377636e-04 2.56963802e+02] [-6.88966272e-01 7.24793222e-01 -5.10552387e-04 -7.34043588e+01] [-7.47039485e-04 -5.70199160e-06 9.99999721e-01 1.33177185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63232058799997 meters 0.027740481854130333 Centerline is valid? [True, True] Translation: X:257.00, Y:-73.44, Z:1.33 [[ 7.23284101e-01 6.90550567e-01 -1.53262029e-04 2.56996727e+02] [-6.90550555e-01 7.23284118e-01 1.26437164e-04 -7.34371753e+01] [ 1.98163247e-04 1.43851886e-05 9.99999980e-01 1.33273916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66232058799994 meters 0.028453605791337176 Centerline is valid? [True, True] Translation: X:257.02, Y:-73.47, Z:1.33 [[ 7.22701315e-01 6.91160451e-01 1.99461055e-04 2.57022654e+02] [-6.91160424e-01 7.22701343e-01 -1.94182530e-04 -7.34695655e+01] [-2.78362057e-04 2.47638254e-06 9.99999961e-01 1.33234405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.692320588 meters 0.02804129755138878 Centerline is valid? [True, True] Translation: X:257.05, Y:-73.50, Z:1.33 [[ 7.23162108e-01 6.90677144e-01 1.28368318e-03 2.57051875e+02] [-6.90676103e-01 7.23163247e-01 -1.19931108e-03 -7.34974091e+01] [-1.75664925e-03 -1.93129708e-05 9.99998457e-01 1.33184611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72232058799995 meters 0.027986550823581834 Centerline is valid? [True, True] Translation: X:257.08, Y:-73.53, Z:1.33 [[ 7.23057315e-01 6.90785876e-01 1.73023484e-03 2.57081209e+02] [-6.90783981e-01 7.23059384e-01 -1.61807616e-03 -7.35258176e+01] [-2.36880669e-03 -2.52567104e-05 9.99997194e-01 1.33150779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.752320588 meters 0.027026589821797203 Centerline is valid? [True, True] Translation: X:257.11, Y:-73.56, Z:1.33 [[ 7.22416418e-01 6.91458195e-01 -2.89773882e-04 2.57109524e+02] [-6.91458146e-01 7.22416476e-01 2.60643798e-04 -7.35555659e+01] [ 3.89561718e-04 1.20731523e-05 9.99999924e-01 1.33439130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78232058799995 meters 0.027026589821797203 Centerline is valid? [True, True] Translation: X:257.14, Y:-73.58, Z:1.33 [[ 7.21436368e-01 6.92480673e-01 -2.89400108e-04 2.57139431e+02] [-6.92480624e-01 7.21436426e-01 2.61051228e-04 -7.35822991e+01] [ 3.89556710e-04 1.20721178e-05 9.99999924e-01 1.33459616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.812320588 meters 0.027610986299699717 Centerline is valid? [True, True] Translation: X:257.17, Y:-73.62, Z:1.33 [[ 7.20281798e-01 6.93681578e-01 1.73830825e-06 2.57166313e+02] [-6.93681578e-01 7.20281798e-01 -1.51978041e-05 -7.36168052e+01] [-1.17945080e-05 9.74086927e-06 1.00000000e+00 1.33391921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84232058799995 meters 0.027478701068170578 Centerline is valid? [True, True] Translation: X:257.19, Y:-73.65, Z:1.33 [[ 7.20035664e-01 6.93937044e-01 1.46024437e-04 2.57194433e+02] [-6.93937028e-01 7.20035679e-01 -1.46031179e-04 -7.36459516e+01] [-2.06479249e-04 3.81589294e-06 9.99999979e-01 1.33400838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.872320588 meters 0.027447296038602135 Centerline is valid? [True, True] Translation: X:257.23, Y:-73.68, Z:1.33 [[ 7.19509248e-01 6.94482787e-01 3.18407972e-04 2.57225384e+02] [-6.94482716e-01 7.19509318e-01 -3.12670219e-04 -7.36767715e+01] [-4.46241587e-04 3.84028123e-06 9.99999900e-01 1.33420786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90232058799995 meters 0.026777115859447646 Centerline is valid? [True, True] Translation: X:257.26, Y:-73.70, Z:1.33 [[ 7.18681482e-01 6.95339207e-01 5.60460066e-04 2.57255327e+02] [-6.95338997e-01 7.18681701e-01 -5.41077269e-04 -7.37045489e+01] [-7.79024632e-04 -8.47526043e-07 9.99999697e-01 1.33454706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.932320588 meters 0.027213236913187014 Centerline is valid? [True, True] Translation: X:257.28, Y:-73.74, Z:1.33 [[ 7.18213754e-01 6.95822535e-01 -6.34083947e-05 2.57281951e+02] [-6.95822533e-01 7.18213757e-01 5.03272659e-05 -7.37356586e+01] [ 8.05596277e-05 7.97525522e-06 9.99999997e-01 1.33210377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96232058799995 meters 0.02717201377572158 Centerline is valid? [True, True] Translation: X:257.31, Y:-73.77, Z:1.33 [[ 7.16657074e-01 6.97425722e-01 3.90469356e-05 2.57308323e+02] [-6.97425720e-01 7.16657075e-01 -4.58011814e-05 -7.37674665e+01] [-5.99261840e-05 5.59140344e-06 9.99999998e-01 1.33274916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.992320588 meters 0.027349091635121888 Centerline is valid? [True, True] Translation: X:257.34, Y:-73.80, Z:1.33 [[ 7.14946848e-01 6.99178802e-01 8.45354510e-05 2.57336496e+02] [-6.99178796e-01 7.14946853e-01 -9.02327227e-05 -7.37986646e+01] [-1.23527161e-04 5.40620584e-06 9.99999992e-01 1.33431908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02232058799996 meters 0.02757965075298804 Centerline is valid? [True, True] Translation: X:257.37, Y:-73.83, Z:1.33 [[ 7.13632802e-01 7.00518042e-01 1.64179502e-03 2.57366558e+02] [-7.00516249e-01 7.13634691e-01 -1.58544574e-03 -7.38296486e+01] [-2.28227523e-03 -1.86779996e-05 9.99997395e-01 1.33422951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.052320588 meters 0.02794201114275611 Centerline is valid? [True, True] Translation: X:257.40, Y:-73.86, Z:1.33 [[ 7.11112480e-01 7.03077158e-01 1.24542415e-03 2.57396370e+02] [-7.03076124e-01 7.11113570e-01 -1.20606610e-03 -7.38587540e+01] [-1.73359554e-03 -1.79793248e-05 9.99998497e-01 1.33304492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08232058799996 meters 0.02811997065846666 Centerline is valid? [True, True] Translation: X:257.43, Y:-73.89, Z:1.33 [[ 7.08696580e-01 7.05513379e-01 -1.72643156e-04 2.57426900e+02] [-7.05513362e-01 7.08696601e-01 1.57314306e-04 -7.38872075e+01] [ 2.33338966e-04 1.03139427e-05 9.99999973e-01 1.33318051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.112320588 meters 0.02836380761621646 Centerline is valid? [True, True] Translation: X:257.46, Y:-73.92, Z:1.33 [[ 7.05966837e-01 7.08244587e-01 -6.55723671e-04 2.57455636e+02] [-7.08244312e-01 7.05967141e-01 6.24394010e-04 -7.39170694e+01] [ 9.05143044e-04 2.36110968e-05 9.99999590e-01 1.33418755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14232058799996 meters 0.02870395624108689 Centerline is valid? [True, True] Translation: X:257.49, Y:-73.95, Z:1.33 [[ 7.04085825e-01 7.10114881e-01 7.67795888e-05 2.57485740e+02] [-7.10114876e-01 7.04085829e-01 -8.38849319e-05 -7.39466640e+01] [-1.13627358e-04 4.53986328e-06 9.99999994e-01 1.33486958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.172320588 meters 0.02901036218871391 Centerline is valid? [True, True] Translation: X:257.52, Y:-73.98, Z:1.34 [[ 7.02452692e-01 7.11730178e-01 6.07526924e-04 2.57516214e+02] [-7.11729926e-01 7.02452955e-01 -5.99631636e-04 -7.39757692e+01] [-8.53535013e-04 -1.11822350e-05 9.99999636e-01 1.33563357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20232058799996 meters 0.029124278238602433 Centerline is valid? [True, True] Translation: X:257.55, Y:-74.01, Z:1.34 [[ 7.00502206e-01 7.13650064e-01 4.96242875e-04 2.57545841e+02] [-7.13649894e-01 7.00502381e-01 -4.92872959e-04 -7.40064402e+01] [-6.99358134e-04 -8.88507943e-06 9.99999755e-01 1.33784340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.232320588 meters 0.029339658931513336 Centerline is valid? [True, True] Translation: X:257.58, Y:-74.04, Z:1.34 [[ 6.99356165e-01 7.14773341e-01 -1.58376984e-04 2.57576100e+02] [-7.14773327e-01 6.99356183e-01 1.45232331e-04 -7.40360867e+01] [ 2.14570122e-04 1.16345178e-05 9.99999977e-01 1.33862876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26232058799997 meters 0.02915849882899173 Centerline is valid? [True, True] Translation: X:257.61, Y:-74.06, Z:1.34 [[ 6.98550952e-01 7.15560190e-01 -4.27664681e-04 2.57607382e+02] [-7.15560073e-01 6.98551082e-01 4.09362548e-04 -7.40640992e+01] [ 5.91669169e-04 2.00591730e-05 9.99999825e-01 1.33786535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29232058799994 meters 0.029135341613236984 Centerline is valid? [True, True] Translation: X:257.64, Y:-74.09, Z:1.34 [[ 6.97785104e-01 7.16307035e-01 4.24231983e-04 2.57638677e+02] [-7.16306908e-01 6.97785233e-01 -4.26066587e-04 -7.40928600e+01] [-6.01217306e-04 -6.57738278e-06 9.99999819e-01 1.33608060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32232058799997 meters 0.028568166635121007 Centerline is valid? [True, True] Translation: X:257.67, Y:-74.13, Z:1.34 [[ 6.96770315e-01 7.17294158e-01 4.66875970e-04 2.57674266e+02] [-7.17294000e-01 6.96770472e-01 -4.77246113e-04 -7.41268151e+01] [-6.67631239e-04 -2.35640708e-06 9.99999777e-01 1.33798751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35232058799994 meters 0.028564105784102522 Centerline is valid? [True, True] Translation: X:257.71, Y:-74.16, Z:1.34 [[ 6.94650415e-01 7.19346484e-01 1.19885487e-03 2.57714341e+02] [-7.19345457e-01 6.94651449e-01 -1.21557777e-03 -7.41649780e+01] [-1.70720786e-03 -1.79892011e-05 9.99998543e-01 1.33877413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38232058799997 meters 0.0282530783692077 Centerline is valid? [True, True] Translation: X:257.74, Y:-74.19, Z:1.34 [[ 6.94087690e-01 7.19889641e-01 1.08787479e-03 2.57744704e+02] [-7.19888810e-01 6.94088542e-01 -1.09359736e-03 -7.41941492e+01] [-1.54235084e-03 -2.40964221e-05 9.99998810e-01 1.33961289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41232058799994 meters 0.028299949308649694 Centerline is valid? [True, True] Translation: X:257.77, Y:-74.23, Z:1.34 [[ 6.92295998e-01 7.21612884e-01 1.04758928e-03 2.57774862e+02] [-7.21612105e-01 6.92296790e-01 -1.06028623e-03 -7.42265563e+01] [-1.49035889e-03 -2.19211919e-05 9.99998889e-01 1.33956922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.442320588 meters 0.02932968791337749 Centerline is valid? [True, True] Translation: X:257.80, Y:-74.26, Z:1.34 [[ 6.89476663e-01 7.24307402e-01 8.47500373e-04 2.57804385e+02] [-7.24306890e-01 6.89477184e-01 -8.61080183e-04 -7.42583696e+01] [-1.20801892e-03 -2.01556677e-05 9.99999270e-01 1.33736534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47232058799995 meters 0.029360940640554653 Centerline is valid? [True, True] Translation: X:258.71, Y:-73.39, Z:3.21 [[ 7.76381224e-01 -6.30196557e-01 9.19211112e-03 2.58711886e+02] [-6.30141398e-01 -7.76435319e-01 -8.36746937e-03 -7.33907652e+01] [ 1.24102301e-02 7.04016358e-04 -9.99922742e-01 3.20569553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.502320588 meters 0.029733005042261833 Centerline is valid? [True, True] Translation: X:257.92, Y:-74.38, Z:1.34 [[ 7.43914460e-01 6.68270986e-01 2.27283624e-03 2.57922119e+02] [-6.68268170e-01 7.43917928e-01 -1.94155577e-03 -7.43814165e+01] [-2.98828901e-03 -7.45127035e-05 9.99995532e-01 1.33759910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53232058799995 meters 0.03069050436297372 Centerline is valid? [True, True] Translation: X:257.95, Y:-74.41, Z:1.34 [[ 7.40429448e-01 6.72132733e-01 1.34962591e-03 2.57949789e+02] [-6.72131729e-01 7.40430677e-01 -1.16238303e-03 -7.44118543e+01] [-1.78058011e-03 -4.64637690e-05 9.99998414e-01 1.34142506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.562320588 meters 0.031334611132649993 Centerline is valid? [True, True] Translation: X:257.98, Y:-74.44, Z:1.34 [[ 7.38274901e-01 6.74499926e-01 -1.45273686e-04 2.57979263e+02] [-6.74499916e-01 7.38274915e-01 1.16535059e-04 -7.44397141e+01] [ 1.85854808e-04 1.19521803e-05 9.99999983e-01 1.34257000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59232058799995 meters 0.0321994241118063 Centerline is valid? [True, True] Translation: X:258.01, Y:-74.47, Z:1.34 [[ 7.35093250e-01 6.77963193e-01 -1.95507547e-03 2.58010011e+02] [-6.77961137e-01 7.35095844e-01 1.67221823e-03 -7.44669613e+01] [ 2.57087027e-03 9.62288602e-05 9.99996691e-01 1.34118140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.622320588 meters 0.03308837757984722 Centerline is valid? [True, True] Translation: X:258.04, Y:-74.49, Z:1.34 [[ 7.32443300e-01 6.80826579e-01 -1.40756306e-03 2.58041139e+02] [-6.80825519e-01 7.32444648e-01 1.20408315e-03 -7.44946437e+01] [ 1.85073384e-03 7.63822124e-05 9.99998284e-01 1.34126312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65232058799995 meters 0.03402548653580794 Centerline is valid? [True, True] Translation: X:258.07, Y:-74.52, Z:1.34 [[ 7.29801712e-01 6.83658335e-01 -8.61702693e-04 2.58072863e+02] [-6.83657941e-01 7.29802218e-01 7.35909599e-04 -7.45228493e+01] [ 1.13198327e-03 5.20418036e-05 9.99999358e-01 1.34202035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.682320588 meters 0.03591824825074154 Centerline is valid? [True, True] Translation: X:258.10, Y:-74.55, Z:1.35 [[ 7.24188306e-01 6.89597376e-01 -2.59939344e-03 2.58102579e+02] [-6.89593746e-01 7.24192952e-01 2.24378304e-03 -7.45527036e+01] [ 3.42976931e-03 1.67604021e-04 9.99994104e-01 1.34534070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71232058799995 meters 0.03660529409175398 Centerline is valid? [True, True] Translation: X:258.14, Y:-74.58, Z:1.34 [[ 7.20822388e-01 6.93114017e-01 -2.83641902e-03 2.58137546e+02] [-6.93109697e-01 7.20827942e-01 2.45487620e-03 -7.45810841e+01] [ 3.74607918e-03 1.96419807e-04 9.99992964e-01 1.34472313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.742320588 meters 0.03916733256477061 Centerline is valid? [True, True] Translation: X:258.17, Y:-74.61, Z:1.34 [[ 7.14885813e-01 6.99236408e-01 -2.59235247e-03 2.58167988e+02] [-6.99232812e-01 7.14890484e-01 2.25184049e-03 -7.46099817e+01] [ 3.42781697e-03 2.02849090e-04 9.99994104e-01 1.34378142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77232058799996 meters 0.04017727691497419 Centerline is valid? [True, True] Translation: X:258.20, Y:-74.64, Z:1.35 [[ 7.11539671e-01 7.02640961e-01 -2.64121390e-03 2.58199418e+02] [-7.02637229e-01 7.11544540e-01 2.30067836e-03 -7.46383404e+01] [ 3.49589218e-03 2.18791287e-04 9.99993865e-01 1.34511105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.802320588 meters 0.0419673819153967 Centerline is valid? [True, True] Translation: X:258.23, Y:-74.66, Z:1.35 [[ 7.05839208e-01 7.08369506e-01 -1.91191959e-03 2.58232130e+02] [-7.08367566e-01 7.05841775e-01 1.66723171e-03 -7.46643099e+01] [ 2.53052882e-03 1.77544319e-04 9.99996782e-01 1.34552313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83232058799996 meters 0.043165770594186276 Centerline is valid? [True, True] Translation: X:258.27, Y:-74.69, Z:1.35 [[ 7.02587295e-01 7.11594422e-01 -2.11458960e-03 2.58265588e+02] [-7.11592046e-01 7.02590447e-01 1.85026720e-03 -7.46910722e+01] [ 2.80233027e-03 2.04750911e-04 9.99996053e-01 1.34549903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.862320588 meters 0.04446121687197302 Centerline is valid? [True, True] Translation: X:258.30, Y:-74.72, Z:1.35 [[ 6.98030550e-01 7.16059982e-01 -3.38424384e-03 2.58300212e+02] [-7.16053886e-01 6.98038668e-01 2.97493564e-03 -7.47155855e+01] [ 4.49256543e-03 3.46704994e-04 9.99989848e-01 1.34634076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89232058799996 meters 0.04447528977327258 Centerline is valid? [True, True] Translation: X:258.34, Y:-74.74, Z:1.35 [[ 6.95888119e-01 7.18144416e-01 -2.88512231e-03 2.58335788e+02] [-7.18139982e-01 6.95894034e-01 2.54169161e-03 -7.47431618e+01] [ 3.83304104e-03 3.03188691e-04 9.99992608e-01 1.34780979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.922320588 meters 0.0452952067246857 Centerline is valid? [True, True] Translation: X:258.38, Y:-74.78, Z:1.35 [[ 6.92368047e-01 7.21541776e-01 -1.98826354e-03 2.58378656e+02] [-7.21539688e-01 6.92370866e-01 1.75028702e-03 -7.47757996e+01] [ 2.63952095e-03 2.22768243e-04 9.99996492e-01 1.34868724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95232058799996 meters 0.0450284329916593 Centerline is valid? [True, True] Translation: X:258.42, Y:-74.80, Z:1.35 [[ 6.90650276e-01 7.23187127e-01 -1.60471694e-03 2.58415363e+02] [-7.23185749e-01 6.90652118e-01 1.42310104e-03 -7.47985309e+01] [ 2.13746951e-03 1.77643300e-04 9.99997700e-01 1.34844175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.982320588 meters 0.04545777422012983 Centerline is valid? [True, True] Translation: X:258.45, Y:-74.82, Z:1.35 [[ 6.89430283e-01 7.24347833e-01 -2.47011472e-03 2.58449695e+02] [-7.24344536e-01 6.89434654e-01 2.20220061e-03 -7.48246542e+01] [ 3.29814193e-03 2.70950312e-04 9.99994524e-01 1.34859592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01232058799997 meters 0.04463838815351025 Centerline is valid? [True, True] Translation: X:258.49, Y:-74.85, Z:1.35 [[ 6.90033310e-01 7.23766492e-01 -4.01194349e-03 2.58486633e+02] [-7.23757685e-01 6.90044844e-01 3.59537694e-03 -7.48469283e+01] [ 5.37063428e-03 4.22745082e-04 9.99985489e-01 1.34920585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04232058799994 meters 0.04434960382752777 Centerline is valid? [True, True] Translation: X:258.52, Y:-74.87, Z:1.35 [[ 6.89981398e-01 7.23812127e-01 -4.65572125e-03 2.58521512e+02] [-7.23800189e-01 6.89996937e-01 4.18495783e-03 -7.48710591e+01] [ 6.24155663e-03 4.82268870e-04 9.99980405e-01 1.34942238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07232058799997 meters 0.04304471108701772 Centerline is valid? [True, True] Translation: X:258.56, Y:-74.89, Z:1.35 [[ 6.91718405e-01 7.22161294e-01 -2.95171776e-03 2.58558877e+02] [-7.22156466e-01 6.91724641e-01 2.65714779e-03 -7.48922196e+01] [ 3.96066520e-03 2.93604031e-04 9.99992113e-01 1.34972499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10232058799994 meters 0.042553854935555135 Centerline is valid? [True, True] Translation: X:258.59, Y:-74.92, Z:1.35 [[ 6.92174525e-01 7.21727953e-01 -1.78569102e-03 2.58592666e+02] [-7.21726183e-01 6.92176806e-01 1.60823887e-03 -7.49174101e+01] [ 2.39672486e-03 1.75597991e-04 9.99997112e-01 1.35051516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13232058799997 meters 0.04197972753967719 Centerline is valid? [True, True] Translation: X:258.63, Y:-74.94, Z:1.35 [[ 6.92525527e-01 7.21393059e-01 -6.70998878e-04 2.58625999e+02] [-7.21392812e-01 6.92525848e-01 6.00557195e-04 -7.49424242e+01] [ 8.97921859e-04 6.81525795e-05 9.99999595e-01 1.35083491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16232058799994 meters 0.040386774263480946 Centerline is valid? [True, True] Translation: X:258.66, Y:-74.96, Z:1.35 [[ 6.95788072e-01 7.18246727e-01 7.73190414e-04 2.58662454e+02] [-7.18246376e-01 6.95788499e-01 -7.12525090e-04 -7.49641603e+01] [-1.04974581e-03 -5.95747538e-05 9.99999447e-01 1.34981435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.192320588 meters 0.038781394292475437 Centerline is valid? [True, True] Translation: X:258.70, Y:-74.99, Z:1.35 [[ 6.97543693e-01 7.16541416e-01 1.09292462e-03 2.58696955e+02] [-7.16540715e-01 6.97544545e-01 -1.00609096e-03 -7.49882298e+01] [-1.48326945e-03 -8.13325848e-05 9.99998897e-01 1.34931983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22232058799995 meters 0.03605720633985228 Centerline is valid? [True, True] Translation: X:258.73, Y:-75.01, Z:1.35 [[ 7.02349646e-01 7.11832119e-01 9.15987601e-05 2.58732689e+02] [-7.11832113e-01 7.02349652e-01 -9.24223301e-05 -7.50104010e+01] [-1.30123540e-04 -2.90148186e-07 9.99999992e-01 1.34836860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.252320588 meters 0.034612677672204974 Centerline is valid? [True, True] Translation: X:258.77, Y:-75.03, Z:1.35 [[ 7.04319305e-01 7.09883310e-01 -6.28328592e-05 2.58765190e+02] [-7.09883308e-01 7.04319307e-01 4.91797799e-05 -7.50348670e+01] [ 7.91663014e-05 9.96572956e-06 9.99999997e-01 1.34888585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28232058799995 meters 0.03284046786711776 Centerline is valid? [True, True] Translation: X:258.80, Y:-75.06, Z:1.35 [[ 7.08299570e-01 7.05910946e-01 1.20658599e-03 2.58798391e+02] [-7.05910062e-01 7.08300595e-01 -1.11840305e-03 -7.50596682e+01] [-1.64411853e-03 -5.95767937e-05 9.99998647e-01 1.34987227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.312320588 meters 0.032038551937284415 Centerline is valid? [True, True] Translation: X:258.83, Y:-75.09, Z:1.35 [[ 7.09247591e-01 7.04955733e-01 2.29555341e-03 2.58829943e+02] [-7.04952539e-01 7.09251297e-01 -2.12485516e-03 -7.50860189e+01] [-3.12605306e-03 -1.11207807e-04 9.99995108e-01 1.35039311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34232058799995 meters 0.031506408539416796 Centerline is valid? [True, True] Translation: X:258.86, Y:-75.11, Z:1.35 [[ 7.10197576e-01 7.03995908e-01 3.02740635e-03 2.58860380e+02] [-7.03990327e-01 7.10204015e-01 -2.80653580e-03 -7.51128820e+01] [-4.12586586e-03 -1.38069862e-04 9.99991479e-01 1.35076739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.372320588 meters 0.03012517745525653 Centerline is valid? [True, True] Translation: X:258.89, Y:-75.14, Z:1.35 [[ 7.12479640e-01 7.01684972e-01 3.31098603e-03 2.58891320e+02] [-7.01678241e-01 7.12487321e-01 -3.07621768e-03 -7.51391187e+01] [-4.51757128e-03 -1.31504381e-04 9.99989787e-01 1.34993088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40232058799995 meters 0.029342510019224197 Centerline is valid? [True, True] Translation: X:258.92, Y:-75.17, Z:1.35 [[ 7.13727029e-01 7.00416850e-01 3.15658092e-03 2.58922127e+02] [-7.00410687e-01 7.13734000e-01 -2.94039334e-03 -7.51655621e+01] [-4.31246016e-03 -1.12264810e-04 9.99990695e-01 1.34907787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.432320588 meters 0.027685069242248846 Centerline is valid? [True, True] Translation: X:258.95, Y:-75.19, Z:1.35 [[ 7.12700526e-01 7.01458894e-01 3.65800800e-03 2.58954649e+02] [-7.01450584e-01 7.12709901e-01 -3.41678728e-03 -7.51908507e+01] [-5.00383434e-03 -1.30765759e-04 9.99987472e-01 1.35042764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46232058799995 meters 0.029261679381188416 Centerline is valid? [True, True] Translation: X:258.98, Y:-75.22, Z:1.35 [[ 7.12229088e-01 7.01938240e-01 3.52612944e-03 2.58981252e+02] [-7.01930479e-01 7.12237806e-01 -3.30318285e-03 -7.52218721e+01] [-4.83007305e-03 -1.22474823e-04 9.99988328e-01 1.34971559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.492320588 meters 0.02911803697817221 Centerline is valid? [True, True] Translation: X:259.01, Y:-75.25, Z:1.35 [[ 7.11489469e-01 7.02691688e-01 2.66991630e-03 2.59009212e+02] [-7.02687216e-01 7.11494472e-01 -2.50849454e-03 -7.52515319e+01] [-3.66232895e-03 -9.13486068e-05 9.99993289e-01 1.35041477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52232058799996 meters 0.029418172948263932 Centerline is valid? [True, True] Translation: X:259.04, Y:-75.28, Z:1.35 [[ 7.10135835e-01 7.04060762e-01 2.35344964e-03 2.59037840e+02] [-7.04057274e-01 7.10139730e-01 -2.21777340e-03 -7.52800909e+01] [-3.23272533e-03 -8.20429741e-05 9.99994771e-01 1.35085773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.552320588 meters 0.029844350293640794 Centerline is valid? [True, True] Translation: X:259.07, Y:-75.31, Z:1.35 [[ 7.07942797e-01 7.06266523e-01 2.14347899e-03 2.59066145e+02] [-7.06263623e-01 7.07946037e-01 -2.02565040e-03 -7.53096927e+01] [-2.94811652e-03 -7.98166291e-05 9.99995651e-01 1.35136942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58232058799996 meters 0.029956571610867212 Centerline is valid? [True, True] Translation: X:259.10, Y:-75.34, Z:1.35 [[ 7.06223095e-01 7.07985411e-01 2.36612643e-03 2.59096552e+02] [-7.07981866e-01 7.06227052e-01 -2.24238202e-03 -7.53394274e+01] [-3.25859625e-03 -9.15526382e-05 9.99994687e-01 1.35100836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.612320588 meters 0.030603288011695828 Centerline is valid? [True, True] Translation: X:259.13, Y:-75.37, Z:1.35 [[ 7.03924110e-01 7.10271350e-01 2.33590227e-03 2.59126307e+02] [-7.10267874e-01 7.03927980e-01 -2.22411689e-03 -7.53710341e+01] [-3.22403347e-03 -9.35068374e-05 9.99994798e-01 1.35085068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64232058799996 meters 0.030870699262037116 Centerline is valid? [True, True] Translation: X:259.15, Y:-75.40, Z:1.35 [[ 7.02064146e-01 7.12103778e-01 3.76098703e-03 2.59153340e+02] [-7.12094794e-01 7.02074200e-01 -3.58068357e-03 -7.54044219e+01] [-5.19031025e-03 -1.64309735e-04 9.99986517e-01 1.34943276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.672320588 meters 0.03164953326187531 Centerline is valid? [True, True] Translation: X:259.18, Y:-75.44, Z:1.35 [[ 6.99284639e-01 7.14833725e-01 3.70663842e-03 2.59182114e+02] [-7.14824973e-01 6.99294441e-01 -3.54160155e-03 -7.54357787e+01] [-5.12368787e-03 -1.73010147e-04 9.99986859e-01 1.34981837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70232058799996 meters 0.03164953326187531 Centerline is valid? [True, True] Translation: X:259.22, Y:-75.47, Z:1.35 [[ 6.97949399e-01 7.16137525e-01 3.69899999e-03 2.59215555e+02] [-7.16128748e-01 6.97959180e-01 -3.54959485e-03 -7.54657415e+01] [-5.12374907e-03 -1.71522637e-04 9.99986859e-01 1.35004705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.732320588 meters 0.032358762077236196 Centerline is valid? [True, True] Translation: X:259.24, Y:-75.50, Z:1.35 [[ 6.94590168e-01 7.19403948e-01 1.56789294e-03 2.59244801e+02] [-7.19402358e-01 6.94591934e-01 -1.51422098e-03 -7.54967873e+01] [-2.17838234e-03 -7.61828735e-05 9.99997624e-01 1.35129555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76232058799997 meters 0.03275214865545377 Centerline is valid? [True, True] Translation: X:259.27, Y:-75.53, Z:1.35 [[ 6.92724168e-01 7.21199987e-01 1.95080527e-03 2.59274392e+02] [-7.21197529e-01 6.92726907e-01 -1.88558186e-03 -7.55264539e+01] [-2.71125691e-03 -1.00727818e-04 9.99996319e-01 1.35083999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79232058799994 meters 0.034157265296868806 Centerline is valid? [True, True] Translation: X:259.30, Y:-75.56, Z:1.35 [[ 6.89032814e-01 7.24725483e-01 2.59916691e-03 2.59300930e+02] [-7.24721125e-01 6.89037700e-01 -2.51780349e-03 -7.55603778e+01] [-3.61564034e-03 -1.48821941e-04 9.99993452e-01 1.35159519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82232058799997 meters 0.03456932961241851 Centerline is valid? [True, True] Translation: X:259.33, Y:-75.59, Z:1.35 [[ 6.86146384e-01 7.27459490e-01 2.41440573e-03 2.59330344e+02] [-7.27455720e-01 6.86150616e-01 -2.34665727e-03 -7.55912927e+01] [-3.36374409e-03 -1.46222860e-04 9.99994332e-01 1.35328668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85232058799994 meters 0.03566024071816959 Centerline is valid? [True, True] Translation: X:259.36, Y:-75.62, Z:1.35 [[ 6.83204573e-01 7.30224540e-01 1.90583911e-03 2.59361107e+02] [-7.30222173e-01 6.83207221e-01 -1.86314950e-03 -7.56234853e+01] [-2.66260053e-03 -1.18773718e-04 9.99996448e-01 1.35458411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88232058799997 meters 0.03615681234370862 Centerline is valid? [True, True] Translation: X:259.39, Y:-75.65, Z:1.36 [[ 6.79738905e-01 7.33454111e-01 -2.95536417e-04 2.59392216e+02] [-7.33454059e-01 6.79738969e-01 2.77852933e-04 -7.56530065e+01] [ 4.04679996e-04 2.78949363e-05 9.99999918e-01 1.35505078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91232058799994 meters 0.036411664009312165 Centerline is valid? [True, True] Translation: X:259.42, Y:-75.68, Z:1.35 [[ 6.77074288e-01 7.35914623e-01 2.77081682e-04 2.59423982e+02] [-7.35914569e-01 6.77074344e-01 -2.81227586e-04 -7.56813190e+01] [-3.94564390e-04 -1.34964795e-05 9.99999922e-01 1.35369995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.942320588 meters 0.03821738855458467 Centerline is valid? [True, True] Translation: X:259.45, Y:-75.71, Z:1.35 [[ 6.74588092e-01 7.38193154e-01 1.33192321e-03 2.59454283e+02] [-7.38191987e-01 6.74589400e-01 -1.31574325e-03 -7.57121031e+01] [-1.86977394e-03 -9.56303160e-05 9.99998247e-01 1.35305702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97232058799995 meters 0.037996128657547985 Centerline is valid? [True, True] Translation: X:259.49, Y:-75.74, Z:1.35 [[ 6.73058527e-01 7.39587455e-01 1.61739918e-03 2.59487527e+02] [-7.39585726e-01 6.73060460e-01 -1.60338782e-03 -7.57425496e+01] [-2.27445295e-03 -1.17031499e-04 9.99997407e-01 1.35364821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.002320588 meters 0.038717481536218706 Centerline is valid? [True, True] Translation: X:259.52, Y:-75.77, Z:1.36 [[ 6.70358984e-01 7.42035870e-01 1.26528165e-03 2.59520154e+02] [-7.42034804e-01 6.70360171e-01 -1.26105661e-03 -7.57732494e+01] [-1.78394366e-03 -9.35223918e-05 9.99998404e-01 1.35598975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03232058799995 meters 0.03758057511483203 Centerline is valid? [True, True] Translation: X:259.56, Y:-75.80, Z:1.36 [[ 6.68878709e-01 7.43371291e-01 -6.30191916e-04 2.59556308e+02] [-7.43371042e-01 6.68879003e-01 6.11116114e-04 -7.58008291e+01] [ 8.75808315e-04 5.97038640e-05 9.99999615e-01 1.35672524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.062320588 meters 0.03786094526751328 Centerline is valid? [True, True] Translation: X:259.59, Y:-75.83, Z:1.36 [[ 6.68188466e-01 7.43989829e-01 -1.81869418e-03 2.59588743e+02] [-7.43987678e-01 6.68190924e-01 1.79557832e-03 -7.58307678e+01] [ 2.55112695e-03 1.53301341e-04 9.99996734e-01 1.35685887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09232058799995 meters 0.03753454940463592 Centerline is valid? [True, True] Translation: X:259.62, Y:-75.86, Z:1.36 [[ 6.67820398e-01 7.44321399e-01 -1.25321373e-03 2.59621184e+02] [-7.44320377e-01 6.67821566e-01 1.23831358e-03 -7.58609082e+01] [ 1.75862645e-03 1.05821447e-04 9.99998448e-01 1.35628073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.122320588 meters 0.03692217494335719 Centerline is valid? [True, True] Translation: X:259.65, Y:-75.89, Z:1.36 [[ 6.69540487e-01 7.42775435e-01 4.35594425e-04 2.59652803e+02] [-7.42775300e-01 6.69540628e-01 -4.48161515e-04 -7.58913008e+01] [-6.24531528e-04 -2.34865009e-05 9.99999805e-01 1.35824777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15232058799995 meters 0.03545738819373399 Centerline is valid? [True, True] Translation: X:260.55, Y:-75.04, Z:3.21 [[ 7.92834997e-01 -6.09389232e-01 7.57839615e-03 2.60553776e+02] [-6.09349975e-01 -7.92870689e-01 -6.97702180e-03 -7.50351552e+01] [ 1.02604101e-02 9.13731549e-04 -9.99946943e-01 3.20768208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.182320588 meters 0.0343411751826165 Centerline is valid? [True, True] Translation: X:259.78, Y:-76.01, Z:1.36 [[ 7.31156793e-01 6.82206862e-01 -1.88185845e-03 2.59776668e+02] [-6.82204995e-01 7.31159206e-01 1.60012105e-03 -7.60115384e+01] [ 2.46755169e-03 1.13873857e-04 9.99996949e-01 1.35981790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21232058799995 meters 0.03421690371571372 Centerline is valid? [True, True] Translation: X:259.81, Y:-76.04, Z:1.36 [[ 7.30531150e-01 6.82875088e-01 -2.41924682e-03 2.59808347e+02] [-6.82872006e-01 7.30535141e-01 2.05723700e-03 -7.60374137e+01] [ 3.17218072e-03 1.49160212e-04 9.99994957e-01 1.35763279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.242320588 meters 0.03386225711567605 Centerline is valid? [True, True] Translation: X:259.84, Y:-76.06, Z:1.36 [[ 7.30590865e-01 6.82809530e-01 -2.85196889e-03 2.59839649e+02] [-6.82805217e-01 7.30596412e-01 2.43273948e-03 -7.60637872e+01] [ 3.74473594e-03 1.70001991e-04 9.99992974e-01 1.35849541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27232058799996 meters 0.03445733768203424 Centerline is valid? [True, True] Translation: X:259.87, Y:-76.09, Z:1.36 [[ 7.29004170e-01 6.84507852e-01 -1.38605698e-03 2.59871233e+02] [-6.84506839e-01 7.29005482e-01 1.18116068e-03 -7.60890722e+01] [ 1.81895689e-03 8.76944219e-05 9.99998342e-01 1.36014049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.302320588 meters 0.034328383062429677 Centerline is valid? [True, True] Translation: X:259.90, Y:-76.11, Z:1.36 [[ 7.27903156e-01 6.85678839e-01 -1.23494864e-03 2.59903583e+02] [-6.85678034e-01 7.27904199e-01 1.05415848e-03 -7.61134788e+01] [ 1.62173846e-03 7.94518671e-05 9.99998682e-01 1.36132047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33232058799996 meters 0.034235487299268494 Centerline is valid? [True, True] Translation: X:259.94, Y:-76.14, Z:1.36 [[ 7.27200989e-01 6.86423350e-01 -1.30617559e-03 2.59935913e+02] [-6.86422444e-01 7.27202157e-01 1.11815875e-03 -7.61388820e+01] [ 1.71738398e-03 8.34620912e-05 9.99998522e-01 1.36103478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.362320588 meters 0.03424169593711257 Centerline is valid? [True, True] Translation: X:259.97, Y:-76.17, Z:1.36 [[ 7.26714609e-01 6.86938140e-01 -1.36737201e-03 2.59966607e+02] [-6.86937142e-01 7.26715890e-01 1.17385947e-03 -7.61653706e+01] [ 1.80005981e-03 8.62377921e-05 9.99998376e-01 1.36067466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39232058799996 meters 0.034258836731191664 Centerline is valid? [True, True] Translation: X:260.00, Y:-76.19, Z:1.36 [[ 7.26195486e-01 6.87487034e-01 -1.30143810e-03 2.59997920e+02] [-6.87486127e-01 7.26196648e-01 1.11967867e-03 -7.61908427e+01] [ 1.71486455e-03 8.16150426e-05 9.99998526e-01 1.36256361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.422320588 meters 0.034044431598704954 Centerline is valid? [True, True] Translation: X:260.04, Y:-76.22, Z:1.36 [[ 7.24467964e-01 6.89308432e-01 2.31632604e-04 2.60038267e+02] [-6.89308398e-01 7.24468001e-01 -2.17978198e-04 -7.62209968e+01] [-3.18064619e-04 -1.74807793e-06 9.99999949e-01 1.36278559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45232058799996 meters 0.034121424487017736 Centerline is valid? [True, True] Translation: X:260.07, Y:-76.25, Z:1.36 [[ 7.23243219e-01 6.90593293e-01 -3.88410548e-04 2.60070614e+02] [-6.90593214e-01 7.23243322e-01 3.30932200e-04 -7.62454635e+01] [ 5.09454893e-04 2.88892193e-05 9.99999870e-01 1.36392849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.482320588 meters 0.03387141298652706 Centerline is valid? [True, True] Translation: X:260.10, Y:-76.27, Z:1.36 [[ 7.22510770e-01 6.91359654e-01 -1.25822409e-04 2.60102848e+02] [-6.91359647e-01 7.22510781e-01 1.01913588e-04 -7.62709108e+01] [ 1.61366991e-04 1.33548711e-05 9.99999987e-01 1.36369487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51232058799997 meters 0.03396879369786728 Centerline is valid? [True, True] Translation: X:260.13, Y:-76.30, Z:1.36 [[ 7.20982620e-01 6.92951578e-01 -1.47360186e-03 2.60134088e+02] [-6.92950394e-01 7.20984120e-01 1.28481527e-03 -7.62966648e+01] [ 1.95275831e-03 9.48035084e-05 9.99998089e-01 1.36406903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54232058799994 meters 0.03457685457497916 Centerline is valid? [True, True] Translation: X:260.17, Y:-76.32, Z:1.36 [[ 7.19936065e-01 6.94039057e-01 -1.36013458e-03 2.60165469e+02] [-6.94038046e-01 7.19937344e-01 1.18790748e-03 -7.63240712e+01] [ 1.80366586e-03 8.87677131e-05 9.99998369e-01 1.36463169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57232058799997 meters 0.03450957123586067 Centerline is valid? [True, True] Translation: X:260.20, Y:-76.35, Z:1.36 [[ 7.18792205e-01 6.95224953e-01 -1.77499240e-04 2.60200425e+02] [-6.95224938e-01 7.18792226e-01 1.44933624e-04 -7.63524988e+01] [ 2.28346546e-04 1.92247391e-05 9.99999974e-01 1.36499181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60232058799994 meters 0.03407508240761238 Centerline is valid? [True, True] Translation: X:260.23, Y:-76.38, Z:1.37 [[ 7.18965096e-01 6.95044970e-01 1.29669243e-03 2.60234552e+02] [-6.95044012e-01 7.18966262e-01 -1.15596180e-03 -7.63758174e+01] [-1.73572354e-03 -7.01621268e-05 9.99998491e-01 1.36532997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63232058799997 meters 0.03387951800130333 Centerline is valid? [True, True] Translation: X:260.27, Y:-76.40, Z:1.37 [[ 7.18420584e-01 6.95608755e-01 5.69665151e-04 2.60266524e+02] [-6.95608566e-01 7.18420809e-01 -5.13695468e-04 -7.64004451e+01] [-7.66590363e-04 -2.72145607e-05 9.99999706e-01 1.36528707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66232058799994 meters 0.03271488258350617 Centerline is valid? [True, True] Translation: X:260.30, Y:-76.43, Z:1.36 [[ 7.18742969e-01 6.95275792e-01 -3.43171297e-04 2.60298648e+02] [-6.95275729e-01 7.18743051e-01 2.96783036e-04 -7.64256299e+01] [ 4.52998046e-04 2.52879533e-05 9.99999897e-01 1.36444782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.692320588 meters 0.03263033118375754 Centerline is valid? [True, True] Translation: X:260.33, Y:-76.45, Z:1.37 [[ 7.18696162e-01 6.95322949e-01 -1.35046007e-03 2.60328837e+02] [-6.95321925e-01 7.18697426e-01 1.19602757e-03 -7.64533563e+01] [ 1.80219759e-03 7.94240693e-05 9.99998373e-01 1.36568897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72232058799995 meters 0.032139935176161157 Centerline is valid? [True, True] Translation: X:260.36, Y:-76.48, Z:1.37 [[ 7.19286713e-01 6.94710975e-01 -1.81285431e-03 2.60359564e+02] [-6.94709110e-01 7.19288990e-01 1.61267908e-03 -7.64806995e+01] [ 2.42431200e-03 9.94277721e-05 9.99997056e-01 1.36628488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.752320588 meters 0.03128958828768042 Centerline is valid? [True, True] Translation: X:260.39, Y:-76.51, Z:1.37 [[ 7.19592042e-01 6.94394789e-01 -1.78036279e-03 2.60391623e+02] [-6.94392981e-01 7.19594238e-01 1.58747646e-03 -7.65065959e+01] [ 2.38347418e-03 9.39359955e-05 9.99997155e-01 1.36618994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78232058799995 meters 0.03087372216618844 Centerline is valid? [True, True] Translation: X:260.42, Y:-76.53, Z:1.37 [[ 7.19778294e-01 6.94201052e-01 -2.02646964e-03 2.60423841e+02] [-6.94198694e-01 7.19781139e-01 1.81232306e-03 -7.65343021e+01] [ 2.71673120e-03 1.02301781e-04 9.99996304e-01 1.36618626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.812320588 meters 0.028603520991171937 Centerline is valid? [True, True] Translation: X:260.46, Y:-76.56, Z:1.37 [[ 7.19930089e-01 6.94039159e-01 -3.21134529e-03 2.60456605e+02] [-6.94033178e-01 7.19937236e-01 2.88529355e-03 -7.65589523e+01] [ 4.31447376e-03 1.51570537e-04 9.99990681e-01 1.36574491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84232058799995 meters 0.029921408551581177 Centerline is valid? [True, True] Translation: X:260.48, Y:-76.59, Z:1.37 [[ 7.20136836e-01 6.93829602e-01 -1.84962800e-03 2.60484964e+02] [-6.93827616e-01 7.20139206e-01 1.66233980e-03 -7.65898631e+01] [ 2.48537020e-03 8.62108598e-05 9.99996908e-01 1.36594313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.872320588 meters 0.02801310116466075 Centerline is valid? [True, True] Translation: X:260.52, Y:-76.61, Z:1.37 [[ 7.19376356e-01 6.94619787e-01 -1.00517729e-03 2.60517671e+02] [-6.94619203e-01 7.19377056e-01 9.01793647e-04 -7.66146521e+01] [ 1.34950519e-03 4.94864198e-05 9.99999088e-01 1.36768783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90232058799995 meters 0.029585497497825224 Centerline is valid? [True, True] Translation: X:260.55, Y:-76.65, Z:1.37 [[ 7.19057745e-01 6.94950154e-01 4.92970483e-04 2.60545864e+02] [-6.94950003e-01 7.19057914e-01 -4.58307650e-04 -7.66458909e+01] [-6.72975299e-04 -1.30401735e-05 9.99999773e-01 1.36770535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.932320588 meters 0.02953645019569136 Centerline is valid? [True, True] Translation: X:260.57, Y:-76.68, Z:1.37 [[ 7.19168503e-01 6.94833121e-01 -1.89696734e-03 2.60574057e+02] [-6.94830995e-01 7.19171000e-01 1.72076317e-03 -7.66759767e+01] [ 2.55988715e-03 8.05530292e-05 9.99996720e-01 1.36860659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96232058799995 meters 0.029454955650773555 Centerline is valid? [True, True] Translation: X:260.60, Y:-76.70, Z:1.37 [[ 7.18145025e-01 6.95886850e-01 -3.03549655e-03 2.60604026e+02] [-6.95881366e-01 7.18151429e-01 2.76568916e-03 -7.67031090e+01] [ 4.10455290e-03 1.26179573e-04 9.99991568e-01 1.36799736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.992320588 meters 0.029904970064510938 Centerline is valid? [True, True] Translation: X:260.63, Y:-76.73, Z:1.37 [[ 7.16818994e-01 6.97254794e-01 -2.50651980e-03 2.60634430e+02] [-6.97251048e-01 7.16823368e-01 2.28791362e-03 -7.67300015e+01] [ 3.39199071e-03 1.07653619e-04 9.99994241e-01 1.36660746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02232058799996 meters 0.030324256298365153 Centerline is valid? [True, True] Translation: X:260.66, Y:-76.76, Z:1.37 [[ 7.15088631e-01 6.99033670e-01 -4.20800495e-04 2.60664264e+02] [-6.99033568e-01 7.15088755e-01 3.78087875e-04 -7.67577630e+01] [ 5.65205857e-04 2.37873305e-05 9.99999840e-01 1.36598035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.052320588 meters 0.028202040884866223 Centerline is valid? [True, True] Translation: X:260.70, Y:-76.78, Z:1.37 [[ 7.14130592e-01 7.00010650e-01 1.60840396e-03 2.60697226e+02] [-7.00009064e-01 7.14132401e-01 -1.49148890e-03 -7.67832763e+01] [-2.19267149e-03 -6.07794972e-05 9.99997594e-01 1.36817702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08232058799996 meters 0.030522674209848423 Centerline is valid? [True, True] Translation: X:260.73, Y:-76.82, Z:1.37 [[ 7.10472141e-01 7.03723825e-01 1.45441755e-03 2.60732392e+02] [-7.03722483e-01 7.10473628e-01 -1.37533164e-03 -7.68244515e+01] [-2.00117895e-03 -4.63715085e-05 9.99997997e-01 1.36797411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.112320588 meters 0.030641903622971544 Centerline is valid? [True, True] Translation: X:260.76, Y:-76.85, Z:1.37 [[ 7.09644779e-01 7.04559578e-01 2.97885613e-04 2.60763134e+02] [-7.04559519e-01 7.09644842e-01 -2.86519569e-04 -7.68531510e+01] [-4.13263094e-04 -6.55102756e-06 9.99999915e-01 1.36618422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14232058799996 meters 0.030564976350153792 Centerline is valid? [True, True] Translation: X:260.79, Y:-76.88, Z:1.37 [[ 7.08424091e-01 7.05785764e-01 -1.32767701e-03 2.60794471e+02] [-7.05784695e-01 7.08425332e-01 1.22975012e-03 -7.68816463e+01] [ 1.80850015e-03 6.58694999e-05 9.99998362e-01 1.36711836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.172320588 meters 0.03101469138152658 Centerline is valid? [True, True] Translation: X:260.82, Y:-76.91, Z:1.37 [[ 7.06929187e-01 7.07282448e-01 -1.63205740e-03 2.60824929e+02] [-7.07280824e-01 7.06931066e-01 1.51791797e-03 -7.69111384e+01] [ 2.22734881e-03 8.12623849e-05 9.99997516e-01 1.36743267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20232058799996 meters 0.0315935166562037 Centerline is valid? [True, True] Translation: X:260.86, Y:-76.94, Z:1.37 [[ 7.04090652e-01 7.10109379e-01 -1.01218943e-03 2.60855040e+02] [-7.10108758e-01 7.04091377e-01 9.40377709e-04 -7.69411240e+01] [ 1.38044488e-03 5.66534289e-05 9.99999046e-01 1.36792453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.232320588 meters 0.03190052361051599 Centerline is valid? [True, True] Translation: X:260.89, Y:-76.97, Z:1.37 [[ 7.02722900e-01 7.11463560e-01 -3.58661519e-04 2.60886862e+02] [-7.11463486e-01 7.02722991e-01 3.25878122e-04 -7.69706821e+01] [ 4.83890104e-04 2.61725558e-05 9.99999883e-01 1.36813522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26232058799997 meters 0.0321718577319902 Centerline is valid? [True, True] Translation: X:260.92, Y:-77.00, Z:1.37 [[ 7.01218329e-01 7.12946126e-01 8.22542176e-04 2.60918050e+02] [-7.12945692e-01 7.01218810e-01 -7.87542545e-04 -7.70008239e+01] [-1.13825745e-03 -3.41886340e-05 9.99999352e-01 1.36826705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29232058799994 meters 0.03221844852287406 Centerline is valid? [True, True] Translation: X:260.95, Y:-77.03, Z:1.37 [[ 6.99888670e-01 7.14249823e-01 1.74367042e-03 2.60948948e+02] [-7.14247897e-01 6.99890837e-01 -1.66046158e-03 -7.70301167e+01] [-2.40636334e-03 -8.32746837e-05 9.99997101e-01 1.36728152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32232058799997 meters 0.032284198455153054 Centerline is valid? [True, True] Translation: X:260.98, Y:-77.06, Z:1.37 [[ 6.98955663e-01 7.15161988e-01 2.07648776e-03 2.60980114e+02] [-7.15159250e-01 6.98958740e-01 -1.98167508e-03 -7.70596218e+01] [-2.86859796e-03 -9.99164144e-05 9.99995881e-01 1.36766501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35232058799994 meters 0.031603799069204054 Centerline is valid? [True, True] Translation: X:261.01, Y:-77.09, Z:1.37 [[ 6.98634978e-01 7.15473574e-01 2.59468107e-03 2.61014996e+02] [-7.15469269e-01 6.98639786e-01 -2.48497460e-03 -7.70871427e+01] [-3.59068108e-03 -1.20324392e-04 9.99993546e-01 1.36619793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38232058799997 meters 0.03140120172980558 Centerline is valid? [True, True] Translation: X:261.05, Y:-77.12, Z:1.36 [[ 6.98165331e-01 7.15931846e-01 2.60053922e-03 2.61049417e+02] [-7.15927492e-01 6.98170164e-01 -2.49957887e-03 -7.71153271e+01] [-3.60514701e-03 -1.16678213e-04 9.99993495e-01 1.36494894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41232058799994 meters 0.03042506407418707 Centerline is valid? [True, True] Translation: X:261.08, Y:-77.14, Z:1.37 [[ 6.97872473e-01 7.16220201e-01 1.62309850e-03 2.61081925e+02] [-7.16218492e-01 6.97874357e-01 -1.56633400e-03 -7.71420813e+01] [-2.25455888e-03 -6.93917756e-05 9.99997456e-01 1.36737440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.442320588 meters 0.030735034850330835 Centerline is valid? [True, True] Translation: X:261.11, Y:-77.17, Z:1.37 [[ 6.97336100e-01 7.16742550e-01 1.57533749e-03 2.61111869e+02] [-7.16740931e-01 6.97337876e-01 -1.52467335e-03 -7.71716130e+01] [-2.19134077e-03 -6.58990889e-05 9.99997597e-01 1.36831453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47232058799995 meters 0.029532389228078704 Centerline is valid? [True, True] Translation: X:261.15, Y:-77.20, Z:1.37 [[ 6.99425914e-01 7.14701663e-01 2.21889337e-03 2.61145177e+02] [-7.14698431e-01 6.99429429e-01 -2.15098879e-03 -7.71990136e+01] [-3.08927459e-03 -8.13823103e-05 9.99995225e-01 1.36596938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.502320588 meters 0.028655174166009767 Centerline is valid? [True, True] Translation: X:261.18, Y:-77.23, Z:1.37 [[ 7.00211556e-01 7.13932310e-01 2.10569937e-03 2.61177917e+02] [-7.13929377e-01 7.00214719e-01 -2.04749964e-03 -7.72273093e+01] [-2.93621784e-03 -6.96377272e-05 9.99995687e-01 1.36504769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53232058799995 meters 0.02767243485812989 Centerline is valid? [True, True] Translation: X:261.21, Y:-77.26, Z:1.36 [[ 7.01956801e-01 7.12215752e-01 2.31767732e-03 2.61209497e+02] [-7.12212176e-01 7.01960624e-01 -2.25795827e-03 -7.72551751e+01] [-3.23507166e-03 -6.56888416e-05 9.99994765e-01 1.36448087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.562320588 meters 0.02605508856416551 Centerline is valid? [True, True] Translation: X:261.24, Y:-77.29, Z:1.37 [[ 7.06419528e-01 7.07786215e-01 3.18192994e-03 2.61239749e+02] [-7.07779405e-01 7.06426692e-01 -3.10540477e-03 -7.72851335e+01] [-4.44576292e-03 -5.83859061e-05 9.99990116e-01 1.36580737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59232058799995 meters 0.02605508856416551 Centerline is valid? [True, True] Translation: X:261.27, Y:-77.31, Z:1.37 [[ 7.05454331e-01 7.08748254e-01 3.17783291e-03 2.61270378e+02] [-7.08741435e-01 7.05461486e-01 -3.10960340e-03 -7.73135259e+01] [-4.44576471e-03 -5.85786673e-05 9.99990116e-01 1.36601934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.622320588 meters 0.024980496414488018 Centerline is valid? [True, True] Translation: X:261.30, Y:-77.34, Z:1.37 [[ 7.09095321e-01 7.05103430e-01 3.60275628e-03 2.61301888e+02] [-7.05094575e-01 7.09104472e-01 -3.53382510e-03 -7.73412206e+01] [-5.04644279e-03 -3.44650693e-05 9.99987266e-01 1.36639436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65232058799995 meters 0.0247399267294482 Centerline is valid? [True, True] Translation: X:261.33, Y:-77.37, Z:1.36 [[ 7.10311424e-01 7.03873522e-01 4.44365747e-03 2.61333562e+02] [-7.03859966e-01 7.10325323e-01 -4.36849601e-03 -7.73691759e+01] [-6.23131110e-03 -2.47199725e-05 9.99980585e-01 1.36419334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.682320588 meters 0.024798535610423604 Centerline is valid? [True, True] Translation: X:261.38, Y:-77.41, Z:1.36 [[ 7.08956633e-01 7.05239638e-01 4.18875386e-03 2.61377402e+02] [-7.05227331e-01 7.08969007e-01 -4.16647683e-03 -7.74083551e+01] [-5.90806128e-03 -1.72319546e-07 9.99982547e-01 1.36260772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71232058799995 meters 0.024418369427774728 Centerline is valid? [True, True] Translation: X:261.40, Y:-77.44, Z:1.36 [[ 7.09160739e-01 7.05034626e-01 4.15000676e-03 2.61404457e+02] [-7.05022574e-01 7.09172882e-01 -4.12241530e-03 -7.74409526e+01] [-5.84951778e-03 -2.39336497e-06 9.99982891e-01 1.36453311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.742320588 meters 0.024297548901583643 Centerline is valid? [True, True] Translation: X:261.45, Y:-77.48, Z:1.37 [[ 7.06621496e-01 7.07583012e-01 3.51319051e-03 2.61446550e+02] [-7.07574169e-01 7.06630229e-01 -3.53765720e-03 -7.74820634e+01] [-4.98571275e-03 1.39417736e-05 9.99987571e-01 1.36691772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77232058799996 meters 0.02456812085911737 Centerline is valid? [True, True] Translation: X:261.47, Y:-77.51, Z:1.37 [[ 7.04281009e-01 7.09916321e-01 2.66030525e-03 2.61474918e+02] [-7.09911281e-01 7.04286033e-01 -2.67511455e-03 -7.75144565e+01] [-3.77272331e-03 -4.54833799e-06 9.99992883e-01 1.36724770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.802320588 meters 0.02473406217210562 Centerline is valid? [True, True] Translation: X:262.39, Y:-76.63, Z:3.23 [[ 7.64561156e-01 -6.44447075e-01 1.15847334e-02 2.62390234e+02] [-6.44363501e-01 -7.64648768e-01 -1.03894275e-02 -7.66337906e+01] [ 1.55536883e-02 4.78573370e-04 -9.99878920e-01 3.22624762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83232058799996 meters 0.02524820489856623 Centerline is valid? [True, True] Translation: X:261.59, Y:-77.64, Z:1.36 [[ 7.57207888e-01 6.53146136e-01 6.02814096e-03 2.61589996e+02] [-6.53125937e-01 7.57231882e-01 -5.13694224e-03 -7.76376561e+01] [-7.91987450e-03 -4.74020272e-05 9.99968636e-01 1.36373151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.862320588 meters 0.02558041896967579 Centerline is valid? [True, True] Translation: X:261.62, Y:-77.67, Z:1.36 [[ 7.54093060e-01 6.56719641e-01 7.93539363e-03 2.61620177e+02] [-6.56684504e-01 7.54134806e-01 -6.79388773e-03 -7.76688887e+01] [-1.04460360e-02 -8.78264454e-05 9.99945435e-01 1.36377343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89232058799996 meters 0.026163426328240754 Centerline is valid? [True, True] Translation: X:261.65, Y:-77.70, Z:1.36 [[ 7.51589121e-01 6.59592261e-01 7.20017585e-03 2.61649558e+02] [-6.59563336e-01 7.51623601e-01 -6.17798287e-03 -7.76977139e+01] [-9.48677179e-03 -1.05667293e-04 9.99954994e-01 1.36343942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.922320588 meters 0.027165570301553216 Centerline is valid? [True, True] Translation: X:261.68, Y:-77.73, Z:1.36 [[ 7.46994184e-01 6.64813193e-01 4.80699696e-03 2.61682051e+02] [-6.64800258e-01 7.47009645e-01 -4.14822997e-03 -7.77313904e+01] [-6.34867110e-03 -9.69891552e-05 9.99979842e-01 1.36486071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95232058799996 meters 0.02790353670879719 Centerline is valid? [True, True] Translation: X:261.71, Y:-77.76, Z:1.36 [[ 7.44042613e-01 6.68111962e-01 5.19583437e-03 2.61712738e+02] [-6.68096892e-01 7.44060743e-01 -4.48927789e-03 -7.77588289e+01] [-6.86535664e-03 -1.31106741e-04 9.99976425e-01 1.36429054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.982320588 meters 0.029502140881890446 Centerline is valid? [True, True] Translation: X:261.74, Y:-77.79, Z:1.36 [[ 7.39379622e-01 6.73255396e-01 6.70416033e-03 2.61744483e+02] [-6.73230396e-01 7.39409983e-01 -5.80613611e-03 -7.77861011e+01] [-8.86613554e-03 -2.20505789e-04 9.99960671e-01 1.36329523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01232058799997 meters 0.030375566675422613 Centerline is valid? [True, True] Translation: X:261.77, Y:-77.81, Z:1.36 [[ 7.36771838e-01 6.76111398e-01 6.37458023e-03 2.61774871e+02] [-6.76088780e-01 7.36799378e-01 -5.53519596e-03 -7.78141183e+01] [-8.43919582e-03 -2.31605667e-04 9.99964363e-01 1.36369166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04232058799994 meters 0.0316326284556756 Centerline is valid? [True, True] Translation: X:261.80, Y:-77.84, Z:1.37 [[ 7.32352613e-01 6.80900896e-01 5.79825528e-03 2.61803703e+02] [-6.80882218e-01 7.32375524e-01 -5.04946014e-03 -7.78449979e+01] [-7.68468218e-03 -2.49943588e-04 9.99970441e-01 1.36647827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07232058799997 meters 0.032232751990044155 Centerline is valid? [True, True] Translation: X:261.84, Y:-77.87, Z:1.37 [[ 7.30485277e-01 6.82910044e-01 5.01314301e-03 2.61835407e+02] [-6.82896042e-01 7.30502444e-01 -4.37888085e-03 -7.78722783e+01] [-6.65249494e-03 -2.24747530e-04 9.99977847e-01 1.36604689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10232058799994 meters 0.03289645065905455 Centerline is valid? [True, True] Translation: X:261.87, Y:-77.90, Z:1.37 [[ 7.28088984e-01 6.85467201e-01 4.59873172e-03 2.61869464e+02] [-6.85455365e-01 7.28103475e-01 -4.03388467e-03 -7.78993692e+01] [-6.11344818e-03 -2.15198343e-04 9.99981290e-01 1.36521334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13232058799997 meters 0.03295633221920395 Centerline is valid? [True, True] Translation: X:261.91, Y:-77.93, Z:1.36 [[ 7.26875370e-01 6.86744639e-01 5.83071377e-03 2.61905143e+02] [-6.86725540e-01 7.26898703e-01 -5.12908384e-03 -7.79252414e+01] [-7.76070911e-03 -2.75895351e-04 9.99969847e-01 1.36278089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16232058799994 meters 0.03237283885384036 Centerline is valid? [True, True] Translation: X:261.94, Y:-77.95, Z:1.36 [[ 7.27394255e-01 6.86187015e-01 6.70658573e-03 2.61939653e+02] [-6.86161556e-01 7.27425112e-01 -5.91828347e-03 -7.79524006e+01] [-8.93958814e-03 -2.96875900e-04 9.99959997e-01 1.36207359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.192320588 meters 0.029625859341470707 Centerline is valid? [True, True] Translation: X:261.97, Y:-77.98, Z:1.36 [[ 7.33174899e-01 6.80008331e-01 6.57552763e-03 2.61973393e+02] [-6.79983485e-01 7.33204356e-01 -5.81663869e-03 -7.79787901e+01] [-8.77656827e-03 -2.06636710e-04 9.99961464e-01 1.36139946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22232058799995 meters 0.02777354948323724 Centerline is valid? [True, True] Translation: X:262.01, Y:-78.01, Z:1.36 [[ 7.36989551e-01 6.75870947e-01 6.69806711e-03 2.62005851e+02] [-6.75844859e-01 7.37019973e-01 -5.94015652e-03 -7.80050891e+01] [-8.95138845e-03 -1.49020935e-04 9.99959924e-01 1.36168932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.252320588 meters 0.025343802375563784 Centerline is valid? [True, True] Translation: X:262.04, Y:-78.03, Z:1.36 [[ 7.46212475e-01 6.65666528e-01 7.41724428e-03 2.62038312e+02] [-6.65633865e-01 7.46249337e-01 -6.59423800e-03 -7.80309755e+01] [-9.92467714e-03 -1.64663207e-05 9.99950749e-01 1.36036744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28232058799995 meters 0.02504052625031955 Centerline is valid? [True, True] Translation: X:262.07, Y:-78.06, Z:1.36 [[ 7.50755790e-01 6.60534878e-01 7.70844213e-03 2.62070298e+02] [-6.60499146e-01 7.50795359e-01 -6.87078099e-03 -7.80569518e+01] [-1.03258531e-02 6.68591665e-05 9.99946685e-01 1.35890844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.312320588 meters 0.025725138725471223 Centerline is valid? [True, True] Translation: X:262.10, Y:-78.08, Z:1.36 [[ 7.53847918e-01 6.56986604e-01 9.05085718e-03 2.62101020e+02] [-6.56936859e-01 7.53902235e-01 -8.08604930e-03 -7.80842835e+01] [-1.21358875e-02 1.49809751e-04 9.99926346e-01 1.35550621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34232058799995 meters 0.02793231170518336 Centerline is valid? [True, True] Translation: X:262.13, Y:-78.12, Z:1.36 [[ 7.60705277e-01 6.49027009e-01 9.56149973e-03 2.62128214e+02] [-6.48970595e-01 7.60765303e-01 -8.56275997e-03 -7.81152796e+01] [-1.28315197e-02 3.08604533e-04 9.99917625e-01 1.35520620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.372320588 meters 0.02917586418903144 Centerline is valid? [True, True] Translation: X:262.16, Y:-78.15, Z:1.36 [[ 7.63332870e-01 6.45931623e-01 9.76054815e-03 2.62155692e+02] [-6.45872309e-01 7.63395174e-01 -8.76179175e-03 -7.81461460e+01] [-1.31106737e-02 3.84095865e-04 9.99913978e-01 1.35687454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40232058799995 meters 0.03182843273947625 Centerline is valid? [True, True] Translation: X:262.18, Y:-78.18, Z:1.36 [[ 7.68274430e-01 6.40072261e-01 7.86772290e-03 2.62180863e+02] [-6.40033162e-01 7.68314606e-01 -7.08646009e-03 -7.81814260e+01] [-1.05807329e-02 4.08742514e-04 9.99943939e-01 1.35907818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.432320588 meters 0.027545634474056523 Centerline is valid? [True, True] Translation: X:262.20, Y:-78.22, Z:1.36 [[ 7.68975458e-01 6.39216924e-01 8.85824225e-03 2.62200068e+02] [-6.39167030e-01 7.69026321e-01 -8.00158125e-03 -7.82202111e+01] [-1.19269676e-02 4.91123226e-04 9.99928751e-01 1.36158428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46232058799995 meters 0.03336994161318354 Centerline is valid? [True, True] Translation: X:262.23, Y:-78.25, Z:1.36 [[ 7.67872854e-01 6.40544371e-01 8.61326234e-03 2.62228523e+02] [-6.40496990e-01 7.67921012e-01 -7.80541189e-03 -7.82508406e+01] [-1.16140178e-02 4.76795306e-04 9.99932441e-01 1.35739500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.492320588 meters 0.033369700097346466 Centerline is valid? [True, True] Translation: X:262.25, Y:-78.28, Z:1.36 [[ 7.67203432e-01 6.41334191e-01 9.45244857e-03 2.62253942e+02] [-6.41276980e-01 7.67261482e-01 -8.58213380e-03 -7.82829580e+01] [-1.27565155e-02 5.22604828e-04 9.99918496e-01 1.35669767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52232058799996 meters 0.03340265034586205 Centerline is valid? [True, True] Translation: X:262.28, Y:-78.31, Z:1.36 [[ 7.66138842e-01 6.42631738e-01 7.46482241e-03 2.62281045e+02] [-6.42595932e-01 7.66175098e-01 -6.79608953e-03 -7.83144916e+01] [-1.00867439e-02 4.09883646e-04 9.99949043e-01 1.35706282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.552320588 meters 0.032744408934129304 Centerline is valid? [True, True] Translation: X:262.30, Y:-78.35, Z:1.36 [[ 7.63933165e-01 6.45268472e-01 5.89222998e-03 2.62302748e+02] [-6.45246123e-01 7.63955826e-01 -5.37923635e-03 -7.83520137e+01] [-7.97245505e-03 3.07438498e-04 9.99968172e-01 1.35588868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58232058799996 meters 0.03281851559208374 Centerline is valid? [True, True] Translation: X:262.33, Y:-78.39, Z:1.36 [[ 7.62786393e-01 6.46631533e-01 4.95767114e-03 2.62329996e+02] [-6.46615652e-01 7.62802461e-01 -4.53927804e-03 -7.83850980e+01] [-6.71696406e-03 2.56791769e-04 9.99977408e-01 1.35611768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.612320588 meters 0.03319491026960193 Centerline is valid? [True, True] Translation: X:262.35, Y:-78.42, Z:1.36 [[ 7.62832758e-01 6.46578178e-01 4.77947748e-03 2.62353898e+02] [-6.46563340e-01 7.62847688e-01 -4.38779856e-03 -7.84216896e+01] [-6.48306814e-03 2.56921557e-04 9.99978952e-01 1.35720254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64232058799996 meters 0.033521109728532034 Centerline is valid? [True, True] Translation: X:262.38, Y:-78.45, Z:1.36 [[ 7.62009514e-01 6.47544397e-01 5.26826673e-03 2.62381814e+02] [-6.47526311e-01 7.62027673e-01 -4.84793159e-03 -7.84536204e+01] [-7.15381598e-03 2.82828678e-04 9.99974371e-01 1.35597349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.672320588 meters 0.025918900180540588 Centerline is valid? [True, True] Translation: X:262.39, Y:-78.51, Z:1.36 [[ 7.37066786e-01 6.75783144e-01 7.04948496e-03 2.62393183e+02] [-6.75751806e-01 7.37100496e-01 -6.50816084e-03 -7.85058123e+01] [-9.59428425e-03 3.32469997e-05 9.99953973e-01 1.36011852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70232058799996 meters 0.02604181854554961 Centerline is valid? [True, True] Translation: X:262.43, Y:-78.54, Z:1.36 [[ 7.39130915e-01 6.73523641e-01 7.16911436e-03 2.62425805e+02] [-6.73490876e-01 7.39165677e-01 -6.64390364e-03 -7.85363602e+01] [-9.77398944e-03 8.23814599e-05 9.99952230e-01 1.35889671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.732320588 meters 0.026431291590465714 Centerline is valid? [True, True] Translation: X:262.46, Y:-78.57, Z:1.36 [[ 7.40340831e-01 6.72185642e-01 7.86877369e-03 2.62459480e+02] [-6.72145804e-01 7.40382635e-01 -7.31928704e-03 -7.85684667e+01] [-1.07458230e-02 1.29803826e-04 9.99942254e-01 1.35717429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76232058799997 meters 0.026555557893608757 Centerline is valid? [True, True] Translation: X:262.49, Y:-78.60, Z:1.36 [[ 7.38996200e-01 6.73663539e-01 7.87737374e-03 2.62490931e+02] [-6.73623389e-01 7.39038172e-01 -7.35593160e-03 -7.86025373e+01] [-1.07771028e-02 1.29622313e-04 9.99941917e-01 1.35741534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79232058799994 meters 0.026555557893608757 Centerline is valid? [True, True] Translation: X:262.53, Y:-78.63, Z:1.36 [[ 7.37497788e-01 6.75303808e-01 7.86003763e-03 2.62526394e+02] [-6.75263554e-01 7.37539660e-01 -7.37447275e-03 -7.86330781e+01] [-1.07770990e-02 1.31060393e-04 9.99941917e-01 1.35765472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82232058799997 meters 0.026445676444270715 Centerline is valid? [True, True] Translation: X:262.56, Y:-78.67, Z:1.36 [[ 7.35764221e-01 6.77186187e-01 8.35943596e-03 2.62557437e+02] [-6.77140463e-01 7.35811696e-01 -7.87029495e-03 -7.86681659e+01] [-1.14806258e-02 1.30169088e-04 9.99934087e-01 1.36064098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85232058799994 meters 0.026445676444270715 Centerline is valid? [True, True] Translation: X:262.59, Y:-78.70, Z:1.36 [[ 7.34486099e-01 6.78572426e-01 8.34471678e-03 2.62591476e+02] [-6.78526614e-01 7.34533489e-01 -7.88591229e-03 -7.86981300e+01] [-1.14806366e-02 1.29980526e-04 9.99934087e-01 1.36087324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88232058799997 meters 0.026284654058025752 Centerline is valid? [True, True] Translation: X:262.63, Y:-78.74, Z:1.36 [[ 7.30410116e-01 6.82961970e-01 8.00060896e-03 2.62628728e+02] [-6.82919433e-01 7.30453925e-01 -7.62309877e-03 -7.87379230e+01] [-1.10503628e-02 1.04217126e-04 9.99938937e-01 1.36426422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91232058799994 meters 0.026284654058025752 Centerline is valid? [True, True] Translation: X:262.66, Y:-78.77, Z:1.36 [[ 7.29126295e-01 6.84332508e-01 7.99147036e-03 2.62662608e+02] [-6.84289949e-01 7.29170082e-01 -7.63267823e-03 -7.87680569e+01] [-1.10504309e-02 9.67035548e-05 9.99938937e-01 1.36450242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.942320588 meters 0.02625732844910372 Centerline is valid? [True, True] Translation: X:262.69, Y:-78.80, Z:1.37 [[ 7.25658487e-01 6.88013426e-01 7.56874078e-03 2.62693910e+02] [-6.87975155e-01 7.25697955e-01 -7.25699673e-03 -7.88010956e+01] [-1.04855309e-02 5.89956528e-05 9.99945024e-01 1.36536709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97232058799995 meters 0.028509538634510636 Centerline is valid? [True, True] Translation: X:262.72, Y:-78.84, Z:1.36 [[ 7.08869713e-01 7.05337340e-01 1.72262171e-03 2.62719059e+02] [-7.05335367e-01 7.08871805e-01 -1.66848244e-03 -7.88426382e+01] [-2.39796093e-03 -3.22893475e-05 9.99997124e-01 1.36132596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.002320588 meters 0.029411594004548694 Centerline is valid? [True, True] Translation: X:262.75, Y:-78.88, Z:1.36 [[ 7.05488570e-01 7.08715960e-01 2.75050095e-03 2.62751971e+02] [-7.08710947e-01 7.05493928e-01 -2.66666386e-03 -7.88761181e+01] [-3.83036896e-03 -6.80092611e-05 9.99992662e-01 1.36364249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03232058799995 meters 0.030523473999069586 Centerline is valid? [True, True] Translation: X:262.79, Y:-78.91, Z:1.36 [[ 7.01609163e-01 7.12550868e-01 3.98032520e-03 2.62785914e+02] [-7.12540375e-01 7.01620443e-01 -3.86890113e-03 -7.89094677e+01] [-5.54946639e-03 -1.21685930e-04 9.99984594e-01 1.36460182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.062320588 meters 0.030523473999069586 Centerline is valid? [True, True] Translation: X:262.82, Y:-78.94, Z:1.36 [[ 6.99890686e-01 7.14238945e-01 3.96965046e-03 2.62821886e+02] [-7.14228416e-01 6.99901933e-01 -3.87987914e-03 -7.89416651e+01] [-5.54952681e-03 -1.19745886e-04 9.99984594e-01 1.36484919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09232058799995 meters 0.031400367489318154 Centerline is valid? [True, True] Translation: X:262.86, Y:-78.98, Z:1.36 [[ 6.96146770e-01 7.17887165e-01 4.20626862e-03 2.62857907e+02] [-7.17875299e-01 6.96159462e-01 -4.13020617e-03 -7.89754276e+01] [-5.89325570e-03 -1.44346656e-04 9.99982624e-01 1.36478502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.122320588 meters 0.03200036610650831 Centerline is valid? [True, True] Translation: X:262.89, Y:-79.01, Z:1.36 [[ 6.93186982e-01 7.20742666e-01 4.67083508e-03 2.62892292e+02] [-7.20727982e-01 6.93202696e-01 -4.60412063e-03 -7.90075140e+01] [-6.55622165e-03 -1.74885057e-04 9.99978492e-01 1.36393348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15232058799995 meters 0.03200036610650831 Centerline is valid? [True, True] Translation: X:262.93, Y:-79.04, Z:1.36 [[ 6.91598011e-01 7.22267587e-01 4.66089615e-03 2.62926249e+02] [-7.22252869e-01 6.91613694e-01 -4.61419824e-03 -7.90384030e+01] [-6.55622543e-03 -1.75175294e-04 9.99978492e-01 1.36417013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.182320588 meters 0.03308120110210763 Centerline is valid? [True, True] Translation: X:262.97, Y:-79.08, Z:1.36 [[ 6.85397727e-01 7.28150562e-01 5.16868145e-03 2.62973912e+02] [-7.28132117e-01 6.85417184e-01 -5.18697519e-03 -7.90814918e+01] [-7.31960198e-03 -2.08341965e-04 9.99973190e-01 1.36371872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21232058799995 meters 0.03445153650088042 Centerline is valid? [True, True] Translation: X:263.01, Y:-79.12, Z:1.36 [[ 6.81083540e-01 7.32173629e-01 6.85489398e-03 2.63006785e+02] [-7.32141386e-01 6.81117953e-01 -6.87930276e-03 -7.91150284e+01] [-9.70583542e-03 -3.33371702e-04 9.99952842e-01 1.36319028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.242320588 meters 0.03572685108078962 Centerline is valid? [True, True] Translation: X:264.20, Y:-77.95, Z:3.25 [[ 7.87028945e-01 -6.16741450e-01 1.46772931e-02 2.64202542e+02] [-6.16605552e-01 -7.87164905e-01 -1.30002030e-02 -7.79489821e+01] [ 1.95712141e-02 1.18143562e-03 -9.99807767e-01 3.24914626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27232058799996 meters 0.03665364898327484 Centerline is valid? [True, True] Translation: X:263.14, Y:-79.26, Z:1.36 [[ 7.33756313e-01 6.79354134e-01 8.92381507e-03 2.63144531e+02] [-6.79311902e-01 7.33810410e-01 -7.59084535e-03 -7.92596626e+01] [-1.17052606e-02 -4.92223102e-04 9.99931370e-01 1.36445111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.302320588 meters 0.037636695788163865 Centerline is valid? [True, True] Translation: X:263.18, Y:-79.29, Z:1.37 [[ 7.28952070e-01 6.84525005e-01 7.37546310e-03 2.63180889e+02] [-6.84496085e-01 7.28989242e-01 -6.30827647e-03 -7.92876231e+01] [-9.69480623e-03 -4.50044433e-04 9.99952903e-01 1.36745280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33232058799996 meters 0.03995200256867202 Centerline is valid? [True, True] Translation: X:263.22, Y:-79.32, Z:1.37 [[ 7.21608857e-01 6.92277340e-01 5.72212001e-03 2.63221208e+02] [-6.92259895e-01 7.21631431e-01 -4.93104273e-03 -7.93187674e+01] [-7.54291080e-03 -4.02910085e-04 9.99971471e-01 1.36987513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.362320588 meters 0.04173225722107671 Centerline is valid? [True, True] Translation: X:263.26, Y:-79.35, Z:1.37 [[ 7.15478769e-01 6.98628413e-01 2.91059261e-03 2.63258292e+02] [-6.98623902e-01 7.15484653e-01 -2.52106397e-03 -7.93467704e+01] [-3.84377126e-03 -2.29641814e-04 9.99992586e-01 1.37148717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39232058799996 meters 0.04259500934802677 Centerline is valid? [True, True] Translation: X:263.30, Y:-79.37, Z:1.37 [[ 7.11830352e-01 7.02340873e-01 3.85327251e-03 2.63295776e+02] [-7.02332974e-01 7.11840708e-01 -3.34662988e-03 -7.93741815e+01] [-5.09339118e-03 -3.24047614e-04 9.99986976e-01 1.37051769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.422320588 meters 0.04259500934802677 Centerline is valid? [True, True] Translation: X:263.34, Y:-79.41, Z:1.37 [[ 7.09688759e-01 7.04504878e-01 3.83947594e-03 2.63337246e+02] [-7.04496926e-01 7.09699074e-01 -3.36250409e-03 -7.94071003e+01] [-5.09377305e-03 -3.18567640e-04 9.99986976e-01 1.37078693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45232058799996 meters 0.04374640295995767 Centerline is valid? [True, True] Translation: X:263.38, Y:-79.44, Z:1.37 [[ 7.05079457e-01 7.09119196e-01 3.59514094e-03 2.63378426e+02] [-7.09112195e-01 7.05088552e-01 -3.16685111e-03 -7.94379667e+01] [-4.78056764e-03 -3.16476622e-04 9.99988523e-01 1.37098949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.482320588 meters 0.0450001353862787 Centerline is valid? [True, True] Translation: X:263.41, Y:-79.47, Z:1.37 [[ 7.00773342e-01 7.13378575e-01 2.78068315e-03 2.63414920e+02] [-7.13374391e-01 7.00778810e-01 -2.45719544e-03 -7.94663313e+01] [-3.70155441e-03 -2.61731089e-04 9.99993115e-01 1.37135439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51232058799997 meters 0.0450001353862787 Centerline is valid? [True, True] Translation: X:263.48, Y:-79.52, Z:1.37 [[ 6.94744478e-01 7.19251423e-01 2.73872507e-03 2.63481719e+02] [-7.19247100e-01 6.94749838e-01 -2.50446141e-03 -7.95161028e+01] [-3.70406623e-03 -2.29859331e-04 9.99993114e-01 1.37177245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54232058799994 meters 0.0450001353862787 Centerline is valid? [True, True] Translation: X:263.52, Y:-79.55, Z:1.37 [[ 6.93166363e-01 7.20772371e-01 2.75377914e-03 2.63517061e+02] [-7.20768125e-01 6.93171784e-01 -2.48759321e-03 -7.95455640e+01] [-3.70183045e-03 -2.60520286e-04 9.99993114e-01 1.37203421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57232058799997 meters 0.045736550883995725 Centerline is valid? [True, True] Translation: X:263.55, Y:-79.57, Z:1.37 [[ 6.88332588e-01 7.25393690e-01 1.49746035e-03 2.63554440e+02] [-7.25392419e-01 6.88334201e-01 -1.36572323e-03 -7.95743287e+01] [-2.02144019e-03 -1.46174578e-04 9.99997946e-01 1.37430757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60232058799994 meters 0.045736550883995725 Centerline is valid? [True, True] Translation: X:263.59, Y:-79.60, Z:1.37 [[ 6.86741845e-01 7.26899859e-01 1.49461998e-03 2.63589674e+02] [-7.26898585e-01 6.86743455e-01 -1.36884689e-03 -7.96039532e+01] [-2.02143510e-03 -1.46392711e-04 9.99997946e-01 1.37454395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63232058799997 meters 0.046365266873324165 Centerline is valid? [True, True] Translation: X:263.63, Y:-79.63, Z:1.38 [[ 6.82200155e-01 7.31165459e-01 -1.42241762e-04 2.63626928e+02] [-7.31165451e-01 6.82200169e-01 1.14625537e-04 -7.96323409e+01] [ 1.80847588e-04 2.58047029e-05 9.99999983e-01 1.37598040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66232058799994 meters 0.050436338847206316 Centerline is valid? [True, True] Translation: X:263.66, Y:-79.66, Z:1.38 [[ 6.75744230e-01 7.37136064e-01 -3.99503219e-04 2.63662211e+02] [-7.37135983e-01 6.75744345e-01 3.50914237e-04 -7.96629233e+01] [ 5.28633581e-04 5.73599271e-05 9.99999859e-01 1.37594900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.692320588 meters 0.05391784728965137 Centerline is valid? [True, True] Translation: X:263.70, Y:-79.69, Z:1.38 [[ 6.70128505e-01 7.42244112e-01 -1.21063290e-03 2.63697646e+02] [-7.42243319e-01 6.70129579e-01 1.09677840e-03 -7.96939095e+01] [ 1.62535822e-03 1.63601713e-04 9.99998666e-01 1.37797304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72232058799995 meters 0.05391784728965137 Centerline is valid? [True, True] Translation: X:263.73, Y:-79.72, Z:1.38 [[ 6.68544852e-01 7.43670842e-01 -1.20810325e-03 2.63733361e+02] [-7.43670047e-01 6.68545924e-01 1.09954493e-03 -7.97244571e+01] [ 1.62537201e-03 1.63335096e-04 9.99998666e-01 1.37821395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.752320588 meters 0.051008136458153365 Centerline is valid? [True, True] Translation: X:263.77, Y:-79.75, Z:1.38 [[ 6.63407872e-01 7.48257924e-01 2.72296687e-04 2.63774230e+02] [-7.48257877e-01 6.63407928e-01 -2.66964568e-04 -7.97491079e+01] [-3.80402134e-04 -2.66417448e-05 9.99999927e-01 1.37843754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78232058799995 meters 0.051008136458153365 Centerline is valid? [True, True] Translation: X:263.82, Y:-79.79, Z:1.38 [[ 6.60790285e-01 7.50570535e-01 2.67026542e-04 2.63817111e+02] [-7.50570486e-01 6.60790338e-01 -2.72607692e-04 -7.97854190e+01] [-3.81059860e-04 -2.02857269e-05 9.99999927e-01 1.37872368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.812320588 meters 0.05655077942269644 Centerline is valid? [True, True] Translation: X:263.85, Y:-79.82, Z:1.38 [[ 6.54402834e-01 7.56146086e-01 1.66622473e-04 2.63850615e+02] [-7.56146067e-01 6.54402855e-01 -1.69470685e-04 -7.98194641e+01] [-2.37182817e-04 -1.50888314e-05 9.99999972e-01 1.38055977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84232058799995 meters 0.05744437765623636 Centerline is valid? [True, True] Translation: X:263.89, Y:-79.85, Z:1.38 [[ 6.48146628e-01 7.61514095e-01 1.49391018e-03 2.63889068e+02] [-7.61512803e-01 6.48148313e-01 -1.41953574e-03 -7.98484691e+01] [-2.04927184e-03 -2.17564432e-04 9.99997877e-01 1.38101096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.872320588 meters 0.05744437765623636 Centerline is valid? [True, True] Translation: X:263.93, Y:-79.88, Z:1.38 [[ 6.46420678e-01 7.62979741e-01 1.49037234e-03 2.63925647e+02] [-7.62978445e-01 6.46422360e-01 -1.42327169e-03 -7.98805989e+01] [-2.04933747e-03 -2.17089719e-04 9.99997877e-01 1.38126005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90232058799995 meters 0.05744437765623636 Centerline is valid? [True, True] Translation: X:263.96, Y:-79.91, Z:1.38 [[ 6.44780835e-01 7.64366052e-01 1.48771858e-03 2.63960946e+02] [-7.64364753e-01 6.44782514e-01 -1.42605742e-03 -7.99117561e+01] [-2.04928481e-03 -2.17665146e-04 9.99997877e-01 1.38150162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.932320588 meters 0.057056969516964706 Centerline is valid? [True, True] Translation: X:264.00, Y:-79.94, Z:1.38 [[ 6.37935422e-01 7.70089216e-01 9.98774305e-04 2.63999947e+02] [-7.70088627e-01 6.37936185e-01 -9.64711487e-04 -7.99395610e+01] [-1.38006818e-03 -1.53721103e-04 9.99999036e-01 1.38299108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96232058799995 meters 0.057056969516964706 Centerline is valid? [True, True] Translation: X:264.04, Y:-79.97, Z:1.38 [[ 6.36259427e-01 7.71474529e-01 9.95971544e-04 2.64035113e+02] [-7.71473938e-01 6.36260188e-01 -9.67632421e-04 -7.99709155e+01] [-1.38020081e-03 -1.52700839e-04 9.99999036e-01 1.38323155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.992320588 meters 0.06032848630511108 Centerline is valid? [True, True] Translation: X:264.07, Y:-80.00, Z:1.38 [[ 6.29423624e-01 7.77061426e-01 1.20053441e-03 2.64074488e+02] [-7.77060566e-01 6.29424739e-01 -1.17243720e-03 -8.00045191e+01] [-1.66670178e-03 -1.94928273e-04 9.99998592e-01 1.38393591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02232058799996 meters 0.0663588643746688 Centerline is valid? [True, True] Translation: X:264.11, Y:-80.04, Z:1.39 [[ 6.23469410e-01 7.81847456e-01 6.71674779e-04 2.64108990e+02] [-7.81847182e-01 6.23469761e-01 -6.63905265e-04 -8.00388200e+01] [-9.37841556e-04 -1.11222410e-04 9.99999554e-01 1.38515410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.052320588 meters 0.06554636228087134 Centerline is valid? [True, True] Translation: X:264.15, Y:-80.07, Z:1.39 [[ 6.17648644e-01 7.86454164e-01 3.19510958e-05 2.64148919e+02] [-7.86454163e-01 6.17648644e-01 -4.58029348e-05 -8.00665195e+01] [-5.57564592e-05 3.16204831e-06 9.99999998e-01 1.38576248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08232058799996 meters 0.06582999307206261 Centerline is valid? [True, True] Translation: X:264.19, Y:-80.10, Z:1.39 [[ 6.12990522e-01 7.90090206e-01 -2.94679655e-04 2.64188438e+02] [-7.90090162e-01 6.12990589e-01 2.72174145e-04 -8.00959441e+01] [ 3.95677982e-04 6.59833244e-05 9.99999920e-01 1.38657805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.112320588 meters 0.06391929435542038 Centerline is valid? [True, True] Translation: X:264.23, Y:-80.12, Z:1.39 [[ 6.08276614e-01 7.93723980e-01 -1.34357537e-03 2.64229150e+02] [-7.93722963e-01 6.08278035e-01 1.30017484e-03 -8.01236851e+01] [ 1.84924734e-03 2.75560679e-04 9.99998252e-01 1.38740291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14232058799996 meters 0.07332046454015766 Centerline is valid? [True, True] Translation: X:264.26, Y:-80.16, Z:1.39 [[ 6.04539957e-01 7.96572652e-01 -1.85768220e-03 2.64260272e+02] [-7.96570689e-01 6.04542688e-01 1.80981367e-03 -8.01627938e+01] [ 2.56469627e-03 3.85670508e-04 9.99996637e-01 1.38674118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.172320588 meters 0.06696590340893858 Centerline is valid? [True, True] Translation: X:264.30, Y:-80.19, Z:1.39 [[ 6.01205327e-01 7.99089672e-01 -2.80199014e-03 2.64303783e+02] [-7.99085151e-01 6.01211571e-01 2.75093497e-03 -8.01877359e+01] [ 3.88283262e-03 5.85151961e-04 9.99992291e-01 1.38690641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20232058799996 meters 0.06668501634809439 Centerline is valid? [True, True] Translation: X:264.34, Y:-80.22, Z:1.39 [[ 5.98988212e-01 8.00749747e-01 -3.60069827e-03 2.64341919e+02] [-8.00742212e-01 5.98998560e-01 3.55465030e-03 -8.02186331e+01] [ 5.00319841e-03 7.54037473e-04 9.99987200e-01 1.38753063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.232320588 meters 0.06668501634809439 Centerline is valid? [True, True] Translation: X:264.38, Y:-80.25, Z:1.39 [[ 5.97229407e-01 8.02062421e-01 -3.59289825e-03 2.64377823e+02] [-8.02054863e-01 5.97239738e-01 3.56251725e-03 -8.02520360e+01] [ 5.00318283e-03 7.54061451e-04 9.99987200e-01 1.38778126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26232058799997 meters 0.0666428569873935 Centerline is valid? [True, True] Translation: X:264.42, Y:-80.28, Z:1.39 [[ 5.95045520e-01 8.03684561e-01 -3.45761619e-03 2.64415918e+02] [-8.03677518e-01 5.95055118e-01 3.44291616e-03 -8.02837587e+01] [ 4.82449077e-03 7.30116560e-04 9.99988096e-01 1.38881259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29232058799994 meters 0.07730305265715116 Centerline is valid? [True, True] Translation: X:265.56, Y:-79.19, Z:3.24 [[ 8.48502764e-01 -5.29181711e-01 3.12664103e-03 2.65560427e+02] [-5.29173176e-01 -8.48507881e-01 -3.18204450e-03 -7.91933986e+01] [ 4.33685930e-03 1.04543899e-03 -9.99990049e-01 3.24104010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32232058799997 meters 0.06750922000732536 Centerline is valid? [True, True] Translation: X:264.57, Y:-80.43, Z:1.39 [[ 6.59087477e-01 7.52057077e-01 -3.72167189e-03 2.64565584e+02] [-7.52050767e-01 6.59097597e-01 3.16254559e-03 -8.04316447e+01] [ 4.83135979e-03 7.14492009e-04 9.99988074e-01 1.39162144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35232058799994 meters 0.06673930026845469 Centerline is valid? [True, True] Translation: X:264.61, Y:-80.46, Z:1.39 [[ 6.59182727e-01 7.51971318e-01 -4.15562465e-03 2.64605378e+02] [-7.51963423e-01 6.59195347e-01 3.53613909e-03 -8.04577006e+01] [ 5.39844361e-03 7.93915931e-04 9.99985113e-01 1.39166562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38232058799997 meters 0.06673930026845469 Centerline is valid? [True, True] Translation: X:264.64, Y:-80.49, Z:1.39 [[ 6.57832298e-01 7.53153006e-01 -4.14927245e-03 2.64641751e+02] [-7.53145088e-01 6.57844905e-01 3.54357838e-03 -8.04871265e+01] [ 5.39843445e-03 7.93923853e-04 9.99985113e-01 1.39190270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41232058799994 meters 0.06673930026845469 Centerline is valid? [True, True] Translation: X:264.68, Y:-80.52, Z:1.39 [[ 6.56479752e-01 7.54332269e-01 -4.14290095e-03 2.64678071e+02] [-7.54324328e-01 6.56492344e-01 3.55101322e-03 -8.05166175e+01] [ 5.39842661e-03 7.93922699e-04 9.99985113e-01 1.39213978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.442320588 meters 0.06462313833821001 Centerline is valid? [True, True] Translation: X:264.72, Y:-80.54, Z:1.39 [[ 6.56623810e-01 7.54201309e-01 -5.05558114e-03 2.64718905e+02] [-7.54189359e-01 6.56642577e-01 4.35172950e-03 -8.05423380e+01] [ 6.60178991e-03 9.55416294e-04 9.99977752e-01 1.39213977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47232058799995 meters 0.07027585337852832 Centerline is valid? [True, True] Translation: X:264.75, Y:-80.58, Z:1.39 [[ 6.57981529e-01 7.53023470e-01 -3.99508812e-03 2.64752436e+02] [-7.53015933e-01 6.57993242e-01 3.44916945e-03 -8.05756752e+01] [ 5.22604653e-03 7.38875224e-04 9.99986071e-01 1.39080573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.502320588 meters 0.06697971222524625 Centerline is valid? [True, True] Translation: X:264.79, Y:-80.60, Z:1.39 [[ 6.59563743e-01 7.51637685e-01 -4.05699100e-03 2.64792225e+02] [-7.51629815e-01 6.59575816e-01 3.51637047e-03 -8.06016307e+01] [ 5.31892972e-03 7.30084922e-04 9.99985588e-01 1.39121459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53232058799995 meters 0.06273936909876807 Centerline is valid? [True, True] Translation: X:264.83, Y:-80.63, Z:1.39 [[ 6.61825305e-01 7.49650915e-01 -3.28188592e-03 2.64832119e+02] [-7.49645705e-01 6.61833195e-01 2.85297383e-03 -8.06264197e+01] [ 4.31079548e-03 5.72081408e-04 9.99990545e-01 1.39223702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.562320588 meters 0.06273936909876807 Centerline is valid? [True, True] Translation: X:264.87, Y:-80.66, Z:1.39 [[ 6.60461887e-01 7.50852421e-01 -3.27674254e-03 2.64868111e+02] [-7.50847197e-01 6.60469768e-01 2.85886759e-03 -8.06561652e+01] [ 4.31077704e-03 5.72159861e-04 9.99990545e-01 1.39247355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59232058799995 meters 0.06425472921852958 Centerline is valid? [True, True] Translation: X:264.90, Y:-80.69, Z:1.39 [[ 6.62856556e-01 7.48741626e-01 -2.67650344e-03 2.64903417e+02] [-7.48738101e-01 6.62861805e-01 2.34163502e-03 -8.06860028e+01] [ 3.52743152e-03 4.51831977e-04 9.99993677e-01 1.39305284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.622320588 meters 0.061346067858715776 Centerline is valid? [True, True] Translation: X:264.94, Y:-80.71, Z:1.39 [[ 6.65697103e-01 7.46219112e-01 -2.09840958e-03 2.64943623e+02] [-7.46216922e-01 6.65700323e-01 1.83987842e-03 -8.07119082e+01] [ 2.76986438e-03 3.41067005e-04 9.99996106e-01 1.39369470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65232058799995 meters 0.05965179125218363 Centerline is valid? [True, True] Translation: X:264.98, Y:-80.74, Z:1.39 [[ 6.68301708e-01 7.43889974e-01 -7.30621893e-04 2.64982667e+02] [-7.43889712e-01 6.68302097e-01 6.35400231e-04 -8.07383117e+01] [ 9.60944005e-04 1.18863050e-04 9.99999531e-01 1.39309348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.682320588 meters 0.0586932544593567 Centerline is valid? [True, True] Translation: X:265.02, Y:-80.77, Z:1.39 [[ 6.70199682e-01 7.42180674e-01 4.82362131e-04 2.65020405e+02] [-7.42180546e-01 6.70199853e-01 -4.40525880e-04 -8.07655635e+01] [-6.50228823e-04 -6.27594846e-05 9.99999787e-01 1.39234879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71232058799995 meters 0.0586932544593567 Centerline is valid? [True, True] Translation: X:265.06, Y:-80.80, Z:1.39 [[ 6.68887362e-01 7.43363616e-01 4.81650085e-04 2.65055473e+02] [-7.43363487e-01 6.68887532e-01 -4.41313831e-04 -8.07950121e+01] [-6.50226381e-04 -6.28518425e-05 9.99999787e-01 1.39258071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.742320588 meters 0.052001681226460844 Centerline is valid? [True, True] Translation: X:265.11, Y:-80.83, Z:1.39 [[ 6.68878439e-01 7.43370400e-01 1.44302235e-03 2.65112158e+02] [-7.43369231e-01 6.68879970e-01 -1.33085005e-03 -8.08280115e+01] [-1.95452329e-03 -1.82521512e-04 9.99998073e-01 1.39324548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77232058799996 meters 0.0544601257447083 Centerline is valid? [True, True] Translation: X:265.22, Y:-80.91, Z:1.39 [[ 6.56890904e-01 7.53983018e-01 1.98735974e-03 2.65221112e+02] [-7.53980382e-01 6.56893885e-01 -2.00192011e-03 -8.09066073e+01] [-2.81489823e-03 -1.83387147e-04 9.99996021e-01 1.39332553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.802320588 meters 0.052015518322115026 Centerline is valid? [True, True] Translation: X:265.26, Y:-80.94, Z:1.39 [[ 6.59180493e-01 7.51981900e-01 2.07355966e-03 2.65258366e+02] [-7.51979378e-01 6.59183702e-01 -1.96524384e-03 -8.09354022e+01] [-2.84468453e-03 -2.63823699e-04 9.99995919e-01 1.39380856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83232058799996 meters 0.05000172748946273 Centerline is valid? [True, True] Translation: X:265.30, Y:-80.96, Z:1.39 [[ 6.60989095e-01 7.50392052e-01 2.27693420e-03 2.65295740e+02] [-7.50388982e-01 6.60992958e-01 -2.16464996e-03 -8.09629524e+01] [-3.12937360e-03 -2.77776317e-04 9.99995065e-01 1.39307434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.862320588 meters 0.04716866347531426 Centerline is valid? [True, True] Translation: X:265.35, Y:-81.00, Z:1.39 [[ 6.65393671e-01 7.46483312e-01 3.73200103e-03 2.65347762e+02] [-7.46474802e-01 6.65404017e-01 -3.58664066e-03 -8.09968260e+01] [-5.16065587e-03 -3.99316739e-04 9.99986604e-01 1.39049086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89232058799996 meters 0.045191565731843845 Centerline is valid? [True, True] Translation: X:265.38, Y:-81.02, Z:1.39 [[ 6.67701511e-01 7.44401769e-01 6.37949517e-03 2.65384973e+02] [-7.44376926e-01 6.67731656e-01 -6.11782812e-03 -8.10247470e+01] [-8.81391296e-03 -6.63865925e-04 9.99960936e-01 1.38941606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.922320588 meters 0.042218038585604675 Centerline is valid? [True, True] Translation: X:265.42, Y:-81.05, Z:1.39 [[ 6.73948654e-01 7.38752136e-01 6.20437502e-03 2.65422777e+02] [-7.38728190e-01 6.73976981e-01 -5.97412599e-03 -8.10519243e+01] [-8.59500429e-03 -5.57092559e-04 9.99962907e-01 1.39019442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95232058799996 meters 0.04072532513411436 Centerline is valid? [True, True] Translation: X:265.46, Y:-81.08, Z:1.39 [[ 6.76385891e-01 7.36530382e-01 5.01223891e-03 2.65458138e+02] [-7.36514555e-01 6.76404335e-01 -4.84617422e-03 -8.10811049e+01] [-6.95965468e-03 -4.13703046e-04 9.99975696e-01 1.39005545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.982320588 meters 0.038937302262919915 Centerline is valid? [True, True] Translation: X:265.49, Y:-81.11, Z:1.39 [[ 6.78790874e-01 7.34314700e-01 4.98716187e-03 2.65493873e+02] [-7.34298846e-01 6.78809090e-01 -4.83994537e-03 -8.11094519e+01] [-6.93937383e-03 -3.76756457e-04 9.99975851e-01 1.39010288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01232058799997 meters 0.03558386017177617 Centerline is valid? [True, True] Translation: X:265.54, Y:-81.14, Z:1.39 [[ 6.84271906e-01 7.29212848e-01 4.53668099e-03 2.65535521e+02] [-7.29199422e-01 6.84286890e-01 -4.43347453e-03 -8.11396809e+01] [-6.33733791e-03 -2.74443092e-04 9.99979881e-01 1.39024467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04232058799994 meters 0.034259107400795824 Centerline is valid? [True, True] Translation: X:265.57, Y:-81.17, Z:1.39 [[ 6.86226711e-01 7.27374115e-01 4.44961598e-03 2.65572689e+02] [-7.27361081e-01 6.86241093e-01 -4.36115146e-03 -8.11691657e+01] [-6.22569801e-03 -2.43738872e-04 9.99980590e-01 1.39031842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07232058799997 meters 0.031333984928112804 Centerline is valid? [True, True] Translation: X:265.61, Y:-81.20, Z:1.39 [[ 6.91561869e-01 7.22293706e-01 5.82962133e-03 2.65613834e+02] [-7.22270954e-01 6.91586396e-01 -5.73805813e-03 -8.11952875e+01] [-8.17625008e-03 -2.42343958e-04 9.99966545e-01 1.38891192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10232058799994 meters 0.029891401470369575 Centerline is valid? [True, True] Translation: X:265.65, Y:-81.22, Z:1.39 [[ 6.93742802e-01 7.20196401e-01 6.17000124e-03 2.65648932e+02] [-7.20170676e-01 6.93770204e-01 -6.09110918e-03 -8.12240648e+01] [-8.66735793e-03 -2.17790817e-04 9.99962414e-01 1.38837337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13232058799997 meters 0.02859590092677985 Centerline is valid? [True, True] Translation: X:265.68, Y:-81.25, Z:1.39 [[ 6.96057307e-01 7.17953038e-01 6.90367430e-03 2.65682292e+02] [-7.17920497e-01 6.96091515e-01 -6.83841738e-03 -8.12536813e+01] [-9.71525163e-03 -1.96358899e-04 9.99952787e-01 1.38807071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16232058799994 meters 0.026449516923474938 Centerline is valid? [True, True] Translation: X:265.72, Y:-81.29, Z:1.39 [[ 7.02467737e-01 7.11670158e-01 8.04145575e-03 2.65720435e+02] [-7.11625036e-01 7.02513756e-01 -8.01439664e-03 -8.12864644e+01] [-1.13528402e-02 -9.26461670e-05 9.99935550e-01 1.38741121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.192320588 meters 0.02568151460226697 Centerline is valid? [True, True] Translation: X:265.76, Y:-81.32, Z:1.39 [[ 7.05383534e-01 7.08789752e-01 7.15243588e-03 2.65756706e+02] [-7.08753652e-01 7.05419795e-01 -7.15355638e-03 -8.13170082e+01] [-1.01158373e-02 -2.33141644e-05 9.99948833e-01 1.38748416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22232058799995 meters 0.02556628613873414 Centerline is valid? [True, True] Translation: X:265.79, Y:-81.34, Z:1.39 [[ 7.13317905e-01 7.00804825e-01 7.08258834e-03 2.65792111e+02] [-7.00768800e-01 7.13353058e-01 -7.10653265e-03 -8.13438035e+01] [-1.00326784e-02 1.05960049e-04 9.99949666e-01 1.38581415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.252320588 meters 0.02632262373091259 Centerline is valid? [True, True] Translation: X:266.79, Y:-80.40, Z:3.26 [[ 7.51302787e-01 -6.59800582e-01 1.43984193e-02 2.66785347e+02] [-6.59676901e-01 -7.51440738e-01 -1.27751411e-02 -8.03997409e+01] [ 1.92486044e-02 9.96944968e-05 -9.99814723e-01 3.26207913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28232058799995 meters 0.02860410016760253 Centerline is valid? [True, True] Translation: X:265.92, Y:-81.48, Z:1.39 [[ 7.77957605e-01 6.28252981e-01 8.95303169e-03 2.65922377e+02] [-6.28206783e-01 7.78009060e-01 -7.62494174e-03 -8.14756074e+01] [-1.17559321e-02 3.07526180e-04 9.99930849e-01 1.38767634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.312320588 meters 0.030110280211146992 Centerline is valid? [True, True] Translation: X:265.95, Y:-81.50, Z:1.39 [[ 7.80204137e-01 6.25453660e-01 9.44586627e-03 2.65952415e+02] [-6.25401727e-01 7.80261218e-01 -8.06913618e-03 -8.15025264e+01] [-1.24171139e-02 3.88112343e-04 9.99922829e-01 1.38732491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34232058799995 meters 0.03372208449704118 Centerline is valid? [True, True] Translation: X:265.98, Y:-81.53, Z:1.39 [[ 7.85839096e-01 6.18382120e-01 7.77611739e-03 2.65980258e+02] [-6.18346401e-01 7.85877454e-01 -6.65997999e-03 -8.15321409e+01] [-1.02294879e-02 4.25338451e-04 9.99947587e-01 1.38913562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.372320588 meters 0.02869159500868024 Centerline is valid? [True, True] Translation: X:266.00, Y:-81.57, Z:1.39 [[ 7.87450614e-01 6.16337407e-01 7.05211990e-03 2.66004569e+02] [-6.16307650e-01 7.87482071e-01 -6.07199836e-03 -8.15710421e+01] [-9.29581770e-03 4.35123395e-04 9.99956698e-01 1.39315663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40232058799995 meters 0.02869159500868024 Centerline is valid? [True, True] Translation: X:266.04, Y:-81.60, Z:1.39 [[ 7.85774729e-01 6.18472800e-01 7.03360755e-03 2.66040833e+02] [-6.18442936e-01 7.85806086e-01 -6.09346640e-03 -8.16004551e+01] [-9.29569484e-03 4.38207000e-04 9.99956698e-01 1.39339280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.432320588 meters 0.0372193676599601 Centerline is valid? [True, True] Translation: X:266.08, Y:-81.62, Z:1.39 [[ 7.87235417e-01 6.16615874e-01 6.72767731e-03 2.66081372e+02] [-6.16588296e-01 7.87264031e-01 -5.84962581e-03 -8.16202587e+01] [-8.90343049e-03 4.56825525e-04 9.99960259e-01 1.38939052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46232058799995 meters 0.041521945652199986 Centerline is valid? [True, True] Translation: X:266.11, Y:-81.65, Z:1.39 [[ 7.91938596e-01 6.10565348e-01 6.57381413e-03 2.66106803e+02] [-6.10538764e-01 7.91965711e-01 -5.72098325e-03 -8.16490206e+01] [-8.69926951e-03 5.17099090e-04 9.99962027e-01 1.38760538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.492320588 meters 0.03192836710984715 Centerline is valid? [True, True] Translation: X:266.12, Y:-81.69, Z:1.39 [[ 7.93108145e-01 6.09041290e-01 6.94093428e-03 2.66123371e+02] [-6.09011407e-01 7.93138305e-01 -6.06101588e-03 -8.16925841e+01] [-9.19652978e-03 5.79932911e-04 9.99957543e-01 1.39063456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52232058799996 meters 0.045873598103464794 Centerline is valid? [True, True] Translation: X:266.16, Y:-81.71, Z:1.38 [[ 7.95745871e-01 6.05567046e-01 8.77852186e-03 2.66159331e+02] [-6.05518814e-01 7.95793889e-01 -7.68446647e-03 -8.17129532e+01] [-1.16393537e-02 7.99322317e-04 9.99931941e-01 1.38449372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.552320588 meters 0.046104255654841025 Centerline is valid? [True, True] Translation: X:266.18, Y:-81.74, Z:1.39 [[ 7.96305396e-01 6.04834465e-01 8.54323961e-03 2.66184602e+02] [-6.04788610e-01 7.96350824e-01 -7.49014790e-03 -8.17437530e+01] [-1.13337155e-02 7.97591172e-04 9.99935453e-01 1.38507239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58232058799996 meters 0.0482024209302139 Centerline is valid? [True, True] Translation: X:266.20, Y:-81.78, Z:1.38 [[ 7.97223146e-01 6.03642633e-01 7.12936790e-03 2.66204296e+02] [-6.03610519e-01 7.97254724e-01 -6.26466409e-03 -8.17801234e+01] [-9.46554056e-03 6.90973755e-04 9.99954962e-01 1.38472949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.612320588 meters 0.05003931206393294 Centerline is valid? [True, True] Translation: X:266.23, Y:-81.81, Z:1.38 [[ 7.98423674e-01 6.02033994e-01 8.64332676e-03 2.66229824e+02] [-6.01986536e-01 7.98469980e-01 -7.60922863e-03 -8.18108164e+01] [-1.14824513e-02 8.72221939e-04 9.99933694e-01 1.38284932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64232058799996 meters 0.05044300228243531 Centerline is valid? [True, True] Translation: X:266.25, Y:-81.84, Z:1.38 [[ 7.97935912e-01 6.02661961e-01 9.84076380e-03 2.66252506e+02] [-6.02600280e-01 7.97995971e-01 -8.67948132e-03 -8.18447426e+01] [-1.30836831e-02 9.95622829e-04 9.99913909e-01 1.38091837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.672320588 meters 0.05171344336467505 Centerline is valid? [True, True] Translation: X:266.27, Y:-81.89, Z:1.38 [[ 7.98925587e-01 6.01312058e-01 1.19044142e-02 2.66270958e+02] [-6.01221286e-01 7.99013296e-01 -1.05222210e-02 -8.18851623e+01] [-1.58389236e-02 1.24928440e-03 9.99873776e-01 1.37669559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70232058799996 meters 0.05206625473642059 Centerline is valid? [True, True] Translation: X:266.30, Y:-81.92, Z:1.38 [[ 7.98869306e-01 6.01386922e-01 1.18996576e-02 2.66295063e+02] [-6.01295872e-01 7.98956926e-01 -1.05406661e-02 -8.19192835e+01] [-1.58463326e-02 1.26539958e-03 9.99873638e-01 1.37589400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.732320588 meters 0.04635107518243495 Centerline is valid? [True, True] Translation: X:266.32, Y:-81.95, Z:1.37 [[ 7.91824282e-01 6.10550355e-01 1.55746742e-02 2.66318794e+02] [-6.10395524e-01 7.91976130e-01 -1.38243836e-02 -8.19537284e+01] [-2.07752525e-02 1.43977122e-03 9.99783134e-01 1.37375831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76232058799997 meters 0.042651936098935944 Centerline is valid? [True, True] Translation: X:266.35, Y:-81.99, Z:1.37 [[ 7.86675458e-01 6.17157311e-01 1.60803328e-02 2.66345914e+02] [-6.16992864e-01 7.86838657e-01 -1.43085280e-02 -8.19866046e+01] [-2.14832401e-02 1.33471722e-03 9.99768318e-01 1.37480221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79232058799994 meters 0.03979171270914099 Centerline is valid? [True, True] Translation: X:266.37, Y:-82.02, Z:1.38 [[ 7.81336467e-01 6.23874425e-01 1.71472296e-02 2.66372464e+02] [-6.23688136e-01 7.81523590e-01 -1.52966648e-02 -8.20212892e+01] [-2.29441624e-02 1.25731838e-03 9.99735957e-01 1.37607264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82232058799997 meters 0.0362516869520594 Centerline is valid? [True, True] Translation: X:266.40, Y:-82.05, Z:1.38 [[ 7.75211606e-01 6.31506531e-01 1.56992918e-02 2.66403015e+02] [-6.31350901e-01 7.75369935e-01 -1.40536149e-02 -8.20533881e+01] [-2.10477084e-02 9.82763346e-04 9.99777989e-01 1.37637538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85232058799994 meters 0.03599197172286607 Centerline is valid? [True, True] Translation: X:266.44, Y:-82.08, Z:1.38 [[ 7.73293515e-01 6.33900065e-01 1.37057552e-02 2.66436854e+02] [-6.33781078e-01 7.73414517e-01 -1.23097577e-02 -8.20804036e+01] [-1.84033863e-02 8.32607474e-04 9.99830297e-01 1.37511701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88232058799997 meters 0.037476619059653174 Centerline is valid? [True, True] Translation: X:266.47, Y:-82.11, Z:1.38 [[ 7.75185116e-01 6.31615382e-01 1.22492852e-02 2.66472484e+02] [-6.31519480e-01 7.75281456e-01 -1.10367191e-02 -8.21059086e+01] [-1.64676052e-02 8.19838112e-04 9.99864064e-01 1.37594363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91232058799994 meters 0.0389642720615205 Centerline is valid? [True, True] Translation: X:266.51, Y:-82.13, Z:1.38 [[ 7.75626467e-01 6.31082578e-01 1.17628076e-02 2.66507851e+02] [-6.30993533e-01 7.75715218e-01 -1.06331080e-02 -8.21322139e+01] [-1.58349580e-02 8.25064490e-04 9.99874279e-01 1.37590920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.942320588 meters 0.042908854291269366 Centerline is valid? [True, True] Translation: X:266.55, Y:-82.15, Z:1.38 [[ 7.80050041e-01 6.25609105e-01 1.16267599e-02 2.66545746e+02] [-6.25521080e-01 7.80136111e-01 -1.05369220e-02 -8.21544684e+01] [-1.56624496e-02 9.46543050e-04 9.99876888e-01 1.37529990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97232058799995 meters 0.041200827915206115 Centerline is valid? [True, True] Translation: X:266.55, Y:-82.22, Z:1.40 [[ 6.95038114e-01 7.18971450e-01 1.44005720e-03 2.66550429e+02] [-7.18970245e-01 6.95039596e-01 -1.32148502e-03 -8.22176384e+01] [-1.95100678e-03 -1.16875823e-04 9.99998090e-01 1.39748512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.002320588 meters 0.0419753125717924 Centerline is valid? [True, True] Translation: X:266.59, Y:-82.25, Z:1.40 [[ 6.91157410e-01 7.22704242e-01 1.10799586e-04 2.66589433e+02] [-7.22704233e-01 6.91157419e-01 -1.16738099e-04 -8.22461159e+01] [-1.60947075e-04 6.09072837e-07 9.99999987e-01 1.39710535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03232058799995 meters 0.04232757296463797 Centerline is valid? [True, True] Translation: X:266.63, Y:-82.28, Z:1.40 [[ 6.89196734e-01 7.24574249e-01 -1.41500195e-04 2.66625664e+02] [-7.24574240e-01 6.89196748e-01 1.16758442e-04 -8.22756165e+01] [ 1.82121635e-04 2.20578595e-05 9.99999983e-01 1.39785297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.062320588 meters 0.04237945823539017 Centerline is valid? [True, True] Translation: X:266.66, Y:-82.31, Z:1.40 [[ 6.87036103e-01 7.26622991e-01 -6.49136552e-04 2.66663160e+02] [-7.26622761e-01 6.87036406e-01 5.82484141e-04 -8.23056330e+01] [ 8.69226813e-04 7.14897593e-05 9.99999620e-01 1.39903742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09232058799995 meters 0.04264505580156459 Centerline is valid? [True, True] Translation: X:266.70, Y:-82.33, Z:1.40 [[ 6.84685276e-01 7.28838152e-01 -1.00994465e-03 2.66701511e+02] [-7.28837580e-01 6.84686013e-01 9.19407954e-04 -8.23339129e+01] [ 1.36159457e-03 1.06580525e-04 9.99999067e-01 1.40008279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.122320588 meters 0.042643800110570396 Centerline is valid? [True, True] Translation: X:266.74, Y:-82.36, Z:1.40 [[ 6.83225719e-01 7.30206734e-01 -8.61781891e-04 2.66738110e+02] [-7.30206317e-01 6.83226256e-01 7.85908736e-04 -8.23637293e+01] [ 1.16266787e-03 9.23255197e-05 9.99999320e-01 1.39935732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15232058799995 meters 0.04260497853525604 Centerline is valid? [True, True] Translation: X:266.78, Y:-82.40, Z:1.40 [[ 6.80998029e-01 7.32283899e-01 -1.40579820e-03 2.66779412e+02] [-7.32282769e-01 6.80999464e-01 1.29459792e-03 -8.23962650e+01] [ 1.90536104e-03 1.47823165e-04 9.99998174e-01 1.39892837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.182320588 meters 0.042408875543311846 Centerline is valid? [True, True] Translation: X:266.82, Y:-82.43, Z:1.40 [[ 6.79997910e-01 7.33213102e-01 -1.17885322e-03 2.66815787e+02] [-7.33212298e-01 6.79998921e-01 1.09227679e-03 -8.24257968e+01] [ 1.60249057e-03 1.21603742e-04 9.99998709e-01 1.39744364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21232058799995 meters 0.041837553403495265 Centerline is valid? [True, True] Translation: X:266.85, Y:-82.45, Z:1.40 [[ 6.79349881e-01 7.33813175e-01 -1.40133791e-03 2.66852678e+02] [-7.33812024e-01 6.79351312e-01 1.30687356e-03 -8.24548011e+01] [ 1.91100178e-03 1.40494211e-04 9.99998164e-01 1.39667534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.242320588 meters 0.04137724971302648 Centerline is valid? [True, True] Translation: X:266.89, Y:-82.48, Z:1.40 [[ 6.79231730e-01 7.33923576e-01 -6.63641325e-04 2.66889312e+02] [-7.33923323e-01 6.79232051e-01 6.13658615e-04 -8.24843578e+01] [ 9.01144984e-04 7.02454435e-05 9.99999592e-01 1.39657460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27232058799996 meters 0.039749557518235036 Centerline is valid? [True, True] Translation: X:266.93, Y:-82.51, Z:1.40 [[ 6.81314510e-01 7.31989412e-01 1.42799432e-03 2.66928187e+02] [-7.31988127e-01 6.81315998e-01 -1.37591628e-03 -8.25145609e+01] [-1.98007152e-03 -1.07843165e-04 9.99998034e-01 1.39850392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.302320588 meters 0.03828905220252008 Centerline is valid? [True, True] Translation: X:266.97, Y:-82.54, Z:1.40 [[ 6.82539188e-01 7.30844902e-01 2.44656184e-03 2.66965147e+02] [-7.30841128e-01 6.82543549e-01 -2.35549033e-03 -8.25439181e+01] [-3.39138310e-03 -1.80333559e-04 9.99994233e-01 1.40124237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33232058799996 meters 0.03799599123222988 Centerline is valid? [True, True] Translation: X:267.00, Y:-82.57, Z:1.40 [[ 6.82509032e-01 7.30870480e-01 3.12462583e-03 2.67001282e+02] [-7.30864293e-01 6.82516147e-01 -3.01565499e-03 -8.25740337e+01] [-4.33666079e-03 -2.25465679e-04 9.99990571e-01 1.40032584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.362320588 meters 0.03763959649819441 Centerline is valid? [True, True] Translation: X:267.04, Y:-82.60, Z:1.40 [[ 6.82455639e-01 7.30917911e-01 3.64802917e-03 2.67037983e+02] [-7.30909405e-01 6.82465342e-01 -3.53531994e-03 -8.26037837e+01] [-5.07368215e-03 -2.53679801e-04 9.99987097e-01 1.39859441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39232058799996 meters 0.03648090149003516 Centerline is valid? [True, True] Translation: X:267.07, Y:-82.63, Z:1.40 [[ 6.83191464e-01 7.30234449e-01 2.65938344e-03 2.67074965e+02] [-7.30229877e-01 6.83196619e-01 -2.58972632e-03 -8.26331715e+01] [-3.70798915e-03 -1.72682328e-04 9.99993110e-01 1.39864679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.422320588 meters 0.03608320798038638 Centerline is valid? [True, True] Translation: X:267.11, Y:-82.66, Z:1.40 [[ 6.82995199e-01 7.30416428e-01 3.06574316e-03 2.67109927e+02] [-7.30410300e-01 6.83002053e-01 -2.99815139e-03 -8.26639227e+01] [-4.28380790e-03 -1.91527378e-04 9.99990806e-01 1.39877255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45232058799996 meters 0.03436382653187125 Centerline is valid? [True, True] Translation: X:267.15, Y:-82.70, Z:1.40 [[ 6.85118687e-01 7.28421694e-01 3.77109019e-03 2.67148787e+02] [-7.28412299e-01 6.85129034e-01 -3.70534250e-03 -8.26966797e+01] [-5.28273523e-03 -2.08309090e-04 9.99986025e-01 1.40073384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.482320588 meters 0.03329372226659187 Centerline is valid? [True, True] Translation: X:267.19, Y:-82.73, Z:1.40 [[ 6.84753175e-01 7.28766327e-01 3.56789780e-03 2.67192672e+02] [-7.28757759e-01 6.84762447e-01 -3.53843026e-03 -8.27322135e+01] [-5.02185125e-03 -1.77181854e-04 9.99987375e-01 1.40129284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51232058799997 meters 0.03200783918175849 Centerline is valid? [True, True] Translation: X:267.23, Y:-82.76, Z:1.40 [[ 6.86148153e-01 7.27456615e-01 2.75399985e-03 2.67229206e+02] [-7.27451469e-01 6.86153669e-01 -2.73906375e-03 -8.27621877e+01] [-3.88221714e-03 -1.23997703e-04 9.99992456e-01 1.40172417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54232058799994 meters 0.030124950593551487 Centerline is valid? [True, True] Translation: X:267.27, Y:-82.79, Z:1.40 [[ 6.89269548e-01 7.24500051e-01 2.67703401e-03 2.67266880e+02] [-7.24495116e-01 6.89274740e-01 -2.67571142e-03 -8.27910705e+01] [-3.78376499e-03 -9.52116634e-05 9.99992837e-01 1.39904323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57232058799997 meters 0.029232535277339475 Centerline is valid? [True, True] Translation: X:267.30, Y:-82.82, Z:1.40 [[ 6.90208441e-01 7.23606613e-01 2.40377363e-03 2.67301224e+02] [-7.23602587e-01 6.90212623e-01 -2.41481969e-03 -8.28225729e+01] [-3.40649439e-03 -7.26478868e-05 9.99994195e-01 1.40004477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60232058799994 meters 0.027268199892466864 Centerline is valid? [True, True] Translation: X:267.34, Y:-82.85, Z:1.40 [[ 6.95079739e-01 7.18924817e-01 3.35614598e-03 2.67336843e+02] [-7.18916889e-01 6.95087838e-01 -3.37706335e-03 -8.28534441e+01] [-4.76067090e-03 -6.54617088e-05 9.99988666e-01 1.40030379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63232058799997 meters 0.026111037431045963 Centerline is valid? [True, True] Translation: X:268.48, Y:-81.72, Z:3.27 [[ 7.68495073e-01 -6.39770954e-01 1.04139349e-02 2.68476645e+02] [-6.39702426e-01 -7.68565435e-01 -9.37967892e-03 -8.17222961e+01] [ 1.40046365e-02 5.46417627e-04 -9.99901781e-01 3.26861494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66232058799994 meters 0.02564166051066801 Centerline is valid? [True, True] Translation: X:267.46, Y:-82.98, Z:1.40 [[ 7.56934675e-01 6.53486834e-01 2.20373182e-03 2.67463602e+02] [-6.53484136e-01 7.56937882e-01 -1.87774240e-03 -8.29790362e+01] [-2.89516803e-03 -1.87754556e-05 9.99995809e-01 1.40208222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.692320588 meters 0.025216116093155907 Centerline is valid? [True, True] Translation: X:267.50, Y:-83.01, Z:1.40 [[ 7.61991498e-01 6.47583213e-01 2.22222358e-03 2.67503608e+02] [-6.47580381e-01 7.61994738e-01 -1.91541902e-03 -8.30078512e+01] [-2.93371588e-03 2.04646202e-05 9.99995696e-01 1.40110621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72232058799995 meters 0.02552561555543543 Centerline is valid? [True, True] Translation: X:267.54, Y:-83.04, Z:1.40 [[ 7.62839039e-01 6.46586279e-01 1.66844128e-03 2.67538016e+02] [-6.46584670e-01 7.62840863e-01 -1.44290431e-03 -8.30360008e+01] [-2.20571731e-03 2.19151852e-05 9.99997567e-01 1.40110711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.752320588 meters 0.026400149406027085 Centerline is valid? [True, True] Translation: X:267.57, Y:-83.06, Z:1.40 [[ 7.66627153e-01 6.42079108e-01 4.15053378e-03 2.67573175e+02] [-6.42069106e-01 7.66638384e-01 -3.58482880e-03 -8.30624684e+01] [-5.48370219e-03 8.32975895e-05 9.99984961e-01 1.39633079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78232058799995 meters 0.026924053721737465 Centerline is valid? [True, True] Translation: X:267.61, Y:-83.09, Z:1.40 [[ 7.67088151e-01 6.41528681e-01 4.08895311e-03 2.67606135e+02] [-6.41518902e-01 7.67099043e-01 -3.54338657e-03 -8.30911132e+01] [-5.40981613e-03 9.49491390e-05 9.99985362e-01 1.39659271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.812320588 meters 0.028377323197118158 Centerline is valid? [True, True] Translation: X:267.64, Y:-83.12, Z:1.40 [[ 7.70281784e-01 6.37684005e-01 5.00826572e-03 2.67637863e+02] [-6.37669174e-01 7.70298049e-01 -4.35197102e-03 -8.31216636e+01] [-6.63303962e-03 1.58627333e-04 9.99977989e-01 1.39817317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84232058799995 meters 0.029105400888340644 Centerline is valid? [True, True] Translation: X:267.68, Y:-83.16, Z:1.40 [[ 7.70034294e-01 6.37980063e-01 5.35030572e-03 2.67679057e+02] [-6.37962867e-01 7.70052856e-01 -4.68831939e-03 -8.31561489e+01] [-7.11107250e-03 1.96870337e-04 9.99974697e-01 1.39807150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.872320588 meters 0.030088817913710358 Centerline is valid? [True, True] Translation: X:267.71, Y:-83.18, Z:1.40 [[ 7.70837867e-01 6.37006758e-01 5.60112073e-03 2.67711604e+02] [-6.36987847e-01 7.70858185e-01 -4.91335811e-03 -8.31847894e+01] [-7.44751208e-03 2.19556654e-04 9.99972243e-01 1.39831907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90232058799995 meters 0.03176503875451591 Centerline is valid? [True, True] Translation: X:267.74, Y:-83.22, Z:1.40 [[ 7.72928912e-01 6.34460234e-01 6.41158737e-03 2.67741989e+02] [-6.34435226e-01 7.72955449e-01 -5.64074050e-03 -8.32153064e+01] [-8.53469693e-03 2.92154530e-04 9.99963536e-01 1.39830249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.932320588 meters 0.03254774958570479 Centerline is valid? [True, True] Translation: X:267.78, Y:-83.25, Z:1.40 [[ 7.72935034e-01 6.34448528e-01 6.81903881e-03 2.67775890e+02] [-6.34420026e-01 7.72965043e-01 -6.02274217e-03 -8.32475294e+01] [-9.09199853e-03 3.29053646e-04 9.99958613e-01 1.39852133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96232058799995 meters 0.032917831856583014 Centerline is valid? [True, True] Translation: X:267.81, Y:-83.28, Z:1.40 [[ 7.72773280e-01 6.34651537e-01 6.23566540e-03 2.67805400e+02] [-6.34627566e-01 7.72798375e-01 -5.52481078e-03 -8.32799058e+01] [-8.32524175e-03 3.12100996e-04 9.99965296e-01 1.39937498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.992320588 meters 0.03330929307650711 Centerline is valid? [True, True] Translation: X:267.84, Y:-83.31, Z:1.40 [[ 7.72238541e-01 6.35306998e-01 5.71429230e-03 2.67837729e+02] [-6.35286754e-01 7.72259627e-01 -5.08021689e-03 -8.33091923e+01] [-7.64041459e-03 2.92925079e-04 9.99970769e-01 1.39992958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02232058799996 meters 0.03401369370140808 Centerline is valid? [True, True] Translation: X:267.87, Y:-83.34, Z:1.40 [[ 7.72308750e-01 6.35221006e-01 5.78518041e-03 2.67867749e+02] [-6.35200126e-01 7.72330355e-01 -5.15966390e-03 -8.33408084e+01] [-7.74559733e-03 3.10106248e-04 9.99969954e-01 1.40004074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.052320588 meters 0.034059622904194974 Centerline is valid? [True, True] Translation: X:267.90, Y:-83.37, Z:1.40 [[ 7.71488228e-01 6.36213222e-01 6.21690038e-03 2.67898340e+02] [-6.36188998e-01 7.71513204e-01 -5.56190423e-03 -8.33712766e+01] [-8.33497774e-03 3.35820015e-04 9.99965207e-01 1.40024822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08232058799996 meters 0.03308008337105105 Centerline is valid? [True, True] Translation: X:267.93, Y:-83.40, Z:1.40 [[ 7.68311727e-01 6.40043517e-01 6.43322758e-03 2.67930201e+02] [-6.40017552e-01 7.68338594e-01 -5.77397309e-03 -8.34014929e+01] [-8.63849108e-03 3.18832669e-04 9.99962637e-01 1.40077869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.112320588 meters 0.029907698170831897 Centerline is valid? [True, True] Translation: X:267.96, Y:-83.44, Z:1.40 [[ 7.61410819e-01 6.48243240e-01 5.85377050e-03 2.67958164e+02] [-6.48221833e-01 7.61433289e-01 -5.27273359e-03 -8.34367039e+01] [-7.87526963e-03 2.20174558e-04 9.99968965e-01 1.40227288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14232058799996 meters 0.028831309509200917 Centerline is valid? [True, True] Translation: X:268.00, Y:-83.47, Z:1.40 [[ 7.56476078e-01 6.53998989e-01 5.40982615e-03 2.67996766e+02] [-6.53980579e-01 7.56495401e-01 -4.91028509e-03 -8.34731547e+01] [-7.30383009e-03 1.76591967e-04 9.99973311e-01 1.40301967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.172320588 meters 0.027063821307214606 Centerline is valid? [True, True] Translation: X:268.03, Y:-83.51, Z:1.40 [[ 7.49547773e-01 6.61947516e-01 1.90325285e-03 2.68032412e+02] [-6.61945208e-01 7.49550188e-01 -1.74859840e-03 -8.35095758e+01] [-2.58406390e-03 5.08089321e-05 9.99996660e-01 1.40460024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20232058799996 meters 0.026705910882213035 Centerline is valid? [True, True] Translation: X:268.07, Y:-83.54, Z:1.41 [[ 7.46353850e-01 6.65549291e-01 -2.66152804e-04 2.68068966e+02] [-6.65549253e-01 7.46353898e-01 2.27566537e-04 -8.35413925e+01] [ 3.50100931e-04 7.29263887e-06 9.99999939e-01 1.40514429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.232320588 meters 0.02623932190533561 Centerline is valid? [True, True] Translation: X:268.10, Y:-83.57, Z:1.41 [[ 7.42517300e-01 6.69825987e-01 1.09834059e-03 2.68102604e+02] [-6.69825211e-01 7.42518112e-01 -1.01953309e-03 -8.35728992e+01] [-1.49844753e-03 2.13247387e-05 9.99998877e-01 1.40542669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26232058799997 meters 0.02608025391197478 Centerline is valid? [True, True] Translation: X:268.14, Y:-83.61, Z:1.41 [[ 7.39418354e-01 6.73244886e-01 1.34955266e-03 2.68138427e+02] [-6.73243709e-01 7.39419585e-01 -1.25910623e-03 -8.36055938e+01] [-1.84557250e-03 2.24284198e-05 9.99998297e-01 1.40680247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29232058799994 meters 0.025855630863218737 Centerline is valid? [True, True] Translation: X:268.17, Y:-83.64, Z:1.41 [[ 7.36384707e-01 6.76562529e-01 8.41126523e-04 2.68172283e+02] [-6.76562067e-01 7.36385187e-01 -7.91053108e-04 -8.36374234e+01] [-1.15459000e-03 1.34451121e-05 9.99999333e-01 1.40823667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32232058799997 meters 0.025855630863218737 Centerline is valid? [True, True] Translation: X:268.21, Y:-83.67, Z:1.41 [[ 7.35062480e-01 6.77998854e-01 8.39625034e-04 2.68207104e+02] [-6.77998391e-01 7.35062959e-01 -7.92659509e-04 -8.36675045e+01] [-1.15459950e-03 1.33898422e-05 9.99999333e-01 1.40846971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35232058799994 meters 0.02593199839505842 Centerline is valid? [True, True] Translation: X:268.24, Y:-83.70, Z:1.41 [[ 7.31178325e-01 6.82186222e-01 4.65128062e-04 2.68239581e+02] [-6.82186075e-01 7.31178473e-01 -4.46641598e-04 -8.37009126e+01] [-6.44784370e-04 9.27076860e-06 9.99999792e-01 1.40910649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38232058799997 meters 0.02611073387833358 Centerline is valid? [True, True] Translation: X:268.27, Y:-83.73, Z:1.41 [[ 7.28695370e-01 6.84837526e-01 7.88588455e-04 2.68273416e+02] [-6.84837112e-01 7.28695796e-01 -7.53090309e-04 -8.37320918e+01] [-1.09038560e-03 8.71878149e-06 9.99999405e-01 1.40832632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41232058799994 meters 0.025955086607971235 Centerline is valid? [True, True] Translation: X:268.31, Y:-83.76, Z:1.41 [[ 7.27165837e-01 6.86460491e-01 1.35653296e-03 2.68308825e+02] [-6.86459275e-01 7.27167102e-01 -1.29168281e-03 -8.37637592e+01] [-1.87311536e-03 8.06297838e-06 9.99998246e-01 1.40876959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.442320588 meters 0.02603715669611785 Centerline is valid? [True, True] Translation: X:268.34, Y:-83.79, Z:1.41 [[ 7.26042042e-01 6.87648865e-01 1.41090941e-03 2.68344425e+02] [-6.87647549e-01 7.26043413e-01 -1.34570081e-03 -8.37942559e+01] [-1.94975112e-03 6.82696381e-06 9.99998099e-01 1.40797207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47232058799995 meters 0.026030723407557792 Centerline is valid? [True, True] Translation: X:268.38, Y:-83.82, Z:1.41 [[ 7.24662361e-01 6.89103150e-01 1.14470468e-03 2.68379357e+02] [-6.89102271e-01 7.24663265e-01 -1.10068273e-03 -8.38246665e+01] [-1.58800937e-03 8.80475079e-06 9.99998739e-01 1.40855663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.502320588 meters 0.02608453410929666 Centerline is valid? [True, True] Translation: X:268.42, Y:-83.86, Z:1.41 [[ 7.23384818e-01 6.90443024e-01 1.68406100e-03 2.68415235e+02] [-6.90441122e-01 7.23386778e-01 -1.62062760e-03 -8.38559796e+01] [-2.33717848e-03 9.59243442e-06 9.99997269e-01 1.40852919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53232058799995 meters 0.026247694044053825 Centerline is valid? [True, True] Translation: X:268.48, Y:-83.91, Z:1.41 [[ 7.15253696e-01 6.98863913e-01 1.17561267e-03 2.68484049e+02] [-6.98862870e-01 7.15254661e-01 -1.20802772e-03 -8.39128113e+01] [-1.68510942e-03 4.24542441e-05 9.99998579e-01 1.41049664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.562320588 meters 0.026160187818411194 Centerline is valid? [True, True] Translation: X:268.52, Y:-83.94, Z:1.41 [[ 7.13203838e-01 7.00956138e-01 8.82305749e-04 2.68518230e+02] [-7.00955591e-01 7.13204383e-01 -8.76056078e-04 -8.39442665e+01] [-1.24334121e-03 6.34940981e-06 9.99999227e-01 1.41119921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59232058799995 meters 0.026083220276744774 Centerline is valid? [True, True] Translation: X:268.55, Y:-83.98, Z:1.41 [[ 7.11736493e-01 7.02446446e-01 -3.94544780e-04 2.68552961e+02] [-7.02446347e-01 7.11736602e-01 3.71675199e-04 -8.39751203e+01] [ 5.41893884e-04 1.26117373e-05 9.99999853e-01 1.41205982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.622320588 meters 0.026453938683837573 Centerline is valid? [True, True] Translation: X:268.59, Y:-84.01, Z:1.41 [[ 7.10263535e-01 7.03935508e-01 -7.15618959e-04 2.68588767e+02] [-7.03935170e-01 7.10263895e-01 6.89103733e-04 -8.40062560e+01] [ 9.93362896e-04 1.43041010e-05 9.99999507e-01 1.41169835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65232058799995 meters 0.026203094828624946 Centerline is valid? [True, True] Translation: X:268.63, Y:-84.04, Z:1.41 [[ 7.08725723e-01 7.05483611e-01 -8.51053327e-04 2.68629240e+02] [-7.05483133e-01 7.08726234e-01 8.20888074e-04 -8.40407292e+01] [ 1.18228690e-03 1.86192743e-05 9.99999301e-01 1.41184057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.682320588 meters 0.026232027024853388 Centerline is valid? [True, True] Translation: X:268.67, Y:-84.07, Z:1.41 [[ 7.08203769e-01 7.06007800e-01 -6.38191721e-04 2.68666721e+02] [-7.06007529e-01 7.08204057e-01 6.18673323e-04 -8.40734930e+01] [ 8.88758158e-04 1.24213807e-05 9.99999605e-01 1.41168872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71232058799995 meters 0.026297063670133104 Centerline is valid? [True, True] Translation: X:268.70, Y:-84.10, Z:1.41 [[ 7.07811351e-01 7.06401504e-01 -7.41641768e-05 2.68701305e+02] [-7.06401502e-01 7.07811355e-01 5.89312571e-05 -8.41044744e+01] [ 9.41233758e-05 1.06774732e-05 9.99999996e-01 1.41260996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.742320588 meters 0.026386356434291235 Centerline is valid? [True, True] Translation: X:269.93, Y:-82.89, Z:3.27 [[ 7.60769180e-01 -6.48988829e-01 6.61471253e-03 2.69928918e+02] [-6.48959915e-01 -7.60797843e-01 -6.13766484e-03 -8.28907558e+01] [ 9.01573494e-03 3.76662967e-04 -9.99959286e-01 3.27448474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77232058799996 meters 0.026585639258436686 Centerline is valid? [True, True] Translation: X:268.84, Y:-84.24, Z:1.41 [[ 7.65386217e-01 6.43571036e-01 -5.10736942e-04 2.68839666e+02] [-6.43570892e-01 7.65386387e-01 4.31112079e-04 -8.42391449e+01] [ 6.68362350e-04 -1.27181373e-06 9.99999777e-01 1.41380282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.802320588 meters 0.02655314398358183 Centerline is valid? [True, True] Translation: X:268.89, Y:-84.27, Z:1.41 [[ 7.64115717e-01 6.45079132e-01 2.90578086e-04 2.68886749e+02] [-6.45079075e-01 7.64115772e-01 -2.71955156e-04 -8.42729151e+01] [-3.97467894e-04 2.03593660e-05 9.99999921e-01 1.41284621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83232058799996 meters 0.02689647766487067 Centerline is valid? [True, True] Translation: X:268.96, Y:-84.32, Z:1.41 [[ 7.59711298e-01 6.50259168e-01 1.32586087e-03 2.68960053e+02] [-6.50258037e-01 7.59712452e-01 -1.21444696e-03 -8.43219718e+01] [-1.79697829e-03 6.04773892e-05 9.99998384e-01 1.41149763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.862320588 meters 0.02691370581987198 Centerline is valid? [True, True] Translation: X:269.00, Y:-84.35, Z:1.41 [[ 7.59059512e-01 6.51016758e-01 2.41633732e-03 2.68995763e+02] [-6.51013288e-01 7.59063357e-01 -2.12588484e-03 -8.43502740e+01] [-3.21813978e-03 4.06054059e-05 9.99994821e-01 1.41161811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89232058799996 meters 0.026818723757787374 Centerline is valid? [True, True] Translation: X:269.04, Y:-84.38, Z:1.41 [[ 7.56876767e-01 6.53554528e-01 2.00957417e-03 2.69038736e+02] [-6.53552073e-01 7.56879434e-01 -1.79173152e-03 -8.43844664e+01] [-2.69199961e-03 4.27585912e-05 9.99996376e-01 1.41280611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.922320588 meters 0.02693985047447453 Centerline is valid? [True, True] Translation: X:269.07, Y:-84.41, Z:1.41 [[ 7.56469576e-01 6.54022922e-01 2.79251667e-03 2.69073142e+02] [-6.54018221e-01 7.56474729e-01 -2.48020408e-03 -8.44128248e+01] [-3.73457860e-03 4.98421417e-05 9.99993025e-01 1.41365078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95232058799996 meters 0.027027091634049007 Centerline is valid? [True, True] Translation: X:269.11, Y:-84.44, Z:1.41 [[ 7.55642813e-01 6.54972961e-01 3.78940025e-03 2.69108307e+02] [-6.54964272e-01 7.55652311e-01 -3.37441073e-03 -8.44422711e+01] [-5.07361684e-03 6.79274354e-05 9.99987127e-01 1.41349694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.982320588 meters 0.027486427775169686 Centerline is valid? [True, True] Translation: X:269.14, Y:-84.47, Z:1.41 [[ 7.56128248e-01 6.54396878e-01 5.89903928e-03 2.69143826e+02] [-6.54375696e-01 7.56151249e-01 -5.26652209e-03 -8.44720877e+01] [-7.90696153e-03 1.21978187e-04 9.99968732e-01 1.41431451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01232058799997 meters 0.027783018771423418 Centerline is valid? [True, True] Translation: X:269.18, Y:-84.50, Z:1.41 [[ 7.55778100e-01 6.54796946e-01 6.35784637e-03 2.69179990e+02] [-6.54772185e-01 7.55804828e-01 -5.69619746e-03 -8.45006768e+01] [-8.53514369e-03 1.42120335e-04 9.99963565e-01 1.41473908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04232058799994 meters 0.027618531571276878 Centerline is valid? [True, True] Translation: X:269.22, Y:-84.53, Z:1.41 [[ 7.54207795e-01 6.56609128e-01 5.92066095e-03 2.69215328e+02] [-6.56587548e-01 7.54231023e-01 -5.32506166e-03 -8.45302827e+01] [-7.96203026e-03 1.28770756e-04 9.99968294e-01 1.41434379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07232058799997 meters 0.027750594008637122 Centerline is valid? [True, True] Translation: X:269.25, Y:-84.56, Z:1.41 [[ 7.53625871e-01 6.57294656e-01 3.43238757e-03 2.69251463e+02] [-6.57287333e-01 7.53633683e-01 -3.10378047e-03 -8.45579796e+01] [-4.62686120e-03 8.30243930e-05 9.99989293e-01 1.41451579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10232058799994 meters 0.02762229340958459 Centerline is valid? [True, True] Translation: X:269.29, Y:-84.59, Z:1.41 [[ 7.51963755e-01 6.59195961e-01 3.34601427e-03 2.69286594e+02] [-6.59188957e-01 7.51971195e-01 -3.03975458e-03 -8.45886306e+01] [-4.51990029e-03 8.01296051e-05 9.99989782e-01 1.41470259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13232058799997 meters 0.02709879933543505 Centerline is valid? [True, True] Translation: X:269.32, Y:-84.62, Z:1.42 [[ 7.49084196e-01 6.62472749e-01 1.65056063e-03 2.69320206e+02] [-6.62471027e-01 7.49086013e-01 -1.51090577e-03 -8.46201579e+01] [-2.23734579e-03 3.83470381e-05 9.99997496e-01 1.41751179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16232058799994 meters 0.02689591969964062 Centerline is valid? [True, True] Translation: X:269.36, Y:-84.65, Z:1.42 [[ 7.46411425e-01 6.65483867e-01 1.09900103e-03 2.69356956e+02] [-6.65483088e-01 7.46412233e-01 -1.01862089e-03 -8.46527300e+01] [-1.49818358e-03 2.89436731e-05 9.99998877e-01 1.41932689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.192320588 meters 0.026721867581821542 Centerline is valid? [True, True] Translation: X:269.39, Y:-84.68, Z:1.42 [[ 7.45040853e-01 6.67018503e-01 6.65803791e-04 2.69391801e+02] [-6.67018213e-01 7.45041151e-01 -6.22019145e-04 -8.46824901e+01] [-9.10949501e-04 1.93264191e-05 9.99999585e-01 1.42086191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22232058799995 meters 0.026690166961882523 Centerline is valid? [True, True] Translation: X:269.43, Y:-84.71, Z:1.42 [[ 7.42177684e-01 6.70200954e-01 1.72258898e-03 2.69432342e+02] [-6.70199033e-01 7.42179682e-01 -1.60477836e-03 -8.47134223e+01] [-2.35399453e-03 3.65532196e-05 9.99997229e-01 1.41750763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.252320588 meters 0.026523112482915598 Centerline is valid? [True, True] Translation: X:269.47, Y:-84.74, Z:1.42 [[ 7.40052629e-01 6.72548769e-01 5.10162481e-04 2.69468389e+02] [-6.72548595e-01 7.40052805e-01 -4.84025542e-04 -8.47414832e+01] [-7.03077956e-04 1.50953158e-05 9.99999753e-01 1.41738076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28232058799995 meters 0.026442839164412323 Centerline is valid? [True, True] Translation: X:269.50, Y:-84.77, Z:1.42 [[ 7.38507150e-01 6.74244268e-01 1.36248252e-03 2.69502727e+02] [-6.74243060e-01 7.38508407e-01 -1.27662002e-03 -8.47714947e+01] [-1.86695853e-03 2.41486315e-05 9.99998257e-01 1.41776879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.312320588 meters 0.026270425721933423 Centerline is valid? [True, True] Translation: X:269.54, Y:-84.80, Z:1.42 [[ 7.36848954e-01 6.76057298e-01 3.86740676e-04 2.69538147e+02] [-6.76057195e-01 7.36849055e-01 -3.73115402e-04 -8.48019137e+01] [-5.37216891e-04 1.34708771e-05 9.99999856e-01 1.41871880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34232058799995 meters 0.026250499751389388 Centerline is valid? [True, True] Translation: X:269.58, Y:-84.83, Z:1.42 [[ 7.34998878e-01 6.78068296e-01 -1.88265899e-04 2.69576343e+02] [-6.78068277e-01 7.34998902e-01 1.60286116e-04 -8.48325627e+01] [ 2.47060163e-04 9.84701821e-06 9.99999969e-01 1.41990716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.372320588 meters 0.02632372087542451 Centerline is valid? [True, True] Translation: X:269.61, Y:-84.86, Z:1.42 [[ 7.34008060e-01 6.79140521e-01 5.65505162e-04 2.69612233e+02] [-6.79140303e-01 7.34008278e-01 -5.44298262e-04 -8.48624747e+01] [-7.84740475e-04 1.54619643e-05 9.99999692e-01 1.42002876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40232058799995 meters 0.026468779304587162 Centerline is valid? [True, True] Translation: X:269.65, Y:-84.89, Z:1.42 [[ 7.33680547e-01 6.79487017e-01 3.20137611e-03 2.69649121e+02] [-6.79480234e-01 7.33687529e-01 -3.03649176e-03 -8.48926544e+01] [-4.41206646e-03 5.25431479e-05 9.99990265e-01 1.42064813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.432320588 meters 0.026432186554892337 Centerline is valid? [True, True] Translation: X:269.68, Y:-84.92, Z:1.42 [[ 7.32374678e-01 6.80891337e-01 3.78388806e-03 2.69684515e+02] [-6.80881832e-01 7.32384451e-01 -3.59827742e-03 -8.49229693e+01] [-5.22129670e-03 5.89066288e-05 9.99986367e-01 1.42128804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46232058799995 meters 0.026553862014481233 Centerline is valid? [True, True] Translation: X:269.72, Y:-84.95, Z:1.42 [[ 7.31390656e-01 6.81951147e-01 3.21590156e-03 2.69721383e+02] [-6.81944231e-01 7.31397724e-01 -3.07187083e-03 -8.49513684e+01] [-4.44696892e-03 5.36721061e-05 9.99990111e-01 1.42135524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.492320588 meters 0.026282748562271526 Centerline is valid? [True, True] Translation: X:269.76, Y:-84.98, Z:1.42 [[ 7.29577999e-01 6.83891100e-01 2.98448310e-03 2.69756427e+02] [-6.83885110e-01 7.29584101e-01 -2.86278440e-03 -8.49816834e+01] [-4.13526419e-03 4.75809564e-05 9.99991449e-01 1.42079617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52232058799996 meters 0.026362372656608648 Centerline is valid? [True, True] Translation: X:269.79, Y:-85.01, Z:1.42 [[ 7.29210116e-01 6.84284869e-01 2.61242493e-03 2.69791935e+02] [-6.84280241e-01 7.29214794e-01 -2.51717466e-03 -8.50114768e+01] [-3.62748344e-03 4.79184645e-05 9.99993420e-01 1.42137901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.552320588 meters 0.02647217884116865 Centerline is valid? [True, True] Translation: X:269.83, Y:-85.04, Z:1.42 [[ 7.28099283e-01 6.85468506e-01 2.08840025e-03 2.69827207e+02] [-6.85465523e-01 7.28102277e-01 -2.02259720e-03 -8.50415108e+01] [-2.90699565e-03 4.11252013e-05 9.99995774e-01 1.42150362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58232058799996 meters 0.026648837472579495 Centerline is valid? [True, True] Translation: X:269.86, Y:-85.07, Z:1.42 [[ 7.27564444e-01 6.86037161e-01 1.73047071e-03 2.69863466e+02] [-6.86035094e-01 7.27566500e-01 -1.68463950e-03 -8.50713424e+01] [-2.41475782e-03 3.85201658e-05 9.99997084e-01 1.42117703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.612320588 meters 0.026652202929664453 Centerline is valid? [True, True] Translation: X:269.90, Y:-85.10, Z:1.42 [[ 7.26535282e-01 6.87127536e-01 1.49425451e-03 2.69901081e+02] [-6.87125976e-01 7.26536818e-01 -1.46490344e-03 -8.50998414e+01] [-2.09220641e-03 3.75629474e-05 9.99997811e-01 1.41985457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64232058799996 meters 0.026537458662187867 Centerline is valid? [True, True] Translation: X:269.94, Y:-85.13, Z:1.42 [[ 7.24416340e-01 6.89359823e-01 2.00001224e-03 2.69938641e+02] [-6.89357020e-01 7.24419100e-01 -1.96638911e-03 -8.51322796e+01] [-2.80439671e-03 4.57619273e-05 9.99996067e-01 1.41947053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.672320588 meters 0.026347873367767213 Centerline is valid? [True, True] Translation: X:269.97, Y:-85.16, Z:1.42 [[ 7.23490245e-01 6.90331773e-01 1.97701181e-03 2.69973118e+02] [-6.90329026e-01 7.23492945e-01 -1.94806265e-03 -8.51631172e+01] [-2.77516364e-03 4.46156904e-05 9.99996148e-01 1.42152113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70232058799996 meters 0.026682780626988176 Centerline is valid? [True, True] Translation: X:270.01, Y:-85.19, Z:1.42 [[ 7.22844171e-01 6.91007696e-01 2.16063346e-03 2.70008050e+02] [-6.91004396e-01 7.22847398e-01 -2.13614281e-03 -8.51933108e+01] [-3.03789939e-03 5.10911608e-05 9.99995384e-01 1.42184983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.732320588 meters 0.027191487464011534 Centerline is valid? [True, True] Translation: X:270.04, Y:-85.22, Z:1.42 [[ 7.23652662e-01 6.90162984e-01 1.37118037e-03 2.70043505e+02] [-6.90161635e-01 7.23653960e-01 -1.36540959e-03 -8.52237819e+01] [-1.93461527e-03 4.17461984e-05 9.99998128e-01 1.42175384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76232058799997 meters 0.02761691316914191 Centerline is valid? [True, True] Translation: X:270.08, Y:-85.26, Z:1.42 [[ 7.24119194e-01 6.89672795e-01 1.68159430e-03 2.70080947e+02] [-6.89670742e-01 7.24121145e-01 -1.68401961e-03 -8.52564415e+01] [-2.37910050e-03 5.96845328e-05 9.99997168e-01 1.42320144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79232058799994 meters 0.028344440929452448 Centerline is valid? [True, True] Translation: X:270.12, Y:-85.29, Z:1.42 [[ 7.24051255e-01 6.89738350e-01 3.28455857e-03 2.70121161e+02] [-6.89730490e-01 7.24058695e-01 -3.29517479e-03 -8.52916205e+01] [-4.65102161e-03 1.20415250e-04 9.99989177e-01 1.42220617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82232058799997 meters 0.029815387330804723 Centerline is valid? [True, True] Translation: X:270.16, Y:-85.32, Z:1.42 [[ 7.26392016e-01 6.87264808e-01 4.66072425e-03 2.70156868e+02] [-6.87248888e-01 7.26406941e-01 -4.68203675e-03 -8.53222619e+01] [-6.60338153e-03 1.97916557e-04 9.99978178e-01 1.42214586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85232058799994 meters 0.030932644030834375 Centerline is valid? [True, True] Translation: X:271.35, Y:-84.17, Z:3.28 [[ 7.41089273e-01 -6.71303904e-01 1.17370543e-02 2.71347995e+02] [-6.71221804e-01 -7.41182204e-01 -1.04990779e-02 -8.41740756e+01] [ 1.57473677e-02 -9.74127151e-05 -9.99875998e-01 3.28425067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88232058799997 meters 0.032548705596569014 Centerline is valid? [True, True] Translation: X:270.30, Y:-85.47, Z:1.42 [[ 7.84646291e-01 6.19919810e-01 5.44314356e-03 2.70301795e+02] [-6.19902545e-01 7.84665127e-01 -4.63394297e-03 -8.54688624e+01] [-7.14371798e-03 2.61787615e-04 9.99974449e-01 1.42250086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91232058799994 meters 0.03365070180498682 Centerline is valid? [True, True] Translation: X:270.34, Y:-85.50, Z:1.42 [[ 7.85292182e-01 6.19100651e-01 5.52927624e-03 2.70338300e+02] [-6.19082620e-01 7.85311592e-01 -4.73416226e-03 -8.54985048e+01] [-7.27312766e-03 2.94621788e-04 9.99973507e-01 1.42228722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.942320588 meters 0.03454192505411254 Centerline is valid? [True, True] Translation: X:270.37, Y:-85.53, Z:1.42 [[ 7.85921734e-01 6.18305099e-01 5.08266482e-03 2.70371203e+02] [-6.18289785e-01 7.85938117e-01 -4.36091740e-03 -8.55263120e+01] [-6.69103748e-03 2.84780021e-04 9.99977574e-01 1.42275548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97232058799995 meters 0.03453380335795228 Centerline is valid? [True, True] Translation: X:270.40, Y:-85.56, Z:1.42 [[ 7.84932549e-01 6.19568978e-01 3.89556141e-03 2.70402581e+02] [-6.19559944e-01 7.84942185e-01 -3.35276864e-03 -8.55551225e+01] [-5.13506192e-03 2.18163423e-04 9.99986792e-01 1.42247724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.002320588 meters 0.032824610525055656 Centerline is valid? [True, True] Translation: X:270.43, Y:-85.58, Z:1.42 [[ 7.81905466e-01 6.23377742e-01 4.90231822e-03 2.70434190e+02] [-6.23363448e-01 7.81920794e-01 -4.22894101e-03 -8.55841901e+01] [-6.46945226e-03 2.50706105e-04 9.99979041e-01 1.42240230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03232058799995 meters 0.03069671213511963 Centerline is valid? [True, True] Translation: X:270.46, Y:-85.62, Z:1.43 [[ 7.76899247e-01 6.29617078e-01 3.14568496e-03 2.70463235e+02] [-6.29611184e-01 7.76905603e-01 -2.72781748e-03 -8.56171724e+01] [-4.16138074e-03 1.38680909e-04 9.99991332e-01 1.42559804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.062320588 meters 0.029428031929418574 Centerline is valid? [True, True] Translation: X:270.50, Y:-85.65, Z:1.43 [[ 7.73720869e-01 6.33520976e-01 2.68126135e-03 2.70497388e+02] [-6.33516677e-01 7.73725508e-01 -2.33645989e-03 -8.56485548e+01] [-3.55475664e-03 1.09143995e-04 9.99993676e-01 1.42638660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09232058799995 meters 0.028226787065537134 Centerline is valid? [True, True] Translation: X:270.53, Y:-85.68, Z:1.43 [[ 7.69591042e-01 6.38534842e-01 1.69800725e-03 2.70530215e+02] [-6.38533110e-01 7.69592913e-01 -1.48851288e-03 -8.56785826e+01] [-2.25724168e-03 6.13123280e-05 9.99997451e-01 1.42525360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.122320588 meters 0.027506619251087647 Centerline is valid? [True, True] Translation: X:270.58, Y:-85.72, Z:1.43 [[ 7.64746539e-01 6.44327484e-01 2.19652374e-03 2.70579323e+02] [-6.44324513e-01 7.64749689e-01 -1.95843280e-03 -8.57199523e+01] [-2.94166292e-03 8.24306167e-05 9.99995670e-01 1.42526337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15232058799995 meters 0.026532832752868146 Centerline is valid? [True, True] Translation: X:270.61, Y:-85.75, Z:1.43 [[ 7.61087559e-01 6.48648346e-01 1.02548709e-03 2.70612094e+02] [-6.48647699e-01 7.61088249e-01 -9.16313653e-04 -8.57527287e+01] [-1.37485151e-03 3.22150813e-05 9.99999054e-01 1.42870657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.182320588 meters 0.026431184969018258 Centerline is valid? [True, True] Translation: X:270.65, Y:-85.78, Z:1.43 [[ 7.59313067e-01 6.50725418e-01 3.12463288e-04 2.70646032e+02] [-6.50725354e-01 7.59313131e-01 -2.87918302e-04 -8.57813605e+01] [-4.24613234e-04 1.52923448e-05 9.99999910e-01 1.42937843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21232058799995 meters 0.026431184969018258 Centerline is valid? [True, True] Translation: X:270.68, Y:-85.81, Z:1.43 [[ 7.58151337e-01 6.52078564e-01 3.11923023e-04 2.70680263e+02] [-6.52078500e-01 7.58151401e-01 -2.88516333e-04 -8.58097549e+01] [-4.24620192e-04 1.53407466e-05 9.99999910e-01 1.42960157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.242320588 meters 0.026095892264051946 Centerline is valid? [True, True] Translation: X:270.72, Y:-85.84, Z:1.43 [[ 7.56195253e-01 6.54345416e-01 -9.03378025e-04 2.70715331e+02] [-6.54344935e-01 7.56195792e-01 7.93289553e-04 -8.58383820e+01] [ 1.20221605e-03 -8.76095860e-06 9.99999277e-01 1.43099239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27232058799996 meters 0.025710488065428926 Centerline is valid? [True, True] Translation: X:270.75, Y:-85.87, Z:1.43 [[ 7.52661419e-01 6.58407704e-01 -2.89039696e-04 2.70749450e+02] [-6.58407658e-01 7.52661474e-01 2.46730573e-04 -8.58680824e+01] [ 3.79998355e-04 4.60136606e-06 9.99999928e-01 1.42823182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.302320588 meters 0.02561033790007132 Centerline is valid? [True, True] Translation: X:270.80, Y:-85.91, Z:1.43 [[ 7.47987070e-01 6.63712801e-01 -8.12865340e-04 2.70801345e+02] [-6.63712433e-01 7.47987512e-01 6.99009256e-04 -8.59108858e+01] [ 1.07195451e-03 1.66589468e-05 9.99999425e-01 1.42885009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33232058799996 meters 0.025547822845037118 Centerline is valid? [True, True] Translation: X:270.85, Y:-85.95, Z:1.43 [[ 7.43589746e-01 6.68635518e-01 -9.12908720e-04 2.70846580e+02] [-6.68635033e-01 7.43590307e-01 8.05071348e-04 -8.59507492e+01] [ 1.21712937e-03 1.17599529e-05 9.99999259e-01 1.42940891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.362320588 meters 0.025475575756497386 Centerline is valid? [True, True] Translation: X:270.88, Y:-85.98, Z:1.43 [[ 7.41167608e-01 6.71318900e-01 -1.22941323e-03 2.70881386e+02] [-6.71317980e-01 7.41168627e-01 1.11167825e-03 -8.59807665e+01] [ 1.65749314e-03 1.38729823e-06 9.99998626e-01 1.42978156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39232058799996 meters 0.02552683512607826 Centerline is valid? [True, True] Translation: X:270.92, Y:-86.01, Z:1.43 [[ 7.37944905e-01 6.74860624e-01 -6.75554233e-04 2.70916155e+02] [-6.74860350e-01 7.37945214e-01 6.08295256e-04 -8.60110760e+01] [ 9.09036529e-04 7.01638091e-06 9.99999587e-01 1.43069956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.422320588 meters 0.02545874520284143 Centerline is valid? [True, True] Translation: X:270.95, Y:-86.04, Z:1.43 [[ 7.35039041e-01 6.78024534e-01 -5.82649406e-04 2.70950851e+02] [-6.78024331e-01 7.35039272e-01 5.24887230e-04 -8.60420082e+01] [ 7.84156615e-04 9.23786768e-06 9.99999693e-01 1.43079250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45232058799996 meters 0.025754800311960157 Centerline is valid? [True, True] Translation: X:270.99, Y:-86.07, Z:1.43 [[ 7.32289726e-01 6.80991425e-01 -1.56071575e-03 2.70985252e+02] [-6.80989917e-01 7.32291389e-01 1.43343954e-03 -8.60731693e+01] [ 2.11905874e-03 1.31386368e-05 9.99997755e-01 1.43269457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.482320588 meters 0.025960247370637228 Centerline is valid? [True, True] Translation: X:271.02, Y:-86.10, Z:1.43 [[ 7.29311784e-01 6.84180447e-01 -1.19911315e-03 2.71019899e+02] [-6.84179560e-01 7.29312770e-01 1.10161213e-03 -8.61035278e+01] [ 1.62823001e-03 1.69900012e-05 9.99998674e-01 1.43081311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51232058799997 meters 0.025965586752438704 Centerline is valid? [True, True] Translation: X:271.06, Y:-86.13, Z:1.43 [[ 7.28265347e-01 6.85294716e-01 -8.58731154e-04 2.71055453e+02] [-6.85294261e-01 7.28265853e-01 7.89490207e-04 -8.61330654e+01] [ 1.16641804e-03 1.35251727e-05 9.99999320e-01 1.43041631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54232058799994 meters 0.026373836736206253 Centerline is valid? [True, True] Translation: X:271.09, Y:-86.16, Z:1.43 [[ 7.25924285e-01 6.87774461e-01 -4.71674604e-04 2.71091637e+02] [-6.87774327e-01 7.25924438e-01 4.29493341e-04 -8.61621205e+01] [ 6.37794674e-04 1.26260370e-05 9.99999797e-01 1.42884273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57232058799997 meters 0.02642931870080154 Centerline is valid? [True, True] Translation: X:271.13, Y:-86.19, Z:1.43 [[ 7.23310532e-01 6.90522896e-01 -7.17193434e-05 2.71126071e+02] [-6.90522894e-01 7.23310535e-01 5.44498948e-05 -8.61927583e+01] [ 8.94742563e-05 1.01396661e-05 9.99999996e-01 1.42947014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60232058799994 meters 0.026797037496153666 Centerline is valid? [True, True] Translation: X:271.16, Y:-86.23, Z:1.43 [[ 7.19520412e-01 6.94471051e-01 -5.79745365e-04 2.71158563e+02] [-6.94470846e-01 7.19520646e-01 5.33785764e-04 -8.62250552e+01] [ 7.87837520e-04 1.85465007e-05 9.99999689e-01 1.43427388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63232058799997 meters 0.02716390101401506 Centerline is valid? [True, True] Translation: X:271.19, Y:-86.26, Z:1.44 [[ 7.16580087e-01 6.97502944e-01 -1.61930098e-03 2.71193396e+02] [-6.97501278e-01 7.16581915e-01 1.52483945e-03 -8.62560659e+01] [ 2.22394180e-03 3.67949240e-05 9.99997526e-01 1.43526774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66232058799994 meters 0.027489458012293445 Centerline is valid? [True, True] Translation: X:271.23, Y:-86.29, Z:1.43 [[ 7.14328773e-01 6.99808815e-01 -1.42366492e-03 2.71229508e+02] [-6.99807527e-01 7.14330191e-01 1.34338468e-03 -8.62855801e+01] [ 1.95707928e-03 3.66730983e-05 9.99998084e-01 1.43432212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.692320588 meters 0.02806363597151738 Centerline is valid? [True, True] Translation: X:271.27, Y:-86.32, Z:1.43 [[ 7.09910082e-01 7.04287769e-01 -2.53263001e-03 2.71266139e+02] [-7.04283643e-01 7.09914596e-01 2.41181385e-03 -8.63153265e+01] [ 3.49656201e-03 7.15189200e-05 9.99993884e-01 1.43225394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72232058799995 meters 0.028586433255151866 Centerline is valid? [True, True] Translation: X:271.30, Y:-86.35, Z:1.43 [[ 7.06947723e-01 7.07260312e-01 -2.78712298e-03 2.71299873e+02] [-7.07255284e-01 7.06953212e-01 2.66819654e-03 -8.63467540e+01] [ 3.85747506e-03 8.49319850e-05 9.99992556e-01 1.43379890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.752320588 meters 0.029265476277848666 Centerline is valid? [True, True] Translation: X:271.34, Y:-86.38, Z:1.44 [[ 7.03309166e-01 7.10877500e-01 -3.06550865e-03 2.71335444e+02] [-7.10871398e-01 7.03315839e-01 2.94730188e-03 -8.63781736e+01] [ 4.25119138e-03 1.06317997e-04 9.99990958e-01 1.43696852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78232058799995 meters 0.0294531511154112 Centerline is valid? [True, True] Translation: X:271.37, Y:-86.41, Z:1.44 [[ 7.01590342e-01 7.12573323e-01 -3.20184258e-03 2.71371888e+02] [-7.12566619e-01 7.01597639e-01 3.09310043e-03 -8.64076111e+01] [ 4.45046604e-03 1.11436755e-04 9.99990090e-01 1.43687752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.812320588 meters 0.029361474085966628 Centerline is valid? [True, True] Translation: X:271.44, Y:-86.46, Z:1.44 [[ 6.95192847e-01 7.18815856e-01 -3.26667489e-03 2.71439376e+02] [-7.18808892e-01 6.95200507e-01 3.16735446e-03 -8.64576616e+01] [ 4.54773864e-03 1.46192790e-04 9.99989648e-01 1.43567271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84232058799995 meters 0.02950671620198252 Centerline is valid? [True, True] Translation: X:271.47, Y:-86.49, Z:1.44 [[ 6.93304128e-01 7.20639443e-01 -2.85994703e-03 2.71473703e+02] [-7.20633930e-01 6.93310019e-01 2.82086416e-03 -8.64894876e+01] [ 4.01565591e-03 1.05258102e-04 9.99991932e-01 1.43563132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.872320588 meters 0.029916721431484664 Centerline is valid? [True, True] Translation: X:271.51, Y:-86.52, Z:1.44 [[ 6.90727341e-01 7.23106833e-01 -3.49972371e-03 2.71510410e+02] [-7.23098515e-01 6.90736194e-01 3.47108786e-03 -8.65236318e+01] [ 4.92735319e-03 1.33069728e-04 9.99987852e-01 1.43903572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90232058799995 meters 0.029976611884305216 Centerline is valid? [True, True] Translation: X:271.55, Y:-86.56, Z:1.44 [[ 6.88937408e-01 7.24814363e-01 -3.06375607e-03 2.71545980e+02] [-7.24807941e-01 6.88944210e-01 3.05354744e-03 -8.65550684e+01] [ 4.32401206e-03 1.16931671e-04 9.99990645e-01 1.43963842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.932320588 meters 0.029560827892175002 Centerline is valid? [True, True] Translation: X:272.76, Y:-85.36, Z:3.28 [[ 7.77386275e-01 -6.29012263e-01 3.76196989e-03 2.72761187e+02] [-6.29001494e-01 -7.77395201e-01 -3.71784082e-03 -8.53568628e+01] [ 5.26310480e-03 5.23913745e-04 -9.99986013e-01 3.28494951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96232058799995 meters 0.029548340756437617 Centerline is valid? [True, True] Translation: X:271.68, Y:-86.69, Z:1.44 [[ 7.45735141e-01 6.66228866e-01 -4.26591142e-03 2.71681414e+02] [-6.66219018e-01 7.45747329e-01 3.62508665e-03 -8.66924186e+01] [ 5.59642941e-03 1.38676809e-04 9.99984330e-01 1.44102750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.992320588 meters 0.029569604935926537 Centerline is valid? [True, True] Translation: X:271.72, Y:-86.72, Z:1.44 [[ 7.44333031e-01 6.67787361e-01 -5.32722254e-03 2.71716712e+02] [-6.67771983e-01 7.44352072e-01 4.53561640e-03 -8.67221900e+01] [ 6.99415644e-03 1.81360856e-04 9.99975524e-01 1.44311032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02232058799996 meters 0.029253662119133588 Centerline is valid? [True, True] Translation: X:271.75, Y:-86.75, Z:1.44 [[ 7.43945455e-01 6.68217644e-01 -5.50824598e-03 2.71754275e+02] [-6.68201080e-01 7.43965825e-01 4.70820869e-03 -8.67486399e+01] [ 7.24405488e-03 1.77965464e-04 9.99973746e-01 1.44097972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.052320588 meters 0.02928446963510392 Centerline is valid? [True, True] Translation: X:271.79, Y:-86.78, Z:1.44 [[ 7.42732387e-01 6.69564267e-01 -5.68273722e-03 2.71790694e+02] [-6.69546534e-01 7.42754104e-01 4.87644356e-03 -8.67764250e+01] [ 7.48596875e-03 1.82964447e-04 9.99971963e-01 1.44089863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08232058799996 meters 0.0290045503937857 Centerline is valid? [True, True] Translation: X:271.83, Y:-86.80, Z:1.44 [[ 7.41897150e-01 6.70499245e-01 -4.40232664e-03 2.71825991e+02] [-6.70488551e-01 7.41910198e-01 3.78949134e-03 -8.68048814e+01] [ 5.80698211e-03 1.40296781e-04 9.99983129e-01 1.44011734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.112320588 meters 0.028832608854631778 Centerline is valid? [True, True] Translation: X:271.86, Y:-86.84, Z:1.45 [[ 7.40378900e-01 6.72157828e-01 -6.55279359e-03 2.71859335e+02] [-6.72133961e-01 7.40407868e-01 5.66816418e-03 -8.68366779e+01] [ 8.66164086e-03 2.07765948e-04 9.99962466e-01 1.44646490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14232058799996 meters 0.02868825634500732 Centerline is valid? [True, True] Translation: X:271.90, Y:-86.87, Z:1.44 [[ 7.40159683e-01 6.72411887e-01 -5.08891382e-03 2.71896657e+02] [-6.72397402e-01 7.40177162e-01 4.41624112e-03 -8.68652008e+01] [ 6.73623082e-03 1.53048802e-04 9.99977300e-01 1.44413462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.172320588 meters 0.028252981155711843 Centerline is valid? [True, True] Translation: X:271.93, Y:-86.89, Z:1.44 [[ 7.40349057e-01 6.72212666e-01 -3.66133329e-03 2.71933266e+02] [-6.72205121e-01 7.40358104e-01 3.18643531e-03 -8.68931698e+01] [ 4.85265995e-03 1.02092608e-04 9.99988221e-01 1.44158250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20232058799996 meters 0.02783561451851009 Centerline is valid? [True, True] Translation: X:271.97, Y:-86.92, Z:1.44 [[ 7.40142231e-01 6.72442477e-01 -3.25460798e-03 2.71968462e+02] [-6.72436477e-01 7.40149382e-01 2.84199920e-03 -8.69218883e+01] [ 4.31997707e-03 8.50334967e-05 9.99990665e-01 1.44093393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.232320588 meters 0.027040006053175268 Centerline is valid? [True, True] Translation: X:272.00, Y:-86.95, Z:1.44 [[ 7.41306800e-01 6.71157560e-01 -3.42897378e-03 2.72003292e+02] [-6.71150830e-01 7.41314727e-01 3.00644153e-03 -8.69515421e+01] [ 4.55974472e-03 7.26630485e-05 9.99989602e-01 1.44128005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26232058799997 meters 0.026542253532577557 Centerline is valid? [True, True] Translation: X:272.11, Y:-87.02, Z:1.44 [[ 7.28338733e-01 6.85206672e-01 -3.80868433e-03 2.72113518e+02] [-6.85198456e-01 7.28348673e-01 3.35955312e-03 -8.70218946e+01] [ 5.07603839e-03 1.62811959e-04 9.99987104e-01 1.44228845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29232058799994 meters 0.025896536450104302 Centerline is valid? [True, True] Translation: X:272.15, Y:-87.05, Z:1.44 [[ 7.29483990e-01 6.83988763e-01 -3.53284039e-03 2.72149668e+02] [-6.83981088e-01 7.29492542e-01 3.24053315e-03 -8.70509236e+01] [ 4.79366899e-03 5.24789647e-05 9.99988509e-01 1.44139575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32232058799997 meters 0.025631938033506208 Centerline is valid? [True, True] Translation: X:272.18, Y:-87.08, Z:1.44 [[ 7.28906394e-01 6.84597889e-01 -4.60433270e-03 2.72183759e+02] [-6.84584735e-01 7.28920934e-01 4.24419462e-03 -8.70827972e+01] [ 6.26176117e-03 5.84352899e-05 9.99980393e-01 1.44370360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35232058799994 meters 0.025341433131986942 Centerline is valid? [True, True] Translation: X:272.22, Y:-87.11, Z:1.44 [[ 7.28679199e-01 6.84842718e-01 -4.13243722e-03 2.72217966e+02] [-6.84832049e-01 7.28690915e-01 3.82292569e-03 -8.71149570e+01] [ 5.62937228e-03 4.43390130e-05 9.99984154e-01 1.44495429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38232058799997 meters 0.025314741017492527 Centerline is valid? [True, True] Translation: X:272.25, Y:-87.15, Z:1.45 [[ 7.28250267e-01 6.85296831e-01 -4.44995436e-03 2.72252842e+02] [-6.85284358e-01 7.28263862e-01 4.13481132e-03 -8.71492789e+01] [ 6.07431404e-03 3.83066696e-05 9.99981550e-01 1.44604333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41232058799994 meters 0.0250441575590337 Centerline is valid? [True, True] Translation: X:272.29, Y:-87.18, Z:1.45 [[ 7.27297222e-01 6.86302493e-01 -5.25716950e-03 2.72288435e+02] [-6.86284924e-01 7.27316222e-01 4.91093152e-03 -8.71805224e+01] [ 7.19400921e-03 3.62093149e-05 9.99974122e-01 1.44609603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.442320588 meters 0.024866049275793875 Centerline is valid? [True, True] Translation: X:272.32, Y:-87.21, Z:1.45 [[ 7.26961914e-01 6.86659646e-01 -4.99058550e-03 2.72323394e+02] [-6.86643682e-01 7.26979044e-01 4.68236525e-03 -8.72123745e+01] [ 6.84324234e-03 2.28527952e-05 9.99976584e-01 1.44697051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47232058799995 meters 0.024794799535778133 Centerline is valid? [True, True] Translation: X:272.36, Y:-87.24, Z:1.45 [[ 7.26257101e-01 6.87406670e-01 -4.76374662e-03 2.72358485e+02] [-6.87392012e-01 7.26272724e-01 4.48907016e-03 -8.72430768e+01] [ 6.54559601e-03 1.43422996e-05 9.99978577e-01 1.44624693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.502320588 meters 0.024733636329464747 Centerline is valid? [True, True] Translation: X:272.39, Y:-87.27, Z:1.45 [[ 7.25898757e-01 6.87779066e-01 -5.56341642e-03 2.72393422e+02] [-6.87758896e-01 7.25920076e-01 5.26729378e-03 -8.72735873e+01] [ 7.66133006e-03 2.76712451e-06 9.99970652e-01 1.44758231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53232058799995 meters 0.024658276048234302 Centerline is valid? [True, True] Translation: X:272.43, Y:-87.31, Z:1.45 [[ 7.25843963e-01 6.87843625e-01 -4.65703743e-03 2.72426731e+02] [-6.87829393e-01 7.25858903e-01 4.42484469e-03 -8.73051554e+01] [ 6.42395329e-03 -8.49958477e-06 9.99979366e-01 1.44602702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.562320588 meters 0.024543212494310306 Centerline is valid? [True, True] Translation: X:272.46, Y:-87.34, Z:1.45 [[ 7.23709053e-01 6.90093459e-01 -4.02793607e-03 2.72458418e+02] [-6.90082764e-01 7.23720262e-01 3.84200945e-03 -8.73393889e+01] [ 5.56644454e-03 -8.87764369e-07 9.99984507e-01 1.44850122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59232058799995 meters 0.024782914171937176 Centerline is valid? [True, True] Translation: X:272.49, Y:-87.37, Z:1.45 [[ 7.19793999e-01 6.94178975e-01 -3.48559178e-03 2.72493791e+02] [-6.94170952e-01 7.19802439e-01 3.33741097e-03 -8.73719455e+01] [ 4.82569799e-03 1.73481798e-05 9.99988356e-01 1.44880519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.622320588 meters 0.025026442124909367 Centerline is valid? [True, True] Translation: X:272.53, Y:-87.40, Z:1.45 [[ 7.16498025e-01 6.97578591e-01 -3.83280945e-03 2.72528068e+02] [-6.97568840e-01 7.16508276e-01 3.68834317e-03 -8.74032826e+01] [ 5.31914892e-03 3.09578457e-05 9.99985853e-01 1.44844035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65232058799995 meters 0.025293159498658083 Centerline is valid? [True, True] Translation: X:272.57, Y:-87.44, Z:1.45 [[ 7.12242875e-01 7.01920900e-01 -4.13973728e-03 2.72570160e+02] [-7.01909491e-01 7.12254903e-01 4.00243089e-03 -8.74402792e+01] [ 5.75793807e-03 5.50180063e-05 9.99983421e-01 1.44830726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.682320588 meters 0.026010028517784597 Centerline is valid? [True, True] Translation: X:272.60, Y:-87.47, Z:1.45 [[ 7.07415034e-01 7.06786762e-01 -4.05493871e-03 2.72604029e+02] [-7.06775749e-01 7.07426651e-01 3.94636364e-03 -8.74721036e+01] [ 5.65780929e-03 7.42153759e-05 9.99983992e-01 1.44721186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71232058799995 meters 0.026725832268956685 Centerline is valid? [True, True] Translation: X:272.64, Y:-87.51, Z:1.45 [[ 7.02756570e-01 7.11413911e-01 -4.84265485e-03 2.72637411e+02] [-7.11398150e-01 7.02773245e-01 4.73683106e-03 -8.75052293e+01] [ 6.77313577e-03 1.16216554e-04 9.99977055e-01 1.45007876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.742320588 meters 0.0267971143010366 Centerline is valid? [True, True] Translation: X:272.67, Y:-87.54, Z:1.45 [[ 7.00138860e-01 7.13982274e-01 -5.90666929e-03 2.72674341e+02] [-7.13958653e-01 7.00163760e-01 5.80956769e-03 -8.75394784e+01] [ 8.28356412e-03 1.49613555e-04 9.99965680e-01 1.45207969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77232058799996 meters 0.027201158356614633 Centerline is valid? [True, True] Translation: X:272.71, Y:-87.57, Z:1.45 [[ 6.97308284e-01 7.16745411e-01 -6.09701691e-03 2.72708972e+02] [-7.16720079e-01 6.97334918e-01 6.02832950e-03 -8.75724477e+01] [ 8.57244029e-03 1.66250339e-04 9.99963242e-01 1.45357809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.802320588 meters 0.027599101361907283 Centerline is valid? [True, True] Translation: X:272.75, Y:-87.60, Z:1.45 [[ 6.94780641e-01 7.19207342e-01 -4.54527626e-03 2.72746743e+02] [-7.19193206e-01 6.94795496e-01 4.51128667e-03 -8.76040752e+01] [ 6.40258797e-03 1.34577157e-04 9.99979494e-01 1.45146393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83232058799996 meters 0.027979094905351262 Centerline is valid? [True, True] Translation: X:272.78, Y:-87.64, Z:1.45 [[ 6.92077432e-01 7.21806718e-01 -4.88771454e-03 2.72783182e+02] [-7.21790263e-01 6.92094675e-01 4.87618068e-03 -8.76365219e+01] [ 6.90242117e-03 1.53210158e-04 9.99976166e-01 1.45119028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.862320588 meters 0.02868039455168311 Centerline is valid? [True, True] Translation: X:274.03, Y:-86.42, Z:3.29 [[ 7.77356975e-01 -6.29058399e-01 1.28960480e-03 2.74025498e+02] [-6.29056484e-01 -7.77357918e-01 -1.61439875e-03 -8.64176223e+01] [ 2.01803559e-03 4.43729869e-04 -9.99997865e-01 3.28749301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89232058799996 meters 0.029383313528347818 Centerline is valid? [True, True] Translation: X:272.92, Y:-87.78, Z:1.45 [[ 7.45272842e-01 6.66734903e-01 -5.74108186e-03 2.72924040e+02] [-6.66717106e-01 7.45294929e-01 4.87534434e-03 -8.77789255e+01] [ 7.52936144e-03 1.94215749e-04 9.99971635e-01 1.45315154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.922320588 meters 0.029780931381657307 Centerline is valid? [True, True] Translation: X:272.96, Y:-87.81, Z:1.45 [[ 7.43215693e-01 6.69028196e-01 -5.63081955e-03 2.72960550e+02] [-6.69011076e-01 7.43236995e-01 4.79063629e-03 -8.78060063e+01] [ 7.39010416e-03 2.06604569e-04 9.99972671e-01 1.45228325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95232058799996 meters 0.030429923496209973 Centerline is valid? [True, True] Translation: X:273.00, Y:-87.83, Z:1.45 [[ 7.39702250e-01 6.72909932e-01 -5.72763357e-03 2.72998847e+02] [-6.72892190e-01 7.39724387e-01 4.89206605e-03 -8.78322257e+01] [ 7.52879006e-03 2.35407636e-04 9.99971631e-01 1.45050652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.982320588 meters 0.031106048127851185 Centerline is valid? [True, True] Translation: X:273.03, Y:-87.86, Z:1.45 [[ 7.37274980e-01 6.75561084e-01 -6.54416784e-03 2.73034684e+02] [-6.75537824e-01 7.37303969e-01 5.61306063e-03 -8.78610910e+01] [ 8.61700624e-03 2.82463735e-04 9.99962833e-01 1.45071764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01232058799997 meters 0.031880360222842526 Centerline is valid? [True, True] Translation: X:273.07, Y:-87.89, Z:1.45 [[ 7.34503406e-01 6.78593041e-01 -4.02873825e-03 2.73072191e+02] [-6.78584223e-01 7.34514431e-01 3.46456053e-03 -8.78914658e+01] [ 5.31019305e-03 1.89106712e-04 9.99985883e-01 1.45128145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04232058799994 meters 0.03202692761542999 Centerline is valid? [True, True] Translation: X:273.11, Y:-87.92, Z:1.45 [[ 7.32772482e-01 6.80465178e-01 -3.41061058e-03 2.73109370e+02] [-6.80458824e-01 7.32780401e-01 2.94504870e-03 -8.79201059e+01] [ 4.50323167e-03 1.62729417e-04 9.99989847e-01 1.45219171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07232058799997 meters 0.03250527491941967 Centerline is valid? [True, True] Translation: X:273.15, Y:-87.95, Z:1.45 [[ 7.31018124e-01 6.82355107e-01 -2.00257624e-03 2.73147641e+02] [-6.82352918e-01 7.31020860e-01 1.73107012e-03 -8.79462211e+01] [ 2.64512954e-03 1.01020107e-04 9.99996497e-01 1.45085217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10232058799994 meters 0.03231199435191757 Centerline is valid? [True, True] Translation: X:273.19, Y:-87.98, Z:1.45 [[ 7.29478273e-01 6.84002090e-01 -1.60927180e-03 2.73186716e+02] [-6.84000678e-01 7.29480043e-01 1.39229212e-03 -8.79760408e+01] [ 2.12626238e-03 8.50961478e-05 9.99997736e-01 1.45106503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13232058799997 meters 0.03231199435191757 Centerline is valid? [True, True] Translation: X:273.22, Y:-88.01, Z:1.45 [[ 7.28140485e-01 6.85426041e-01 -1.60514822e-03 2.73222318e+02] [-6.85424623e-01 7.28142249e-01 1.39701428e-03 -8.80052332e+01] [ 2.12632620e-03 8.29854545e-05 9.99997736e-01 1.45129675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16232058799994 meters 0.03284481431866869 Centerline is valid? [True, True] Translation: X:273.26, Y:-88.03, Z:1.45 [[ 7.25626072e-01 6.88088549e-01 -9.75809427e-04 2.73259638e+02] [-6.88088031e-01 7.25626726e-01 8.46301455e-04 -8.80346057e+01] [ 1.29040374e-03 5.73443872e-05 9.99999166e-01 1.45236190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.192320588 meters 0.03316484057406142 Centerline is valid? [True, True] Translation: X:273.30, Y:-88.06, Z:1.45 [[ 7.23866100e-01 6.89940481e-01 3.88345665e-05 2.73296801e+02] [-6.89940480e-01 7.23866101e-01 -4.69647761e-05 -8.80628122e+01] [-6.05139259e-05 7.20266984e-06 9.99999998e-01 1.45286298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22232058799995 meters 0.033390356332548936 Centerline is valid? [True, True] Translation: X:273.33, Y:-88.09, Z:1.45 [[ 7.21817889e-01 6.92083035e-01 8.95203346e-05 2.73333870e+02] [-6.92083029e-01 7.21817894e-01 -9.22143464e-05 -8.80914608e+01] [-1.28437364e-04 4.60646049e-06 9.99999992e-01 1.45345984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.252320588 meters 0.03415789813168896 Centerline is valid? [True, True] Translation: X:273.37, Y:-88.12, Z:1.45 [[ 7.19408062e-01 6.94587404e-01 6.15087347e-04 2.73370901e+02] [-6.94587177e-01 7.19408325e-01 -5.61658369e-04 -8.81198834e+01] [-8.32619786e-04 -2.31702252e-05 9.99999653e-01 1.45372132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28232058799995 meters 0.033869775368350175 Centerline is valid? [True, True] Translation: X:273.41, Y:-88.15, Z:1.45 [[ 7.18138183e-01 6.95900417e-01 3.99927061e-04 2.73408148e+02] [-6.95900318e-01 7.18138294e-01 -3.71033767e-04 -8.81487187e+01] [-5.45405490e-04 -1.18558537e-05 9.99999851e-01 1.45425234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.312320588 meters 0.03389068811379404 Centerline is valid? [True, True] Translation: X:273.45, Y:-88.17, Z:1.45 [[ 7.17123585e-01 6.96944565e-01 1.42685406e-03 2.73448205e+02] [-6.96943363e-01 7.17125002e-01 -1.29636394e-03 -8.81739175e+01] [-1.92672652e-03 -6.47833037e-05 9.99998142e-01 1.45273856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34232058799995 meters 0.03321309041191684 Centerline is valid? [True, True] Translation: X:273.50, Y:-88.21, Z:1.45 [[ 7.15223718e-01 6.98888672e-01 3.10765913e-03 2.73500649e+02] [-6.98882858e-01 7.15230458e-01 -2.85373037e-03 -8.82111717e+01] [-4.21713229e-03 -1.30834048e-04 9.99991099e-01 1.45116037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.372320588 meters 0.03305595977587827 Centerline is valid? [True, True] Translation: X:273.54, Y:-88.24, Z:1.45 [[ 7.14530279e-01 6.99599815e-01 2.56516941e-03 2.73536613e+02] [-6.99595870e-01 7.14534874e-01 -2.35204496e-03 -8.82403223e+01] [-3.47839322e-03 -1.13974583e-04 9.99993944e-01 1.45191328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40232058799995 meters 0.03156565770026816 Centerline is valid? [True, True] Translation: X:273.58, Y:-88.27, Z:1.45 [[ 7.15412700e-01 6.98695621e-01 3.01627766e-03 2.73576222e+02] [-6.98690101e-01 7.15419049e-01 -2.77976179e-03 -8.82692762e+01] [-4.10010988e-03 -1.18766451e-04 9.99991587e-01 1.45253074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.432320588 meters 0.03169297241849771 Centerline is valid? [True, True] Translation: X:273.65, Y:-88.32, Z:1.45 [[ 7.09281709e-01 7.04919880e-01 2.72388554e-03 2.73648705e+02] [-7.04915057e-01 7.09286936e-01 -2.60857375e-03 -8.83223472e+01] [-3.77085192e-03 -6.98942864e-05 9.99992888e-01 1.45210818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46232058799995 meters 0.030645726297844234 Centerline is valid? [True, True] Translation: X:273.69, Y:-88.35, Z:1.45 [[ 7.09543385e-01 7.04658489e-01 2.14435062e-03 2.73686032e+02] [-7.04655578e-01 7.09546622e-01 -2.02693683e-03 -8.83499738e+01] [-2.94981498e-03 -7.28290047e-05 9.99995647e-01 1.45152120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.492320588 meters 0.02973780825623267 Centerline is valid? [True, True] Translation: X:273.72, Y:-88.38, Z:1.45 [[ 7.10361842e-01 7.03833964e-01 1.95056534e-03 2.73721626e+02] [-7.03831533e-01 7.10364517e-01 -1.85066201e-03 -8.83799583e+01] [-2.68817119e-03 -5.82297178e-05 9.99996385e-01 1.45167269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52232058799996 meters 0.028880908850231972 Centerline is valid? [True, True] Translation: X:273.76, Y:-88.41, Z:1.45 [[ 7.11280302e-01 7.02905114e-01 2.17562705e-03 2.73756979e+02] [-7.02902066e-01 7.11283627e-01 -2.07078249e-03 -8.84099682e+01] [-3.00305150e-03 -5.63459518e-05 9.99995489e-01 1.45345618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.552320588 meters 0.02883970075570647 Centerline is valid? [True, True] Translation: X:273.79, Y:-88.44, Z:1.45 [[ 7.10509823e-01 7.03682269e-01 2.65634017e-03 2.73794013e+02] [-7.03677686e-01 7.10514785e-01 -2.54052591e-03 -8.84413992e+01] [-3.67509200e-03 -6.41386955e-05 9.99993245e-01 1.45301830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58232058799996 meters 0.028362547591035916 Centerline is valid? [True, True] Translation: X:273.83, Y:-88.47, Z:1.45 [[ 7.10212188e-01 7.03980151e-01 3.25509685e-03 2.73829703e+02] [-7.03973232e-01 7.10219643e-01 -3.12204439e-03 -8.84716271e+01] [-4.50969100e-03 -7.41870688e-05 9.99989829e-01 1.45347416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.612320588 meters 0.02717538922294857 Centerline is valid? [True, True] Translation: X:273.87, Y:-88.50, Z:1.45 [[ 7.11347091e-01 7.02838738e-01 1.73948732e-03 2.73865662e+02] [-7.02836726e-01 7.11349217e-01 -1.68161573e-03 -8.85017432e+01] [-2.41928762e-03 -2.63631131e-05 9.99997073e-01 1.45426048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64232058799996 meters 0.026859428165708184 Centerline is valid? [True, True] Translation: X:273.90, Y:-88.53, Z:1.45 [[ 7.11220709e-01 7.02968742e-01 2.25449808e-04 2.73901259e+02] [-7.02968704e-01 7.11220745e-01 -2.31138143e-04 -8.85323367e+01] [-3.22827469e-04 5.90607437e-06 9.99999948e-01 1.45451403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.672320588 meters 0.026188375710974536 Centerline is valid? [True, True] Translation: X:273.94, Y:-88.56, Z:1.45 [[ 7.11560185e-01 7.02625148e-01 6.54321926e-05 2.73936133e+02] [-7.02625144e-01 7.11560188e-01 -7.63637375e-05 -8.85634435e+01] [-1.00214025e-04 8.36309135e-06 9.99999995e-01 1.45459318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70232058799996 meters 0.026039295545924865 Centerline is valid? [True, True] Translation: X:273.97, Y:-88.60, Z:1.46 [[ 7.10771301e-01 7.03422928e-01 5.84005498e-04 2.73972508e+02] [-7.03422684e-01 7.10771541e-01 -5.85701670e-04 -8.85973152e+01] [-8.27090471e-04 5.49722341e-06 9.99999658e-01 1.45637449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.732320588 meters 0.025686065722865716 Centerline is valid? [True, True] Translation: X:274.01, Y:-88.63, Z:1.46 [[ 7.11897651e-01 7.02278713e-01 2.51883710e-03 2.74005993e+02] [-7.02274358e-01 7.11902107e-01 -2.47331108e-03 -8.86291749e+01] [-3.53011916e-03 -8.17036007e-06 9.99993769e-01 1.45560783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76232058799997 meters 0.025477627673494097 Centerline is valid? [True, True] Translation: X:274.04, Y:-88.66, Z:1.45 [[ 7.12737227e-01 7.01426710e-01 2.49340105e-03 2.74042049e+02] [-7.01422398e-01 7.12741588e-01 -2.45933293e-03 -8.86586416e+01] [-3.50219243e-03 3.93079434e-06 9.99993867e-01 1.45321264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79232058799994 meters 0.025027905369178417 Centerline is valid? [True, True] Translation: X:274.08, Y:-88.69, Z:1.45 [[ 7.14348650e-01 6.99788452e-01 1.45930546e-03 2.74077217e+02] [-6.99786951e-01 7.14350140e-01 -1.44949492e-03 -8.86898326e+01] [-2.05679487e-03 1.42418164e-05 9.99997885e-01 1.45025191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82232058799997 meters 0.02516293392996728 Centerline is valid? [True, True] Translation: X:274.11, Y:-88.72, Z:1.45 [[ 7.14699461e-01 6.99427416e-01 2.44337014e-03 2.74110252e+02] [-6.99423204e-01 7.14703637e-01 -2.42738605e-03 -8.87223389e+01] [-3.44406588e-03 2.59017292e-05 9.99994069e-01 1.44985999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85232058799994 meters 0.025051839657327556 Centerline is valid? [True, True] Translation: X:274.14, Y:-88.76, Z:1.45 [[ 7.14878287e-01 6.99244642e-01 2.44233329e-03 2.74143361e+02] [-6.99240400e-01 7.14882459e-01 -2.43585733e-03 -8.87555641e+01] [-3.44924141e-03 3.35634056e-05 9.99994051e-01 1.45134531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88232058799997 meters 0.02541328701875724 Centerline is valid? [True, True] Translation: X:274.18, Y:-88.79, Z:1.45 [[ 7.15715684e-01 6.98387417e-01 2.46480813e-03 2.74176056e+02] [-6.98383059e-01 7.15719927e-01 -2.46773083e-03 -8.87889836e+01] [-3.48754445e-03 4.48134232e-05 9.99993917e-01 1.45281458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91232058799994 meters 0.02562043521293962 Centerline is valid? [True, True] Translation: X:274.21, Y:-88.82, Z:1.45 [[ 7.15891370e-01 6.98204930e-01 3.06946074e-03 2.74212745e+02] [-6.98198108e-01 7.15897947e-01 -3.08729148e-03 -8.88215084e+01] [-4.35298278e-03 6.70736474e-05 9.99990523e-01 1.45194933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.942320588 meters 0.025929335154973285 Centerline is valid? [True, True] Translation: X:275.41, Y:-87.66, Z:3.31 [[ 7.52535849e-01 -6.58475438e-01 9.99468371e-03 2.75407637e+02] [-6.58413922e-01 -7.52602192e-01 -9.00264190e-03 -8.76635325e+01] [ 1.34500394e-02 1.94171864e-04 -9.99909525e-01 3.30610522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97232058799995 meters 0.026071116866875462 Centerline is valid? [True, True] Translation: X:274.35, Y:-88.97, Z:1.45 [[ 7.72342183e-01 6.35201083e-01 2.67146699e-03 2.74353071e+02] [-6.35197019e-01 7.72346801e-01 -2.27290445e-03 -8.89697220e+01] [-3.50705035e-03 5.85521129e-05 9.99993849e-01 1.45271423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.002320588 meters 0.02591306516348809 Centerline is valid? [True, True] Translation: X:274.43, Y:-89.03, Z:1.45 [[ 7.64612960e-01 6.44488281e-01 1.36992002e-03 2.74428183e+02] [-6.44487062e-01 7.64614184e-01 -1.25585258e-03 -8.90278982e+01] [-1.85684254e-03 7.73454312e-05 9.99998273e-01 1.45412288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03232058799995 meters 0.025639029919819083 Centerline is valid? [True, True] Translation: X:274.46, Y:-89.06, Z:1.46 [[ 7.62933041e-01 6.46477493e-01 1.62236780e-04 2.74462797e+02] [-6.46477475e-01 7.62933058e-01 -1.52678183e-04 -8.90569256e+01] [-2.22478811e-04 1.16008066e-05 9.99999975e-01 1.45513080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.062320588 meters 0.025586426070568147 Centerline is valid? [True, True] Translation: X:274.50, Y:-89.09, Z:1.45 [[ 7.61492739e-01 6.48173414e-01 1.86191559e-04 2.74496621e+02] [-6.48173391e-01 7.61492761e-01 -1.73834281e-04 -8.90857715e+01] [-2.54458284e-04 1.16891288e-05 9.99999968e-01 1.45461916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09232058799995 meters 0.0248961093919597 Centerline is valid? [True, True] Translation: X:274.53, Y:-89.12, Z:1.46 [[ 7.58117223e-01 6.52116868e-01 -1.36645433e-03 2.74527870e+02] [-6.52115787e-01 7.58118454e-01 1.18745795e-03 -8.91177198e+01] [ 1.81029560e-03 -9.14588407e-06 9.99998361e-01 1.45638584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.122320588 meters 0.02498388331734358 Centerline is valid? [True, True] Translation: X:274.56, Y:-89.15, Z:1.46 [[ 7.55151291e-01 6.55548464e-01 -1.65480191e-03 2.74560183e+02] [-6.55546870e-01 7.55153104e-01 1.44574261e-03 -8.91484813e+01] [ 2.19738314e-03 -6.95418729e-06 9.99997586e-01 1.45675765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15232058799995 meters 0.024724971666036 Centerline is valid? [True, True] Translation: X:274.59, Y:-89.18, Z:1.46 [[ 7.50802336e-01 6.60525317e-01 -1.46889927e-03 2.74592541e+02] [-6.60524065e-01 7.50803773e-01 1.28639175e-03 -8.91807139e+01] [ 1.95254943e-03 4.41738996e-06 9.99998094e-01 1.45624642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.182320588 meters 0.024915019206988378 Centerline is valid? [True, True] Translation: X:274.63, Y:-89.21, Z:1.46 [[ 7.47992578e-01 6.63706340e-01 -9.98360873e-04 2.74626762e+02] [-6.63705765e-01 7.47993244e-01 8.73722425e-04 -8.92116633e+01] [ 1.32666230e-03 9.07997843e-06 9.99999120e-01 1.45697505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21232058799995 meters 0.02513525968452179 Centerline is valid? [True, True] Translation: X:274.66, Y:-89.24, Z:1.46 [[ 7.45028010e-01 6.67033180e-01 2.40770019e-06 2.74662838e+02] [-6.67033180e-01 7.45028010e-01 -1.71811173e-05 -8.92436191e+01] [-1.32541788e-05 1.11943977e-05 1.00000000e+00 1.45723053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.242320588 meters 0.025612962223695135 Centerline is valid? [True, True] Translation: X:274.69, Y:-89.28, Z:1.46 [[ 7.41184189e-01 6.71301587e-01 -4.21608031e-04 2.74694922e+02] [-6.71301487e-01 7.41184309e-01 3.65100120e-04 -8.92755718e+01] [ 5.57581548e-04 1.24196625e-05 9.99999844e-01 1.45909275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27232058799996 meters 0.025763201581351085 Centerline is valid? [True, True] Translation: X:274.73, Y:-89.31, Z:1.46 [[ 7.39076247e-01 6.73621720e-01 2.80956152e-04 2.74729321e+02] [-6.73621668e-01 7.39076300e-01 -2.64677756e-04 -8.93059521e+01] [-3.85940718e-04 6.35889072e-06 9.99999926e-01 1.45808460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.302320588 meters 0.025753692072529682 Centerline is valid? [True, True] Translation: X:274.76, Y:-89.34, Z:1.46 [[ 7.37128849e-01 6.75752133e-01 -3.37209868e-04 2.74763028e+02] [-6.75752071e-01 7.37128926e-01 2.91468721e-04 -8.93373482e+01] [ 4.45527759e-04 1.30202633e-05 9.99999901e-01 1.45825740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33232058799996 meters 0.025897440144616812 Centerline is valid? [True, True] Translation: X:274.80, Y:-89.37, Z:1.46 [[ 7.35536172e-01 6.77485124e-01 -6.68071633e-04 2.74797726e+02] [-6.77484865e-01 7.35536476e-01 5.92258573e-04 -8.93687295e+01] [ 8.92637427e-04 1.69808165e-05 9.99999601e-01 1.45858503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.362320588 meters 0.025392893996438883 Centerline is valid? [True, True] Translation: X:274.83, Y:-89.40, Z:1.46 [[ 7.35343656e-01 6.77692052e-01 -1.78613567e-03 2.74832895e+02] [-6.77690139e-01 7.35345825e-01 1.61021613e-03 -8.93992510e+01] [ 2.40465808e-03 2.63843176e-05 9.99997108e-01 1.46003929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39232058799996 meters 0.02539815311512616 Centerline is valid? [True, True] Translation: X:274.87, Y:-89.43, Z:1.46 [[ 7.33718421e-01 6.79450575e-01 -2.04809830e-03 2.74868244e+02] [-6.79448037e-01 7.33721279e-01 1.85741231e-03 -8.94298843e+01] [ 2.76475317e-03 2.87587484e-05 9.99996178e-01 1.46117190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.422320588 meters 0.02544878115202511 Centerline is valid? [True, True] Translation: X:274.90, Y:-89.46, Z:1.46 [[ 7.31919448e-01 6.81387697e-01 -2.17456971e-03 2.74904657e+02] [-6.81384819e-01 7.31922677e-01 1.98069502e-03 -8.94590380e+01] [ 2.94123810e-03 3.20095871e-05 9.99995674e-01 1.46041295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45232058799996 meters 0.025515421898560434 Centerline is valid? [True, True] Translation: X:274.94, Y:-89.49, Z:1.46 [[ 7.30711239e-01 6.82684213e-01 -1.83047356e-03 2.74940686e+02] [-6.82682168e-01 7.30713531e-01 1.67104731e-03 -8.94884352e+01] [ 2.47834941e-03 2.85786121e-05 9.99996928e-01 1.45938351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.482320588 meters 0.025244941707563247 Centerline is valid? [True, True] Translation: X:274.98, Y:-89.52, Z:1.46 [[ 7.29410301e-01 6.84073288e-01 -2.08551656e-03 2.74977501e+02] [-6.84070611e-01 7.29413282e-01 1.91387165e-03 -8.95198343e+01] [ 2.83043195e-03 3.06428898e-05 9.99995994e-01 1.45994665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51232058799997 meters 0.02510039480620466 Centerline is valid? [True, True] Translation: X:275.02, Y:-89.55, Z:1.46 [[ 7.27685268e-01 6.85904885e-01 -2.93921870e-03 2.75015820e+02] [-6.85899507e-01 7.27691203e-01 2.71649374e-03 -8.95510838e+01] [ 4.00209992e-03 3.92561844e-05 9.99991991e-01 1.46261109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54232058799994 meters 0.024968739113958253 Centerline is valid? [True, True] Translation: X:275.05, Y:-89.58, Z:1.46 [[ 7.26005643e-01 6.87681572e-01 -3.14029768e-03 2.75050878e+02] [-6.87675374e-01 7.26012434e-01 2.91990364e-03 -8.95809018e+01] [ 4.28785909e-03 3.96388605e-05 9.99990806e-01 1.46338461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57232058799997 meters 0.02516851948722641 Centerline is valid? [True, True] Translation: X:275.09, Y:-89.61, Z:1.46 [[ 7.23326629e-01 6.90494745e-01 -3.94916959e-03 2.75085569e+02] [-6.90484888e-01 7.23337407e-01 3.68977967e-03 -8.96118802e+01] [ 5.40435557e-03 5.79260339e-05 9.99985395e-01 1.46430885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60232058799994 meters 0.025168680079397324 Centerline is valid? [True, True] Translation: X:275.15, Y:-89.66, Z:1.46 [[ 7.17368004e-01 6.96683542e-01 -3.89726941e-03 2.75150889e+02] [-6.96673932e-01 7.17378585e-01 3.66031993e-03 -8.96634188e+01] [ 5.34590227e-03 8.93296038e-05 9.99985707e-01 1.46466264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63232058799997 meters 0.025204740353733164 Centerline is valid? [True, True] Translation: X:275.19, Y:-89.70, Z:1.47 [[ 7.14808294e-01 6.99300368e-01 -5.30078845e-03 2.75186088e+02] [-6.99282044e-01 7.14827943e-01 5.06309506e-03 -8.96963153e+01] [ 7.32977595e-03 8.76038418e-05 9.99973133e-01 1.46744401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66232058799994 meters 0.025308881851275493 Centerline is valid? [True, True] Translation: X:275.22, Y:-89.73, Z:1.47 [[ 7.12874133e-01 7.01265455e-01 -6.10178365e-03 2.75220261e+02] [-7.01240998e-01 7.12900239e-01 5.85759999e-03 -8.97276804e+01] [ 8.45769554e-03 1.03089341e-04 9.99964228e-01 1.46779671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.692320588 meters 0.025002494698525078 Centerline is valid? [True, True] Translation: X:275.26, Y:-89.76, Z:1.47 [[ 7.12160441e-01 7.01992992e-01 -5.77451925e-03 2.75255218e+02] [-7.01970923e-01 7.12183846e-01 5.56710029e-03 -8.97575215e+01] [ 8.02058472e-03 8.88760083e-05 9.99967831e-01 1.46906242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72232058799995 meters 0.025014209037904956 Centerline is valid? [True, True] Translation: X:275.29, Y:-89.79, Z:1.47 [[ 7.11881982e-01 7.02290372e-01 -3.50388248e-03 2.75291425e+02] [-7.02282205e-01 7.11890603e-01 3.38713226e-03 -8.97876136e+01] [ 4.87313139e-03 4.94758862e-05 9.99988125e-01 1.46743842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.752320588 meters 0.0246057506064849 Centerline is valid? [True, True] Translation: X:275.33, Y:-89.82, Z:1.47 [[ 7.09731063e-01 7.04465098e-01 -3.27780094e-03 2.75331394e+02] [-7.04457922e-01 7.09738631e-01 3.17996532e-03 -8.98228584e+01] [ 4.56655653e-03 5.21526722e-05 9.99989572e-01 1.46832416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78232058799995 meters 0.024649026927058205 Centerline is valid? [True, True] Translation: X:275.36, Y:-89.86, Z:1.47 [[ 7.08289500e-01 7.05915830e-01 -2.97082811e-03 2.75364492e+02] [-7.05909874e-01 7.08295729e-01 2.90004789e-03 -8.98551752e+01] [ 4.15141458e-03 4.30634244e-05 9.99991382e-01 1.46840807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.812320588 meters 0.024958855111793177 Centerline is valid? [True, True] Translation: X:275.40, Y:-89.89, Z:1.47 [[ 7.05439031e-01 7.08756675e-01 -4.44403868e-03 2.75397334e+02] [-7.08743238e-01 7.05453026e-01 4.36482879e-03 -8.98876661e+01] [ 6.22866207e-03 7.05617656e-05 9.99980599e-01 1.47024563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84232058799995 meters 0.024831434596681738 Centerline is valid? [True, True] Translation: X:275.43, Y:-89.92, Z:1.47 [[ 7.04089526e-01 7.10097456e-01 -4.42056011e-03 2.75431789e+02] [-7.10084069e-01 7.04103400e-01 4.36084239e-03 -8.99181888e+01] [ 6.20915449e-03 6.85458633e-05 9.99980721e-01 1.46964280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.872320588 meters 0.024886972262556206 Centerline is valid? [True, True] Translation: X:275.47, Y:-89.95, Z:1.47 [[ 7.01536952e-01 7.12621985e-01 -3.97646923e-03 2.75469492e+02] [-7.12611103e-01 7.01548218e-01 3.93882317e-03 -8.99494581e+01] [ 5.59657689e-03 7.04461230e-05 9.99984337e-01 1.46834853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90232058799995 meters 0.025158988823799296 Centerline is valid? [True, True] Translation: X:275.50, Y:-89.98, Z:1.47 [[ 6.99250050e-01 7.14868880e-01 -3.44263870e-03 2.75504785e+02] [-7.14860682e-01 6.99258522e-01 3.42429956e-03 -8.99811823e+01] [ 4.85521963e-03 6.65654091e-05 9.99988211e-01 1.46752800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.932320588 meters 0.024997952557519052 Centerline is valid? [True, True] Translation: X:275.54, Y:-90.01, Z:1.47 [[ 6.97099386e-01 7.16958549e-01 -4.78394613e-03 2.75541031e+02] [-7.16942577e-01 6.97115794e-01 4.78643530e-03 -9.00141985e+01] [ 6.76664012e-03 9.31935628e-05 9.99977102e-01 1.46788949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96232058799995 meters 0.02527734953232624 Centerline is valid? [True, True] Translation: X:276.77, Y:-88.80, Z:3.31 [[ 7.69454339e-01 -6.38700603e-01 1.24925362e-03 2.76774689e+02] [-6.38698785e-01 -7.69455240e-01 -1.58011547e-03 -8.87997715e+01] [ 1.97046545e-03 4.17929930e-04 -9.99997971e-01 3.30773200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.992320588 meters 0.02570250388014372 Centerline is valid? [True, True] Translation: X:275.68, Y:-90.15, Z:1.47 [[ 7.51368447e-01 6.59850903e-01 -6.49946185e-03 2.75676483e+02] [-6.59827686e-01 7.51396546e-01 5.53671617e-03 -9.01530745e+01] [ 8.53708035e-03 1.28411045e-04 9.99963550e-01 1.47102778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02232058799996 meters 0.02570250388014372 Centerline is valid? [True, True] Translation: X:275.71, Y:-90.18, Z:1.47 [[ 7.50113153e-01 6.61277620e-01 -6.49355280e-03 2.75711831e+02] [-6.61254397e-01 7.50141247e-01 5.54363903e-03 -9.01812557e+01] [ 8.53696622e-03 1.35533789e-04 9.99963550e-01 1.47124572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.052320588 meters 0.02583744049076429 Centerline is valid? [True, True] Translation: X:275.76, Y:-90.21, Z:1.47 [[ 7.47918789e-01 6.63755257e-01 -6.81495109e-03 2.75755514e+02] [-6.63729498e-01 7.47949823e-01 5.84942466e-03 -9.02145063e+01] [ 8.97982783e-03 1.48389457e-04 9.99959670e-01 1.47174354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08232058799996 meters 0.02586169939918015 Centerline is valid? [True, True] Translation: X:275.79, Y:-90.24, Z:1.47 [[ 7.46556979e-01 6.65284958e-01 -6.97157206e-03 2.75791566e+02] [-6.65257764e-01 7.46589515e-01 6.01693772e-03 -9.02423041e+01] [ 9.20788076e-03 1.45905599e-04 9.99957596e-01 1.47140911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.112320588 meters 0.02589420276348257 Centerline is valid? [True, True] Translation: X:275.83, Y:-90.27, Z:1.47 [[ 7.45775238e-01 6.66159753e-01 -7.10476893e-03 2.75827982e+02] [-6.66131328e-01 7.45809066e-01 6.15562526e-03 -9.02694033e+01] [ 9.39943089e-03 1.41996270e-04 9.99955814e-01 1.47010982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14232058799996 meters 0.025772982781472505 Centerline is valid? [True, True] Translation: X:275.86, Y:-90.30, Z:1.47 [[ 7.44543047e-01 6.67549024e-01 -5.82678139e-03 2.75864021e+02] [-6.67529815e-01 7.44565837e-01 5.06557224e-03 -9.02981214e+01] [ 7.71994018e-03 1.18013717e-04 9.99970194e-01 1.47022236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.172320588 meters 0.025856679928591406 Centerline is valid? [True, True] Translation: X:275.96, Y:-90.36, Z:1.47 [[ 7.35096134e-01 6.77937492e-01 -5.86784830e-03 2.75956717e+02] [-6.77917790e-01 7.35119532e-01 5.17139957e-03 -9.03617901e+01] [ 7.81945555e-03 1.76442916e-04 9.99969412e-01 1.47172619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20232058799996 meters 0.02589607851505718 Centerline is valid? [True, True] Translation: X:275.99, Y:-90.39, Z:1.47 [[ 7.34067391e-01 6.79053773e-01 -5.57118290e-03 2.75992165e+02] [-6.79035337e-01 7.34088524e-01 5.00497378e-03 -9.03915032e+01] [ 7.48838776e-03 1.09042013e-04 9.99971956e-01 1.47131238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23232058799994 meters 0.025450936098494015 Centerline is valid? [True, True] Translation: X:276.03, Y:-90.42, Z:1.47 [[ 7.33919827e-01 6.79209845e-01 -5.97277620e-03 2.76028856e+02] [-6.79188482e-01 7.33944124e-01 5.38784331e-03 -9.04207537e+01] [ 8.04316021e-03 1.02395770e-04 9.99967648e-01 1.47054718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26232058799997 meters 0.025281740497282053 Centerline is valid? [True, True] Translation: X:276.07, Y:-90.45, Z:1.47 [[ 7.32682670e-01 6.80553361e-01 -4.81939381e-03 2.76070890e+02] [-6.80539370e-01 7.32698516e-01 4.36463012e-03 -9.04542462e+01] [ 6.50152639e-03 8.18983820e-05 9.99978861e-01 1.46938003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29232058799994 meters 0.025011814711252852 Centerline is valid? [True, True] Translation: X:276.11, Y:-90.48, Z:1.47 [[ 7.31821893e-01 6.81483933e-01 -4.04552062e-03 2.76105568e+02] [-6.81473988e-01 7.31833072e-01 3.68211985e-03 -9.04846977e+01] [ 5.46995130e-03 6.22611552e-05 9.99985038e-01 1.47064759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32232058799997 meters 0.024975577552863188 Centerline is valid? [True, True] Translation: X:276.14, Y:-90.52, Z:1.47 [[ 7.30493173e-01 6.82905678e-01 -4.42258667e-03 2.76139918e+02] [-6.82893717e-01 7.30506557e-01 4.04238903e-03 -9.05158597e+01] [ 5.99129898e-03 6.72190637e-05 9.99982050e-01 1.47266784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35232058799994 meters 0.024912223374591983 Centerline is valid? [True, True] Translation: X:276.17, Y:-90.55, Z:1.47 [[ 7.29131082e-01 6.84354654e-01 -5.15493282e-03 2.76174385e+02] [-6.84338295e-01 7.29149300e-01 4.73245253e-03 -9.05466027e+01] [ 6.99739157e-03 7.71396963e-05 9.99975515e-01 1.47308465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38232058799997 meters 0.025047164385448687 Centerline is valid? [True, True] Translation: X:276.21, Y:-90.58, Z:1.47 [[ 7.27688825e-01 6.85879087e-01 -6.23310554e-03 2.76209716e+02] [-6.85855012e-01 7.27715514e-01 5.74745475e-03 -9.05769804e+01] [ 8.47798662e-03 9.26480817e-05 9.99964057e-01 1.47184552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41232058799994 meters 0.02503009878879816 Centerline is valid? [True, True] Translation: X:276.25, Y:-90.61, Z:1.47 [[ 7.25968091e-01 6.87699410e-01 -6.31281679e-03 2.76245629e+02] [-6.87674585e-01 7.25995531e-01 5.84406022e-03 -9.06072769e+01] [ 8.60203355e-03 9.85624234e-05 9.99962997e-01 1.47065701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.442320588 meters 0.025170193793294028 Centerline is valid? [True, True] Translation: X:276.28, Y:-90.64, Z:1.47 [[ 7.24481187e-01 6.89272461e-01 -5.52116626e-03 2.76280355e+02] [-6.89253378e-01 7.24502220e-01 5.12976157e-03 -9.06387618e+01] [ 7.53590060e-03 8.90667431e-05 9.99971601e-01 1.47103199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47232058799995 meters 0.025253242119178496 Centerline is valid? [True, True] Translation: X:276.32, Y:-90.67, Z:1.47 [[ 7.22675701e-01 6.91153508e-01 -6.83073968e-03 2.76315010e+02] [-6.91124120e-01 7.22707974e-01 6.37456975e-03 -9.06697299e+01] [ 9.34243627e-03 1.14142290e-04 9.99956352e-01 1.47301396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.502320588 meters 0.025447028901481594 Centerline is valid? [True, True] Translation: X:276.35, Y:-90.70, Z:1.47 [[ 7.20168018e-01 6.93748952e-01 -8.39148617e-03 2.76349320e+02] [-6.93704378e-01 7.20216889e-01 7.86567608e-03 -9.07002931e+01] [ 1.15004946e-02 1.56602338e-04 9.99933855e-01 1.47451915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53232058799995 meters 0.025559264781817925 Centerline is valid? [True, True] Translation: X:276.38, Y:-90.73, Z:1.47 [[ 7.18592678e-01 6.95383803e-01 -8.11971345e-03 2.76384927e+02] [-6.95341839e-01 7.18638534e-01 7.64100799e-03 -9.07307447e+01] [ 1.11485722e-02 1.55204088e-04 9.99937841e-01 1.47370457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.562320588 meters 0.02582313030210529 Centerline is valid? [True, True] Translation: X:276.42, Y:-90.76, Z:1.47 [[ 7.16530227e-01 6.97511031e-01 -7.92433742e-03 2.76420032e+02] [-6.97470876e-01 7.16574026e-01 7.48612395e-03 -9.07617858e+01] [ 1.09000284e-02 1.62960469e-04 9.99940580e-01 1.47481329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59232058799995 meters 0.026799588279144672 Centerline is valid? [True, True] Translation: X:276.45, Y:-90.79, Z:1.47 [[ 7.13632406e-01 7.00501516e-01 -5.13956805e-03 2.76454795e+02] [-7.00484600e-01 7.13650902e-01 4.86988348e-03 -9.07928832e+01] [ 7.07921813e-03 1.24881604e-04 9.99974934e-01 1.47383416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.622320588 meters 0.026852088166868848 Centerline is valid? [True, True] Translation: X:276.49, Y:-90.82, Z:1.47 [[ 7.11754787e-01 7.02407660e-01 -5.34806577e-03 2.76490101e+02] [-7.02389240e-01 7.11774867e-01 5.08870948e-03 -9.08225391e+01] [ 7.38096733e-03 1.34510515e-04 9.99972751e-01 1.47305501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65232058799995 meters 0.027189988091781664 Centerline is valid? [True, True] Translation: X:276.55, Y:-90.87, Z:1.47 [[ 7.05427759e-01 7.08745169e-01 -7.20845251e-03 2.76550362e+02] [-7.08711307e-01 7.05464554e-01 6.93151527e-03 -9.08720903e+01] [ 9.99798570e-03 2.19028518e-04 9.99949995e-01 1.47415149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.682320588 meters 0.027405521692077595 Centerline is valid? [True, True] Translation: X:276.58, Y:-90.90, Z:1.47 [[ 7.02936842e-01 7.11211044e-01 -7.65807298e-03 2.76584607e+02] [-7.11172226e-01 7.02978522e-01 7.43392950e-03 -9.09028810e+01] [ 1.06705536e-02 2.20625874e-04 9.99943044e-01 1.47454086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71232058799995 meters 0.027820347264253847 Centerline is valid? [True, True] Translation: X:276.62, Y:-90.93, Z:1.47 [[ 7.00154731e-01 7.13941197e-01 -8.44508506e-03 2.76619245e+02] [-7.13893745e-01 7.00205611e-01 8.23547068e-03 -9.09336975e+01] [ 1.17929377e-02 2.62789639e-04 9.99930426e-01 1.47469807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.742320588 meters 0.028417531408398655 Centerline is valid? [True, True] Translation: X:276.65, Y:-90.96, Z:1.47 [[ 6.97578300e-01 7.16468939e-01 -7.53493524e-03 2.76654374e+02] [-7.16430986e-01 6.97618948e-01 7.37870208e-03 -9.09642671e+01] [ 1.05431244e-02 2.51038632e-04 9.99944388e-01 1.47361690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77232058799996 meters 0.028068788385690952 Centerline is valid? [True, True] Translation: X:276.70, Y:-91.00, Z:1.47 [[ 6.95583877e-01 7.18411416e-01 -6.93594417e-03 2.76695796e+02] [-7.18378984e-01 6.95618418e-01 6.83020020e-03 -9.10020192e+01] [ 9.73166431e-03 2.31659391e-04 9.99952619e-01 1.47493949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.802320588 meters 0.027914300944867097 Centerline is valid? [True, True] Translation: X:276.73, Y:-91.03, Z:1.48 [[ 6.94663573e-01 7.19295821e-01 -7.48618347e-03 2.76729907e+02] [-7.19257629e-01 6.94703871e-01 7.41592320e-03 -9.10349090e+01] [ 1.05349232e-02 2.32922865e-04 9.99944479e-01 1.47653103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83232058799996 meters 0.027759624971741264 Centerline is valid? [True, True] Translation: X:276.77, Y:-91.07, Z:1.48 [[ 6.93399953e-01 7.20516657e-01 -7.22859580e-03 2.76766451e+02] [-7.20480774e-01 6.93437595e-01 7.19413408e-03 -9.10686257e+01] [ 1.01960735e-02 2.19652071e-04 9.99947995e-01 1.47635805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.862320588 meters 0.027599252637684896 Centerline is valid? [True, True] Translation: X:276.80, Y:-91.10, Z:1.48 [[ 6.92608515e-01 7.21282338e-01 -6.72563473e-03 2.76801758e+02] [-7.21251021e-01 6.92641142e-01 6.72409194e-03 -9.10999956e+01] [ 9.50842007e-03 1.93707581e-04 9.99954775e-01 1.47521219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89232058799996 meters 0.027447659458336354 Centerline is valid? [True, True] Translation: X:278.03, Y:-89.88, Z:3.32 [[ 7.73864525e-01 -6.33351124e-01 2.22648096e-04 2.78031131e+02] [-6.33350862e-01 -7.73864452e-01 -7.03369169e-04 -8.98846943e+01] [ 6.17779101e-04 4.03298085e-04 -9.99999728e-01 3.31687023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.922320588 meters 0.027589439654283975 Centerline is valid? [True, True] Translation: X:276.94, Y:-91.24, Z:1.48 [[ 7.48783181e-01 6.62763487e-01 -8.26487126e-03 2.76936334e+02] [-6.62726260e-01 7.48828762e-01 7.02777506e-03 -9.12373478e+01] [ 1.08467260e-02 2.15067459e-04 9.99941149e-01 1.47621022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95232058799996 meters 0.027695587376030246 Centerline is valid? [True, True] Translation: X:276.97, Y:-91.27, Z:1.48 [[ 7.46895196e-01 6.64882659e-01 -8.86662020e-03 2.76971461e+02] [-6.64839732e-01 7.46947781e-01 7.55927986e-03 -9.12668159e+01] [ 1.16489364e-02 2.48891588e-04 9.99932118e-01 1.47759125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98232058799994 meters 0.0279292761655686 Centerline is valid? [True, True] Translation: X:277.01, Y:-91.30, Z:1.48 [[ 7.45319885e-01 6.66640438e-01 -9.42312625e-03 2.77006376e+02] [-6.66591702e-01 7.45379402e-01 8.06535305e-03 -9.12962765e+01] [ 1.24004947e-02 2.70109752e-04 9.99923074e-01 1.47894997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01232058799997 meters 0.028058821023007833 Centerline is valid? [True, True] Translation: X:277.04, Y:-91.32, Z:1.48 [[ 7.43490433e-01 6.68694308e-01 -8.36053460e-03 2.77042247e+02] [-6.68655786e-01 7.43537396e-01 7.18196741e-03 -9.13242019e+01] [ 1.10189109e-02 2.50595773e-04 9.99939259e-01 1.47746161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04232058799994 meters 0.02848218986310939 Centerline is valid? [True, True] Translation: X:277.08, Y:-91.35, Z:1.48 [[ 7.41552115e-01 6.70851980e-01 -7.62117181e-03 2.77078806e+02] [-6.70819838e-01 7.41591237e-01 6.57130217e-03 -9.13531158e+01] [ 1.00601653e-02 2.39470218e-04 9.99949367e-01 1.47723093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07232058799997 meters 0.029360298527551273 Centerline is valid? [True, True] Translation: X:277.12, Y:-91.38, Z:1.48 [[ 7.38162612e-01 6.74593560e-01 -6.28385524e-03 2.77115034e+02] [-6.74571684e-01 7.38189324e-01 5.43735569e-03 -9.13819242e+01] [ 8.30667998e-03 2.25258132e-04 9.99965474e-01 1.47700812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10232058799994 meters 0.02985247021422937 Centerline is valid? [True, True] Translation: X:277.16, Y:-91.42, Z:1.48 [[ 7.34575653e-01 6.78494520e-01 -6.61789322e-03 2.77156304e+02] [-6.78470162e-01 7.34605417e-01 5.75511066e-03 -9.14150085e+01] [ 8.76635125e-03 2.62478913e-04 9.99961540e-01 1.47888173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13232058799997 meters 0.030529656149390544 Centerline is valid? [True, True] Translation: X:277.19, Y:-91.44, Z:1.48 [[ 7.31635250e-01 6.81655025e-01 -7.50253570e-03 2.77192547e+02] [-6.81623538e-01 7.31673648e-01 6.55932083e-03 -9.14443826e+01] [ 9.96060167e-03 3.14874598e-04 9.99950342e-01 1.48103585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16232058799994 meters 0.03092597853149044 Centerline is valid? [True, True] Translation: X:277.23, Y:-91.47, Z:1.48 [[ 7.29205222e-01 6.84237295e-01 -8.89197728e-03 2.77229140e+02] [-6.84192836e-01 7.29259331e-01 7.80970734e-03 -9.14737328e+01] [ 1.18282504e-02 3.88947771e-04 9.99929968e-01 1.48168273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.192320588 meters 0.031213985565641988 Centerline is valid? [True, True] Translation: X:277.28, Y:-91.51, Z:1.48 [[ 7.24900606e-01 6.88798071e-01 -8.73667041e-03 2.77280143e+02] [-6.88754803e-01 7.24953134e-01 7.73137966e-03 -9.15130066e+01] [ 1.16590360e-02 4.12941911e-04 9.99931946e-01 1.48181565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22232058799995 meters 0.031833159196346064 Centerline is valid? [True, True] Translation: X:277.32, Y:-91.54, Z:1.48 [[ 7.21913689e-01 6.91944522e-01 -7.30772545e-03 2.77316480e+02] [-6.91914034e-01 7.21950586e-01 6.50543826e-03 -9.15415070e+01] [ 9.77721904e-03 3.59952864e-04 9.99952137e-01 1.48110051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.252320588 meters 0.032139491846707814 Centerline is valid? [True, True] Translation: X:277.35, Y:-91.57, Z:1.48 [[ 7.19647777e-01 6.94295375e-01 -7.81086106e-03 2.77354551e+02] [-6.94260351e-01 7.19690055e-01 6.98493057e-03 -9.15713835e+01] [ 1.04710040e-02 3.96081387e-04 9.99945099e-01 1.48209727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28232058799995 meters 0.032427013129982474 Centerline is valid? [True, True] Translation: X:277.39, Y:-91.60, Z:1.48 [[ 7.18055756e-01 6.95958600e-01 -6.12853783e-03 2.77393748e+02] [-6.95936908e-01 7.18081840e-01 5.50368599e-03 -9.16004891e+01] [ 8.23112932e-03 3.13122274e-04 9.99966075e-01 1.48124275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.312320588 meters 0.032185257223528455 Centerline is valid? [True, True] Translation: X:277.43, Y:-91.63, Z:1.48 [[ 7.17046463e-01 6.97003940e-01 -5.46611304e-03 2.77429453e+02] [-6.96986563e-01 7.17067244e-01 4.92930885e-03 -9.16300329e+01] [ 7.35531830e-03 2.75263873e-04 9.99972911e-01 1.48147454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34232058799995 meters 0.032091351911030234 Centerline is valid? [True, True] Translation: X:277.47, Y:-91.66, Z:1.48 [[ 7.15738293e-01 6.98351735e-01 -4.85275110e-03 2.77465677e+02] [-6.98337962e-01 7.15754702e-01 4.39288673e-03 -9.16614280e+01] [ 6.54115949e-03 2.44703058e-04 9.99978576e-01 1.48286177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.372320588 meters 0.03215108038005544 Centerline is valid? [True, True] Translation: X:277.50, Y:-91.69, Z:1.48 [[ 7.14074178e-01 7.00050722e-01 -5.20145586e-03 2.77502405e+02] [-7.00034780e-01 7.14093074e-01 4.73165343e-03 -9.16928411e+01] [ 7.02672100e-03 2.62448474e-04 9.99975278e-01 1.48347458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40232058799995 meters 0.031202260271335495 Centerline is valid? [True, True] Translation: X:277.54, Y:-91.72, Z:1.48 [[ 7.13965519e-01 7.00152227e-01 -6.33221792e-03 2.77544527e+02] [-7.00128320e-01 7.13993537e-01 5.79354737e-03 -9.17236981e+01] [ 8.57752776e-03 2.96972041e-04 9.99963168e-01 1.48215782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.432320588 meters 0.030932160286963297 Centerline is valid? [True, True] Translation: X:277.58, Y:-91.75, Z:1.48 [[ 7.13368909e-01 7.00766229e-01 -5.61168278e-03 2.77580638e+02] [-7.00747280e-01 7.13390937e-01 5.15951574e-03 -9.17528422e+01] [ 7.61893802e-03 2.51733332e-04 9.99970944e-01 1.48114097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46232058799995 meters 0.031150201589160063 Centerline is valid? [True, True] Translation: X:277.62, Y:-91.79, Z:1.48 [[ 7.11144415e-01 7.03030514e-01 -4.66021121e-03 2.77619396e+02] [-7.03017379e-01 7.11159652e-01 4.30281984e-03 -9.17864700e+01] [ 6.33916783e-03 2.16283173e-04 9.99979884e-01 1.48196601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.492320588 meters 0.030697236077041973 Centerline is valid? [True, True] Translation: X:277.65, Y:-91.82, Z:1.48 [[ 7.10766321e-01 7.03421198e-01 -3.13939442e-03 2.77653940e+02] [-7.03415193e-01 7.10773240e-01 2.90982714e-03 -9.18171272e+01] [ 4.27823164e-03 1.40090596e-04 9.99990839e-01 1.48321789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52232058799996 meters 0.0309171895137698 Centerline is valid? [True, True] Translation: X:277.70, Y:-91.85, Z:1.48 [[ 7.07878846e-01 7.06323190e-01 -3.88476258e-03 2.77696941e+02] [-7.06313931e-01 7.07889482e-01 3.62110303e-03 -9.18537109e+01] [ 5.30765162e-03 1.80559689e-04 9.99985898e-01 1.48430309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.552320588 meters 0.03109534308260702 Centerline is valid? [True, True] Translation: X:277.73, Y:-91.88, Z:1.48 [[ 7.06055980e-01 7.08137433e-01 -5.13119830e-03 2.77732104e+02] [-7.08121070e-01 7.06074587e-01 4.81951302e-03 -9.18840804e+01] [ 7.03588630e-03 2.30663646e-04 9.99975221e-01 1.48302254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58232058799996 meters 0.031072244862833574 Centerline is valid? [True, True] Translation: X:277.77, Y:-91.91, Z:1.48 [[ 7.04690952e-01 7.09497913e-01 -4.83465780e-03 2.77766793e+02] [-7.09483301e-01 7.04707503e-01 4.55869237e-03 -9.19142392e+01] [ 6.64140235e-03 2.17639710e-04 9.99977922e-01 1.48247741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.612320588 meters 0.030472419608191907 Centerline is valid? [True, True] Translation: X:277.80, Y:-91.95, Z:1.48 [[ 7.04596644e-01 7.09605290e-01 -1.97529911e-03 2.77802275e+02] [-7.09602853e-01 7.04599407e-01 1.86204089e-03 -9.19452614e+01] [ 2.71310865e-03 8.96901226e-05 9.99996315e-01 1.48186242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64232058799996 meters 0.030229380041696816 Centerline is valid? [True, True] Translation: X:277.84, Y:-91.98, Z:1.48 [[ 7.03279490e-01 7.10913023e-01 -7.94979857e-04 2.77838454e+02] [-7.10912638e-01 7.03279938e-01 7.41682921e-04 -9.19782842e+01] [ 1.08636543e-03 4.35508405e-05 9.99999409e-01 1.48240720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.672320588 meters 0.029787842910898824 Centerline is valid? [True, True] Translation: X:277.88, Y:-92.02, Z:1.48 [[ 7.01210537e-01 7.12952729e-01 -1.47928506e-03 2.77884784e+02] [-7.12951367e-01 7.01212093e-01 1.39606144e-03 -9.20188980e+01] [ 2.03261838e-03 7.57253134e-05 9.99997931e-01 1.48402869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70232058799996 meters 0.028429526645884128 Centerline is valid? [True, True] Translation: X:277.92, Y:-92.05, Z:1.48 [[ 7.02978299e-01 7.11205471e-01 -2.87905586e-03 2.77920018e+02] [-7.11200071e-01 7.02984188e-01 2.77314733e-03 -9.20502067e+01] [ 3.99620830e-03 9.81223379e-05 9.99992010e-01 1.48423901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73232058799994 meters 0.027199729120321203 Centerline is valid? [True, True] Translation: X:277.96, Y:-92.08, Z:1.48 [[ 7.03973244e-01 7.10219422e-01 -3.16946547e-03 2.77955817e+02] [-7.10212799e-01 7.03980373e-01 3.06839976e-03 -9.20814381e+01] [ 4.41047859e-03 9.09236104e-05 9.99990270e-01 1.48024001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76232058799997 meters 0.02704487080059424 Centerline is valid? [True, True] Translation: X:277.99, Y:-92.11, Z:1.48 [[ 7.03429294e-01 7.10763355e-01 -1.63772844e-03 2.77991596e+02] [-7.10761589e-01 7.03431198e-01 1.58498503e-03 -9.21147712e+01] [ 2.27857856e-03 4.91095683e-05 9.99997403e-01 1.47953375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79232058799994 meters 0.026793903573284743 Centerline is valid? [True, True] Translation: X:278.03, Y:-92.15, Z:1.48 [[ 7.02734040e-01 7.11452529e-01 -4.10973317e-04 2.78025892e+02] [-7.11452423e-01 7.02734160e-01 3.88392426e-04 -9.21469773e+01] [ 5.65127763e-04 1.94513836e-05 9.99999840e-01 1.47965426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82232058799997 meters 0.025959905217974796 Centerline is valid? [True, True] Translation: X:278.06, Y:-92.18, Z:1.48 [[ 7.03940829e-01 7.10257335e-01 1.35173569e-03 2.78059496e+02] [-7.10256055e-01 7.03942127e-01 -1.34859134e-03 -9.21795465e+01] [-1.90939059e-03 -1.07499533e-05 9.99998177e-01 1.48110314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85232058799994 meters 0.02574339730339095 Centerline is valid? [True, True] Translation: X:278.09, Y:-92.21, Z:1.48 [[ 7.02841770e-01 7.11346200e-01 -1.72543952e-04 2.78093026e+02] [-7.11346184e-01 7.02841791e-01 1.55777246e-04 -9.22125671e+01] [ 2.32082653e-04 1.32517267e-05 9.99999973e-01 1.48302561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88232058799997 meters 0.025361149232842238 Centerline is valid? [True, True] Translation: X:278.13, Y:-92.25, Z:1.48 [[ 7.02236634e-01 7.11943075e-01 -8.76174333e-04 2.78128445e+02] [-7.11942564e-01 7.02237180e-01 8.53372641e-04 -9.22509469e+01] [ 1.22283494e-03 2.45162709e-05 9.99999252e-01 1.48251975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91232058799994 meters 0.024929681624581167 Centerline is valid? [True, True] Translation: X:278.16, Y:-92.28, Z:1.48 [[ 7.01480198e-01 7.12688701e-01 -5.89181436e-04 2.78162205e+02] [-7.12688470e-01 7.01480445e-01 5.74693867e-04 -9.22834227e+01] [ 8.22877082e-04 1.67664481e-05 9.99999661e-01 1.48233803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.942320588 meters 0.024929681624581167 Centerline is valid? [True, True] Translation: X:279.40, Y:-91.06, Z:3.33 [[ 7.66877246e-01 -6.41762133e-01 6.37602387e-03 2.79398576e+02] [-6.41734922e-01 -7.66903617e-01 -5.92720763e-03 -9.10577703e+01] [ 8.69365318e-03 4.53723483e-04 -9.99962107e-01 3.32608477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97232058799995 meters 0.025344771150379523 Centerline is valid? [True, True] Translation: X:278.30, Y:-92.42, Z:1.48 [[ 7.56114407e-01 6.54439452e-01 7.89977000e-05 2.78295822e+02] [-6.54439449e-01 7.56114411e-01 -6.97229422e-05 -9.24197066e+01] [-1.05360743e-04 1.01930992e-06 9.99999994e-01 1.48264619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.002320588 meters 0.026020226185221207 Centerline is valid? [True, True] Translation: X:278.35, Y:-92.46, Z:1.48 [[ 7.51054840e-01 6.60238700e-01 1.21894009e-03 2.78345031e+02] [-6.60237824e-01 7.51055829e-01 -1.07576727e-03 -9.24598974e+01] [-1.62575524e-03 3.16986262e-06 9.99998678e-01 1.48280101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03232058799995 meters 0.02575735926375871 Centerline is valid? [True, True] Translation: X:278.38, Y:-92.49, Z:1.48 [[ 7.49663212e-01 6.61819164e-01 6.79308233e-04 2.78379592e+02] [-6.61818895e-01 7.49663520e-01 -5.97098818e-04 -9.24891367e+01] [-9.04424041e-04 -1.95600651e-06 9.99999591e-01 1.48431262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.062320588 meters 0.026486858359651904 Centerline is valid? [True, True] Translation: X:278.41, Y:-92.52, Z:1.48 [[ 7.46379306e-01 6.65520793e-01 7.40473608e-05 2.78414226e+02] [-6.65520788e-01 7.46379310e-01 -7.60121437e-05 -9.25189152e+01] [-1.05855080e-04 7.45383318e-06 9.99999994e-01 1.48396034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09232058799995 meters 0.02654549937286902 Centerline is valid? [True, True] Translation: X:278.45, Y:-92.55, Z:1.48 [[ 7.44136993e-01 6.68026587e-01 -7.84100664e-04 2.78450764e+02] [-6.68026253e-01 7.44137405e-01 6.68751332e-04 -9.25470901e+01] [ 1.03022230e-03 2.61572241e-05 9.99999469e-01 1.48196341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.122320588 meters 0.026351618182382863 Centerline is valid? [True, True] Translation: X:278.49, Y:-92.57, Z:1.48 [[ 7.42907172e-01 6.69394077e-01 -7.09471723e-04 2.78487591e+02] [-6.69393803e-01 7.42907510e-01 6.06267325e-04 -9.25748729e+01] [ 9.32903628e-04 2.45156308e-05 9.99999565e-01 1.48092551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15232058799995 meters 0.026682136563460968 Centerline is valid? [True, True] Translation: X:278.53, Y:-92.61, Z:1.48 [[ 7.40730243e-01 6.71799137e-01 2.15103528e-03 2.78526912e+02] [-6.71796443e-01 7.40733365e-01 -1.90305129e-03 -9.26066026e+01] [-2.87181182e-03 -3.54102109e-05 9.99995876e-01 1.48094975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.182320588 meters 0.026613066124226526 Centerline is valid? [True, True] Translation: X:278.56, Y:-92.64, Z:1.48 [[ 7.39974163e-01 6.72631629e-01 2.22029544e-03 2.78563162e+02] [-6.72628757e-01 7.39977493e-01 -1.96600449e-03 -9.26360643e+01] [-2.96536546e-03 -3.86420346e-05 9.99995603e-01 1.48258954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21232058799995 meters 0.02648531988647901 Centerline is valid? [True, True] Translation: X:278.60, Y:-92.67, Z:1.48 [[ 7.38828680e-01 6.73889192e-01 2.35362868e-03 2.78599028e+02] [-6.73885947e-01 7.38832427e-01 -2.09154352e-03 -9.26654774e+01] [-3.14840576e-03 -4.07849500e-05 9.99995043e-01 1.48183472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.242320588 meters 0.026523111664623636 Centerline is valid? [True, True] Translation: X:278.64, Y:-92.70, Z:1.48 [[ 7.35821572e-01 6.77175029e-01 7.71583638e-04 2.78641683e+02] [-6.77174658e-01 7.35821976e-01 -7.08451850e-04 -9.27001824e+01] [-1.04749410e-03 -1.20273194e-06 9.99999451e-01 1.48252120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27232058799996 meters 0.027126547843916004 Centerline is valid? [True, True] Translation: X:278.68, Y:-92.73, Z:1.48 [[ 7.33007939e-01 6.80218845e-01 1.29759249e-03 2.78676960e+02] [-6.80217837e-01 7.33009088e-01 -1.17137473e-03 -9.27304013e+01] [-1.74793825e-03 -2.40185784e-05 9.99998472e-01 1.48225110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.302320588 meters 0.027245392803738087 Centerline is valid? [True, True] Translation: X:278.71, Y:-92.76, Z:1.48 [[ 7.30744763e-01 6.82649854e-01 1.12619873e-03 2.78713285e+02] [-6.82649089e-01 7.30745631e-01 -1.02224772e-03 -9.27599271e+01] [-1.52080206e-03 -2.17963675e-05 9.99998843e-01 1.48346893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33232058799996 meters 0.027571591868310177 Centerline is valid? [True, True] Translation: X:278.75, Y:-92.79, Z:1.48 [[ 7.28475451e-01 6.85068426e-01 2.18383118e-03 2.78750878e+02] [-6.85065562e-01 7.28478722e-01 -1.98169326e-03 -9.27889702e+01] [-2.94847003e-03 -5.24526461e-05 9.99995652e-01 1.48301486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.362320588 meters 0.02772001589820939 Centerline is valid? [True, True] Translation: X:278.79, Y:-92.82, Z:1.48 [[ 7.26594128e-01 6.87065362e-01 1.47004699e-03 2.78786693e+02] [-6.87064052e-01 7.26595615e-01 -1.34196095e-03 -9.28187844e+01] [-1.99014458e-03 -3.49554922e-05 9.99998019e-01 1.48346874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39232058799996 meters 0.027830479939966915 Centerline is valid? [True, True] Translation: X:278.82, Y:-92.85, Z:1.48 [[ 7.24468408e-01 6.89307212e-01 1.04513874e-03 2.78821720e+02] [-6.89306540e-01 7.24469162e-01 -9.63434850e-04 -9.28488329e+01] [-1.42127338e-03 -2.24428564e-05 9.99998990e-01 1.48300589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.422320588 meters 0.028260213176837728 Centerline is valid? [True, True] Translation: X:278.86, Y:-92.88, Z:1.48 [[ 7.22178575e-01 6.91705393e-01 1.32506233e-03 2.78856035e+02] [-6.91704316e-01 7.22179790e-01 -1.22095794e-03 -9.28802095e+01] [-1.80147643e-03 -3.48016670e-05 9.99998377e-01 1.48403309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45232058799996 meters 0.028214325581529136 Centerline is valid? [True, True] Translation: X:278.89, Y:-92.91, Z:1.49 [[ 7.20210940e-01 6.93754798e-01 6.94329151e-04 2.78892608e+02] [-6.93754492e-01 7.20211275e-01 -6.51126395e-04 -9.29107866e+01] [-9.51785743e-04 -1.27456140e-05 9.99999547e-01 1.48658748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48232058799994 meters 0.028279518858879502 Centerline is valid? [True, True] Translation: X:278.93, Y:-92.94, Z:1.49 [[ 7.18755406e-01 6.95262687e-01 6.79913083e-04 2.78928493e+02] [-6.95262393e-01 7.18755727e-01 -6.39901650e-04 -9.29396751e+01] [-9.33591162e-04 -1.27852267e-05 9.99999564e-01 1.48617794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51232058799997 meters 0.02749412420392277 Centerline is valid? [True, True] Translation: X:278.97, Y:-92.97, Z:1.48 [[ 7.17823070e-01 6.96225030e-01 -8.64366842e-04 2.78966718e+02] [-6.96224590e-01 7.17823590e-01 7.84107330e-04 -9.29685333e+01] [ 1.16637806e-03 3.89431188e-05 9.99999319e-01 1.48474253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54232058799994 meters 0.02760653367141796 Centerline is valid? [True, True] Translation: X:279.09, Y:-93.04, Z:1.49 [[ 6.99029459e-01 7.15088005e-01 -2.63823506e-03 2.79085024e+02] [-7.15084021e-01 6.99034406e-01 2.39639746e-03 -9.30448681e+01] [ 3.55785216e-03 2.11407311e-04 9.99993648e-01 1.48700472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57232058799997 meters 0.027365849346617056 Centerline is valid? [True, True] Translation: X:279.12, Y:-93.08, Z:1.49 [[ 6.97537513e-01 7.16542479e-01 -2.87983191e-03 2.79119446e+02] [-7.16536997e-01 6.97543450e-01 2.80488961e-03 -9.30774928e+01] [ 4.01863044e-03 1.06990384e-04 9.99991920e-01 1.48765734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60232058799994 meters 0.027175221639672203 Centerline is valid? [True, True] Translation: X:279.17, Y:-93.12, Z:1.49 [[ 6.94387839e-01 7.19597224e-01 -2.31624386e-03 2.79168256e+02] [-7.19593691e-01 6.94391695e-01 2.25716130e-03 -9.31209677e+01] [ 3.23262750e-03 9.94091143e-05 9.99994770e-01 1.48880107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63232058799997 meters 0.027298871568210096 Centerline is valid? [True, True] Translation: X:279.20, Y:-93.15, Z:1.49 [[ 6.92695287e-01 7.21227920e-01 -1.87802357e-03 2.79202308e+02] [-7.21225547e-01 6.92697829e-01 1.85115085e-03 -9.31529899e+01] [ 2.63600453e-03 7.21951133e-05 9.99996523e-01 1.48922529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66232058799994 meters 0.02694553603051299 Centerline is valid? [True, True] Translation: X:279.24, Y:-93.19, Z:1.49 [[ 6.91378892e-01 7.22488878e-01 -2.24709129e-03 2.79237502e+02] [-7.22485447e-01 6.91382539e-01 2.22800360e-03 -9.31850575e+01] [ 3.16330751e-03 8.30960948e-05 9.99994993e-01 1.49003741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.692320588 meters 0.02705183959664492 Centerline is valid? [True, True] Translation: X:279.27, Y:-93.22, Z:1.49 [[ 6.89709777e-01 7.24080126e-01 -2.89743671e-03 2.79273500e+02] [-7.24074363e-01 6.89715855e-01 2.89070003e-03 -9.32182883e+01] [ 4.09150648e-03 1.04215564e-04 9.99991624e-01 1.49101815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72232058799995 meters 0.02683605371706031 Centerline is valid? [True, True] Translation: X:280.52, Y:-91.99, Z:3.33 [[ 7.75941948e-01 -6.30788897e-01 4.41151987e-03 2.80519720e+02] [-6.30774695e-01 -7.75954309e-01 -4.26546757e-03 -9.19902222e+01] [ 6.11374744e-03 5.27080116e-04 -9.99981172e-01 3.33271614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.752320588 meters 0.02706556663843703 Centerline is valid? [True, True] Translation: X:279.41, Y:-93.36, Z:1.49 [[ 7.46349184e-01 6.65552554e-01 -1.64107067e-03 2.79411648e+02] [-6.65551093e-01 7.46350986e-01 1.39546103e-03 -9.33571837e+01] [ 2.15356737e-03 5.07151788e-05 9.99997680e-01 1.48904091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78232058799995 meters 0.027090572480619555 Centerline is valid? [True, True] Translation: X:279.45, Y:-93.39, Z:1.49 [[ 7.44833572e-01 6.67249406e-01 -1.08681432e-03 2.79446505e+02] [-6.67248776e-01 7.44834363e-01 9.17817202e-04 -9.33861964e+01] [ 1.42190963e-03 4.15544594e-05 9.99998988e-01 1.48997853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.812320588 meters 0.02717698632826674 Centerline is valid? [True, True] Translation: X:279.48, Y:-93.41, Z:1.49 [[ 7.43185300e-01 6.69083237e-01 -1.79797906e-03 2.79482211e+02] [-6.69081486e-01 7.43187472e-01 1.53204935e-03 -9.34147288e+01] [ 2.36130405e-03 6.43979456e-05 9.99997210e-01 1.49036855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84232058799995 meters 0.027317906433898687 Centerline is valid? [True, True] Translation: X:279.52, Y:-93.45, Z:1.49 [[ 7.41245821e-01 6.71229888e-01 -2.25179605e-03 2.79520340e+02] [-6.71227124e-01 7.41249237e-01 1.92777584e-03 -9.34455471e+01] [ 2.96312287e-03 8.25108021e-05 9.99995607e-01 1.49077747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.872320588 meters 0.026653866404429846 Centerline is valid? [True, True] Translation: X:279.56, Y:-93.47, Z:1.49 [[ 7.41252402e-01 6.71223959e-01 -1.80923136e-03 2.79556585e+02] [-6.71222160e-01 7.41254607e-01 1.55540578e-03 -9.34733697e+01] [ 2.38512670e-03 6.14479134e-05 9.99997154e-01 1.49062329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90232058799995 meters 0.02706298932509434 Centerline is valid? [True, True] Translation: X:279.59, Y:-93.50, Z:1.49 [[ 7.39386964e-01 6.73279116e-01 -1.46613559e-03 2.79591614e+02] [-6.73277933e-01 7.39388416e-01 1.26307200e-03 -9.35029897e+01] [ 1.93444367e-03 5.32177671e-05 9.99998128e-01 1.49013130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.932320588 meters 0.026882497084203465 Centerline is valid? [True, True] Translation: X:279.63, Y:-93.53, Z:1.49 [[ 7.38684235e-01 6.74051257e-01 -7.09991720e-04 2.79627987e+02] [-6.74050984e-01 7.38684575e-01 6.07765176e-04 -9.35315046e+01] [ 9.34124813e-04 2.96240637e-05 9.99999563e-01 1.48990985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96232058799995 meters 0.02649212281009706 Centerline is valid? [True, True] Translation: X:279.66, Y:-93.56, Z:1.49 [[ 7.37956813e-01 6.74846948e-01 -1.15707506e-03 2.79664478e+02] [-6.74846206e-01 7.37957719e-01 1.00177534e-03 -9.35599663e+01] [ 1.52991750e-03 4.15807771e-05 9.99998829e-01 1.49045043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.992320588 meters 0.026220569720368132 Centerline is valid? [True, True] Translation: X:279.70, Y:-93.59, Z:1.49 [[ 7.36917501e-01 6.75979055e-01 -2.21687378e-03 2.79700484e+02] [-6.75976281e-01 7.36920832e-01 1.93764418e-03 -9.35898309e+01] [ 2.94346735e-03 7.06701865e-05 9.99995665e-01 1.49241725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02232058799996 meters 0.026289371859099384 Centerline is valid? [True, True] Translation: X:279.74, Y:-93.62, Z:1.49 [[ 7.35190259e-01 6.77855034e-01 -2.79929880e-03 2.79736126e+02] [-6.77850568e-01 7.35195583e-01 2.46208508e-03 -9.36197796e+01] [ 3.72696888e-03 8.74053138e-05 9.99993051e-01 1.49301876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.052320588 meters 0.026323277510801626 Centerline is valid? [True, True] Translation: X:279.77, Y:-93.65, Z:1.49 [[ 7.33409387e-01 6.79783993e-01 -2.09597988e-03 2.79772488e+02] [-6.79781488e-01 7.33412379e-01 1.84688477e-03 -9.36493742e+01] [ 2.79270030e-03 7.02856898e-05 9.99996098e-01 1.49330612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08232058799996 meters 0.026730843303002117 Centerline is valid? [True, True] Translation: X:279.81, Y:-93.68, Z:1.49 [[ 7.31060574e-01 6.82304309e-01 -3.35667753e-03 2.79808503e+02] [-6.82297810e-01 7.31068271e-01 2.98007228e-03 -9.36790451e+01] [ 4.48727660e-03 1.11640377e-04 9.99989926e-01 1.49470927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.112320588 meters 0.027251401525472865 Centerline is valid? [True, True] Translation: X:279.86, Y:-93.72, Z:1.50 [[ 7.26610044e-01 6.87039992e-01 -3.72743931e-03 2.79859125e+02] [-6.87031962e-01 7.26619590e-01 3.32482076e-03 -9.37184347e+01] [ 4.99271525e-03 1.45021785e-04 9.99987526e-01 1.49513208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14232058799996 meters 0.027663795932516867 Centerline is valid? [True, True] Translation: X:279.90, Y:-93.75, Z:1.50 [[ 7.24105369e-01 6.89678037e-01 -3.95218438e-03 2.79895189e+02] [-6.89668860e-01 7.24116140e-01 3.56087385e-03 -9.37478051e+01] [ 5.31769698e-03 1.47250622e-04 9.99985850e-01 1.49548174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.172320588 meters 0.02776568597742384 Centerline is valid? [True, True] Translation: X:279.93, Y:-93.78, Z:1.50 [[ 7.22679065e-01 6.91176434e-01 -3.17891192e-03 2.79930744e+02] [-6.91170474e-01 7.22686047e-01 2.87299923e-03 -9.37774375e+01] [ 4.28310465e-03 1.20913661e-04 9.99990820e-01 1.49509411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20232058799996 meters 0.027814137901747665 Centerline is valid? [True, True] Translation: X:279.97, Y:-93.81, Z:1.49 [[ 7.21458625e-01 6.92457318e-01 -5.61575526e-04 2.79966762e+02] [-6.92457139e-01 7.21458843e-01 4.99230034e-04 -9.38070082e+01] [ 7.50849120e-04 2.86931677e-05 9.99999718e-01 1.49421395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23232058799994 meters 0.02803532087130458 Centerline is valid? [True, True] Translation: X:280.01, Y:-93.84, Z:1.49 [[ 7.19092674e-01 6.94914097e-01 -3.52926049e-04 2.80007151e+02] [-6.94914030e-01 7.19092760e-01 3.04556546e-04 -9.38410208e+01] [ 4.65427204e-04 2.62488815e-05 9.99999891e-01 1.49470081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26232058799997 meters 0.027624745592206266 Centerline is valid? [True, True] Translation: X:280.04, Y:-93.87, Z:1.50 [[ 7.18060471e-01 6.95975560e-01 -2.67941098e-03 2.80043622e+02] [-6.95971245e-01 7.18065463e-01 2.45294329e-03 -9.38698957e+01] [ 3.63118106e-03 1.03431380e-04 9.99993402e-01 1.49565165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29232058799994 meters 0.027413281703384692 Centerline is valid? [True, True] Translation: X:280.08, Y:-93.90, Z:1.50 [[ 7.16730679e-01 6.97344063e-01 -2.89663878e-03 2.80080062e+02] [-6.97338981e-01 7.16736524e-01 2.66471945e-03 -9.38988230e+01] [ 3.93435310e-03 1.10052948e-04 9.99992254e-01 1.49525404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32232058799997 meters 0.027467568907275978 Centerline is valid? [True, True] Translation: X:280.12, Y:-93.93, Z:1.49 [[ 7.14515947e-01 6.99612671e-01 -3.01189992e-03 2.80120112e+02] [-6.99607146e-01 7.14522286e-01 2.78299292e-03 -9.39317228e+01] [ 4.09908673e-03 1.18653882e-04 9.99991592e-01 1.49465167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35232058799994 meters 0.027590900821633006 Centerline is valid? [True, True] Translation: X:280.16, Y:-93.96, Z:1.50 [[ 7.12616529e-01 7.01548326e-01 -2.76205694e-03 2.80156282e+02] [-7.01543642e-01 7.12621873e-01 2.56585091e-03 -9.39646919e+01] [ 3.76837060e-03 1.09235713e-04 9.99992894e-01 1.49674701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38232058799997 meters 0.027232279306698085 Centerline is valid? [True, True] Translation: X:280.19, Y:-94.00, Z:1.50 [[ 7.12207306e-01 7.01966392e-01 -1.98416730e-03 2.80190565e+02] [-7.01963959e-01 7.12210066e-01 1.84974686e-03 -9.39953667e+01] [ 2.71160405e-03 7.54107043e-05 9.99996321e-01 1.49770933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41232058799994 meters 0.02719640421534912 Centerline is valid? [True, True] Translation: X:280.23, Y:-94.03, Z:1.50 [[ 7.10524750e-01 7.03662819e-01 -3.63539419e-03 2.80225656e+02] [-7.03654539e-01 7.10534038e-01 3.41604282e-03 -9.40261110e+01] [ 4.98681364e-03 1.30878651e-04 9.99987557e-01 1.49837130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.442320588 meters 0.027186232174073142 Centerline is valid? [True, True] Translation: X:281.46, Y:-92.89, Z:3.34 [[ 7.87645327e-01 -6.16125820e-01 1.95283697e-03 2.81464408e+02] [-6.16121630e-01 -7.87647470e-01 -2.36623676e-03 -9.28909684e+01] [ 2.99604667e-03 6.60570231e-04 -9.99995294e-01 3.33643141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47232058799995 meters 0.027305944040486113 Centerline is valid? [True, True] Translation: X:280.38, Y:-94.27, Z:1.50 [[ 7.55740600e-01 6.54849573e-01 -5.30862373e-03 2.80383718e+02] [-6.54835022e-01 7.55759225e-01 4.36891721e-03 -9.42697184e+01] [ 6.87302493e-03 1.74504622e-04 9.99976365e-01 1.49998297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.502320588 meters 0.027815295532665988 Centerline is valid? [True, True] Translation: X:280.42, Y:-94.30, Z:1.50 [[ 7.53511573e-01 6.57417255e-01 -4.78150792e-03 2.80419833e+02] [-6.57405465e-01 7.53526723e-01 3.94098809e-03 -9.42970510e+01] [ 6.19386757e-03 1.73809305e-04 9.99980803e-01 1.50023706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53232058799995 meters 0.02798374639829041 Centerline is valid? [True, True] Translation: X:280.46, Y:-94.32, Z:1.50 [[ 7.51559882e-01 6.59652264e-01 -4.07854462e-03 2.80457477e+02] [-6.59643659e-01 7.51570932e-01 3.37300593e-03 -9.43245338e+01] [ 5.29032658e-03 1.55370157e-04 9.99985994e-01 1.49969174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.562320588 meters 0.029038013330416786 Centerline is valid? [True, True] Translation: X:280.49, Y:-94.35, Z:1.50 [[ 7.48026442e-01 6.63654972e-01 -4.30365375e-03 2.80493086e+02] [-6.63645364e-01 7.48038800e-01 3.57564966e-03 -9.43541853e+01] [ 5.59229765e-03 1.81419368e-04 9.99984347e-01 1.50033870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59232058799995 meters 0.029259750016714665 Centerline is valid? [True, True] Translation: X:280.53, Y:-94.38, Z:1.50 [[ 7.45907138e-01 6.66034038e-01 -4.60449514e-03 2.80527502e+02] [-6.66022990e-01 7.45921323e-01 3.84151839e-03 -9.43839088e+01] [ 5.99317311e-03 2.01283634e-04 9.99982021e-01 1.50120746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.622320588 meters 0.02979363062982778 Centerline is valid? [True, True] Translation: X:280.56, Y:-94.41, Z:1.50 [[ 7.43870733e-01 6.68311301e-01 -4.04193320e-03 2.80563943e+02] [-6.68302760e-01 7.43881691e-01 3.38379952e-03 -9.44121798e+01] [ 5.26815157e-03 1.84125683e-04 9.99986106e-01 1.50134476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65232058799995 meters 0.030229324490558748 Centerline is valid? [True, True] Translation: X:280.60, Y:-94.44, Z:1.50 [[ 7.41316488e-01 6.71143622e-01 -4.01290144e-03 2.80602549e+02] [-6.71135175e-01 7.41327324e-01 3.37271008e-03 -9.44405421e+01] [ 5.23844635e-03 1.92953723e-04 9.99986261e-01 1.50220897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.682320588 meters 0.03143155970337333 Centerline is valid? [True, True] Translation: X:280.64, Y:-94.47, Z:1.50 [[ 7.37844084e-01 6.74967030e-01 -2.36968976e-03 2.80640816e+02] [-6.74964091e-01 7.37847879e-01 1.99599949e-03 -9.44670884e+01] [ 3.09570441e-03 1.26719081e-04 9.99995200e-01 1.50073343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71232058799995 meters 0.03156837822683535 Centerline is valid? [True, True] Translation: X:280.68, Y:-94.50, Z:1.50 [[ 7.36000476e-01 6.76969989e-01 -3.86451185e-03 2.80676565e+02] [-6.76962096e-01 7.36010593e-01 3.27547261e-03 -9.44950719e+01] [ 5.06171832e-03 2.05378642e-04 9.99987168e-01 1.50283912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.742320588 meters 0.031797790762725806 Centerline is valid? [True, True] Translation: X:280.73, Y:-94.53, Z:1.51 [[ 7.32028531e-01 6.81251880e-01 -5.48679875e-03 2.80728107e+02] [-6.81235856e-01 7.32049028e-01 4.68284858e-03 -9.45341201e+01] [ 7.20680509e-03 3.09825270e-04 9.99973983e-01 1.50601188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77232058799996 meters 0.03189749588180928 Centerline is valid? [True, True] Translation: X:280.76, Y:-94.56, Z:1.51 [[ 7.30388781e-01 6.83009591e-01 -5.48886734e-03 2.80764389e+02] [-6.82993344e-01 7.30409343e-01 4.72061182e-03 -9.45625518e+01] [ 7.23334313e-03 3.00977953e-04 9.99973794e-01 1.50628511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.802320588 meters 0.03186572608925102 Centerline is valid? [True, True] Translation: X:280.80, Y:-94.59, Z:1.51 [[ 7.28556840e-01 6.84947344e-01 -7.21575717e-03 2.80803046e+02] [-6.84919068e-01 7.28592463e-01 6.23645053e-03 -9.45920911e+01] [ 9.52898652e-03 3.98600995e-04 9.99954519e-01 1.50726864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83232058799996 meters 0.03186572608925102 Centerline is valid? [True, True] Translation: X:280.84, Y:-94.62, Z:1.51 [[ 7.27217748e-01 6.86369051e-01 -7.20221950e-03 2.80838762e+02] [-6.86340691e-01 7.27253304e-01 6.25206272e-03 -9.46211337e+01] [ 9.52906029e-03 3.96565330e-04 9.99954519e-01 1.50749488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.862320588 meters 0.0315487032210416 Centerline is valid? [True, True] Translation: X:280.88, Y:-94.65, Z:1.51 [[ 7.26980257e-01 6.86624192e-01 -6.85024905e-03 2.80876659e+02] [-6.86598339e-01 7.27012439e-01 5.96946933e-03 -9.46489403e+01] [ 9.07899833e-03 3.63683270e-04 9.99958719e-01 1.50642656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89232058799996 meters 0.030975113341687895 Centerline is valid? [True, True] Translation: X:280.91, Y:-94.68, Z:1.51 [[ 7.26640771e-01 6.86990582e-01 -6.09344248e-03 2.80912744e+02] [-6.86969980e-01 7.26666252e-01 5.32961575e-03 -9.46776825e+01] [ 8.08929484e-03 3.13295956e-04 9.99967232e-01 1.50697060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.922320588 meters 0.030648820746140573 Centerline is valid? [True, True] Translation: X:280.95, Y:-94.71, Z:1.51 [[ 7.26922546e-01 6.86707991e-01 -3.96825289e-03 2.80949785e+02] [-6.86699199e-01 7.26933351e-01 3.48025795e-03 -9.47056882e+01] [ 5.27457632e-03 1.95118112e-04 9.99986070e-01 1.50651494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95232058799996 meters 0.03057699949365726 Centerline is valid? [True, True] Translation: X:280.99, Y:-94.73, Z:1.51 [[ 7.25826917e-01 6.87868753e-01 -3.44458282e-03 2.80986800e+02] [-6.87862095e-01 7.25835071e-01 3.03130890e-03 -9.47347445e+01] [ 4.58534169e-03 1.69192365e-04 9.99989473e-01 1.50648805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98232058799994 meters 0.03078920312781435 Centerline is valid? [True, True] Translation: X:281.02, Y:-94.76, Z:1.51 [[ 7.23817897e-01 6.89980089e-01 -3.88960175e-03 2.81024317e+02] [-6.89971549e-01 7.23828322e-01 3.43842920e-03 -9.47636741e+01] [ 5.18785159e-03 1.94917955e-04 9.99986524e-01 1.50593057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01232058799997 meters 0.030663520217062618 Centerline is valid? [True, True] Translation: X:281.06, Y:-94.79, Z:1.51 [[ 7.22204303e-01 6.91660654e-01 -5.14635133e-03 2.81060199e+02] [-6.91645578e-01 7.22222594e-01 4.57388227e-03 -9.47936485e+01] [ 6.88038561e-03 2.56173679e-04 9.99976297e-01 1.50750423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04232058799994 meters 0.030957558827351538 Centerline is valid? [True, True] Translation: X:281.10, Y:-94.82, Z:1.51 [[ 7.20087802e-01 6.93863007e-01 -5.26168515e-03 2.81096013e+02] [-6.93847175e-01 7.20106974e-01 4.69507887e-03 -9.48237107e+01] [ 7.04671772e-03 2.69936355e-04 9.99975135e-01 1.51027775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07232058799997 meters 0.03122731548659173 Centerline is valid? [True, True] Translation: X:281.13, Y:-94.85, Z:1.51 [[ 7.17885389e-01 6.96147098e-01 -4.44811277e-03 2.81131959e+02] [-6.96135745e-01 7.17899130e-01 3.98283094e-03 -9.48530522e+01] [ 5.96593249e-03 2.37274162e-04 9.99982176e-01 1.50988849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10232058799994 meters 0.03173266284842955 Centerline is valid? [True, True] Translation: X:281.17, Y:-94.88, Z:1.51 [[ 7.15684136e-01 6.98413487e-01 -3.84949975e-03 2.81167794e+02] [-6.98404955e-01 7.15694457e-01 3.45873680e-03 -9.48827280e+01] [ 5.17069406e-03 2.13146643e-04 9.99986609e-01 1.50935244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13232058799997 meters 0.032681422320539555 Centerline is valid? [True, True] Translation: X:281.20, Y:-94.91, Z:1.51 [[ 7.12158474e-01 7.02009461e-01 -3.60889158e-03 2.81203810e+02] [-7.02001950e-01 7.12167585e-01 3.25468408e-03 -9.49135208e+01] [ 4.85495463e-03 2.15598077e-04 9.99988191e-01 1.50890998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16232058799994 meters 0.03328160617060702 Centerline is valid? [True, True] Translation: X:281.24, Y:-94.94, Z:1.51 [[ 7.09586017e-01 7.04606750e-01 -4.12463687e-03 2.81239307e+02] [-7.04596874e-01 7.09597960e-01 3.73907783e-03 -9.49437017e+01] [ 5.56141339e-03 2.53008896e-04 9.99984503e-01 1.50880396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.192320588 meters 0.03371956660436411 Centerline is valid? [True, True] Translation: X:281.28, Y:-94.97, Z:1.51 [[ 7.06557638e-01 7.07633922e-01 -5.52607747e-03 2.81276895e+02] [-7.07616089e-01 7.06579160e-01 5.03610915e-03 -9.49731452e+01] [ 7.46833284e-03 3.52039937e-04 9.99972050e-01 1.51105161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22232058799995 meters 0.033735549156205906 Centerline is valid? [True, True] Translation: X:281.31, Y:-95.00, Z:1.51 [[ 7.05717041e-01 7.08480764e-01 -4.29699265e-03 2.81313519e+02] [-7.08469922e-01 7.05730071e-01 3.92891617e-03 -9.50016703e+01] [ 5.81607846e-03 2.71586955e-04 9.99983050e-01 1.50955059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.252320588 meters 0.03373673534171213 Centerline is valid? [True, True] Translation: X:281.35, Y:-95.03, Z:1.51 [[ 7.03972635e-01 7.10214532e-01 -4.22476252e-03 2.81351659e+02] [-7.10203990e-01 7.03985260e-01 3.87891548e-03 -9.50333293e+01] [ 5.72903269e-03 2.69792848e-04 9.99983553e-01 1.51087145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28232058799995 meters 0.03370102757874096 Centerline is valid? [True, True] Translation: X:281.39, Y:-95.07, Z:1.51 [[ 7.01844011e-01 7.12311447e-01 -5.23324747e-03 2.81391184e+02] [-7.12295109e-01 7.01863442e-01 4.83591080e-03 -9.50678237e+01] [ 7.11769971e-03 3.33561544e-04 9.99974613e-01 1.51200607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.312320588 meters 0.033665854626105156 Centerline is valid? [True, True] Translation: X:281.43, Y:-95.10, Z:1.51 [[ 7.00299823e-01 7.13826532e-01 -5.64275520e-03 2.81427702e+02] [-7.13807357e-01 7.00322466e-01 5.24419983e-03 -9.50988565e+01] [ 7.69519721e-03 3.55327964e-04 9.99970328e-01 1.51264707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34232058799995 meters 0.03369230155270069 Centerline is valid? [True, True] Translation: X:281.46, Y:-95.13, Z:1.51 [[ 6.98384186e-01 7.15703209e-01 -5.33346764e-03 2.81464211e+02] [-7.15685970e-01 6.98404469e-01 4.97903010e-03 -9.51294585e+01] [ 7.28842545e-03 3.39812082e-04 9.99973381e-01 1.51414835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.372320588 meters 0.033451247698311336 Centerline is valid? [True, True] Translation: X:281.50, Y:-95.16, Z:1.51 [[ 6.97556301e-01 7.16520233e-01 -3.73664911e-03 2.81499912e+02] [-7.16511724e-01 6.97566269e-01 3.50002458e-03 -9.51593232e+01] [ 5.11439881e-03 2.35888699e-04 9.99986894e-01 1.51409064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40232058799995 meters 0.03341366968791769 Centerline is valid? [True, True] Translation: X:281.54, Y:-95.19, Z:1.51 [[ 6.96000121e-01 7.18029723e-01 -4.14096772e-03 2.81535148e+02] [-7.18019193e-01 6.96012391e-01 3.89751930e-03 -9.51899676e+01] [ 5.68069955e-03 2.60620398e-04 9.99983831e-01 1.51464936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.432320588 meters 0.033614036773382074 Centerline is valid? [True, True] Translation: X:281.57, Y:-95.22, Z:1.51 [[ 6.94515867e-01 7.19475034e-01 -1.83979889e-03 2.81572532e+02] [-7.19472962e-01 6.94518294e-01 1.73114268e-03 -9.52203841e+01] [ 2.52328793e-03 1.21379499e-04 9.99996809e-01 1.51264002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46232058799995 meters 0.033802609378292235 Centerline is valid? [True, True] Translation: X:281.61, Y:-95.25, Z:1.51 [[ 6.92612104e-01 7.21309494e-01 -1.04220572e-03 2.81608942e+02] [-7.21308834e-01 6.92612885e-01 9.79012013e-04 -9.52500151e+01] [ 1.42801577e-03 7.36766231e-05 9.99998978e-01 1.51210824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.492320588 meters 0.03377826307893035 Centerline is valid? [True, True] Translation: X:281.65, Y:-95.28, Z:1.51 [[ 6.91355716e-01 7.22514440e-01 3.96333584e-04 2.81645275e+02] [-7.22514333e-01 6.91355830e-01 -3.93856650e-04 -9.52793250e+01] [-5.58574650e-04 -1.40616492e-05 9.99999844e-01 1.51134535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52232058799996 meters 0.03378555055938581 Centerline is valid? [True, True] Translation: X:281.68, Y:-95.31, Z:1.51 [[ 6.89684765e-01 7.24109717e-01 -2.06428286e-04 2.81681484e+02] [-7.24109694e-01 6.89684796e-01 1.84177917e-04 -9.53086598e+01] [ 2.75735470e-04 2.24520193e-05 9.99999962e-01 1.51327349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.552320588 meters 0.033839143107304494 Centerline is valid? [True, True] Translation: X:281.72, Y:-95.34, Z:1.51 [[ 6.87784701e-01 7.25914644e-01 3.67074492e-04 2.81717962e+02] [-7.25914550e-01 6.87784799e-01 -3.69477981e-04 -9.53390281e+01] [-5.20677732e-04 -1.23434120e-05 9.99999864e-01 1.51272186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58232058799996 meters 0.033987155032786175 Centerline is valid? [True, True] Translation: X:281.76, Y:-95.37, Z:1.51 [[ 6.85185935e-01 7.28368199e-01 -1.67102926e-05 2.81758101e+02] [-7.28368199e-01 6.85185935e-01 -1.85439719e-06 -9.53698144e+01] [ 1.00989741e-05 1.34418526e-05 1.00000000e+00 1.51277087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.612320588 meters 0.034484030863816045 Centerline is valid? [True, True] Translation: X:281.79, Y:-95.40, Z:1.51 [[ 6.82327690e-01 7.31046452e-01 -8.56476795e-05 2.81794885e+02] [-7.31046449e-01 6.82327696e-01 6.74443871e-05 -9.54028174e+01] [ 1.07744764e-04 1.65932592e-05 9.99999994e-01 1.51381422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64232058799996 meters 0.03476457875745927 Centerline is valid? [True, True] Translation: X:281.83, Y:-95.43, Z:1.52 [[ 6.80430683e-01 7.32812439e-01 -1.20565690e-04 2.81830764e+02] [-7.32812432e-01 6.80430693e-01 1.03744897e-04 -9.54320264e+01] [ 1.58062148e-04 1.77608258e-05 9.99999987e-01 1.51537089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.672320588 meters 0.03476198601761994 Centerline is valid? [True, True] Translation: X:281.87, Y:-95.46, Z:1.52 [[ 6.79132500e-01 7.34015343e-01 -7.23296501e-04 2.81867821e+02] [-7.34015014e-01 6.79132883e-01 6.97630244e-04 -9.54614944e+01] [ 1.00328574e-03 5.71271201e-05 9.99999495e-01 1.51504368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70232058799996 meters 0.03404523697204593 Centerline is valid? [True, True] Translation: X:281.91, Y:-95.49, Z:1.51 [[ 6.78620742e-01 7.34488859e-01 -6.63242295e-05 2.81907100e+02] [-7.34488857e-01 6.78620745e-01 5.06532760e-05 -9.54886436e+01] [ 8.22132655e-05 1.43400438e-05 9.99999997e-01 1.51208834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73232058799994 meters 0.03407103227383568 Centerline is valid? [True, True] Translation: X:281.94, Y:-95.52, Z:1.51 [[ 6.76849798e-01 7.36121149e-01 6.54582530e-05 2.81941281e+02] [-7.36121145e-01 6.76849801e-01 -7.96707643e-05 -9.55199568e+01] [-1.02952740e-04 5.73993661e-06 9.99999995e-01 1.51338467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76232058799997 meters 0.03410159886819922 Centerline is valid? [True, True] Translation: X:281.98, Y:-95.55, Z:1.52 [[ 6.75541589e-01 7.37320720e-01 1.31084131e-03 2.81977195e+02] [-7.37319536e-01 6.75542857e-01 -1.32332735e-03 -9.55498548e+01] [-1.86124616e-03 -7.25462467e-05 9.99998265e-01 1.51589630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79232058799994 meters 0.03424402775542982 Centerline is valid? [True, True] Translation: X:282.02, Y:-95.58, Z:1.52 [[ 6.73109759e-01 7.39542158e-01 8.04968213e-04 2.82016579e+02] [-7.39541697e-01 6.73110240e-01 -8.26598825e-04 -9.55814984e+01] [-1.15313702e-03 -3.89158226e-05 9.99999334e-01 1.51606990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82232058799997 meters 0.03432435290467698 Centerline is valid? [True, True] Translation: X:283.19, Y:-94.44, Z:3.34 [[ 7.89582716e-01 -6.13587737e-01 8.32006253e-03 2.83191824e+02] [-6.13541396e-01 -7.89626048e-01 -7.59347243e-03 -9.44384411e+01] [ 1.12289997e-02 8.90971807e-04 -9.99936556e-01 3.34167414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85232058799994 meters 0.0348988221934751 Centerline is valid? [True, True] Translation: X:282.16, Y:-95.72, Z:1.52 [[ 7.29479899e-01 6.84001152e-01 1.22538288e-03 2.82158169e+02] [-6.84000353e-01 7.29480924e-01 -1.04798173e-03 -9.57168755e+01] [-1.61071414e-03 -7.36807161e-05 9.99998700e-01 1.51538815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88232058799997 meters 0.03531406683436813 Centerline is valid? [True, True] Translation: X:282.19, Y:-95.75, Z:1.52 [[ 7.27396788e-01 6.86216392e-01 9.87851834e-04 2.82194315e+02] [-6.86215858e-01 7.27397457e-01 -8.57653748e-04 -9.57450603e+01] [-1.30709697e-03 -5.40250121e-05 9.99999144e-01 1.51724941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91232058799994 meters 0.03658565466880607 Centerline is valid? [True, True] Translation: X:282.23, Y:-95.77, Z:1.52 [[ 7.23718919e-01 6.90088320e-01 3.00596315e-03 2.82232821e+02] [-6.90083469e-01 7.23725135e-01 -2.59500784e-03 -9.57702230e+01] [-3.96627569e-03 -1.96309208e-04 9.99992115e-01 1.51692118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.942320588 meters 0.03679780936696261 Centerline is valid? [True, True] Translation: X:282.27, Y:-95.80, Z:1.52 [[ 7.21498071e-01 6.92409521e-01 3.09645096e-03 2.82272195e+02] [-6.92404333e-01 7.21504687e-01 -2.68816615e-03 -9.57983225e+01] [-4.09541571e-03 -2.04489370e-04 9.99991593e-01 1.51757099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97232058799995 meters 0.03699384362395455 Centerline is valid? [True, True] Translation: X:282.31, Y:-95.83, Z:1.52 [[ 7.19758084e-01 6.94219944e-01 2.64025119e-03 2.82309590e+02] [-6.94216155e-01 7.19762904e-01 -2.30033969e-03 -9.58251105e+01] [-3.49729656e-03 -1.77216946e-04 9.99993869e-01 1.51893714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.002320588 meters 0.03701352485381931 Centerline is valid? [True, True] Translation: X:282.35, Y:-95.85, Z:1.52 [[ 7.18191918e-01 6.95840765e-01 2.44913207e-03 2.82346478e+02] [-6.95837485e-01 7.18196075e-01 -2.14282986e-03 -9.58527311e+01] [-3.25002540e-03 -1.65234814e-04 9.99994705e-01 1.51956034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03232058799995 meters 0.03698804386966128 Centerline is valid? [True, True] Translation: X:282.38, Y:-95.88, Z:1.52 [[ 7.17282215e-01 6.96778220e-01 2.51719556e-03 2.82383685e+02] [-6.96774734e-01 7.17286612e-01 -2.21046156e-03 -9.58796849e+01] [-3.34575215e-03 -1.68393510e-04 9.99994389e-01 1.51938872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.062320588 meters 0.03658553573975888 Centerline is valid? [True, True] Translation: X:282.42, Y:-95.90, Z:1.52 [[ 7.16843594e-01 6.97227634e-01 2.98126170e-03 2.82424305e+02] [-6.97222717e-01 7.16849767e-01 -2.62579288e-03 -9.59033948e+01] [-3.96789211e-03 -1.96320579e-04 9.99992109e-01 1.51763874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09232058799995 meters 0.03596024170695016 Centerline is valid? [True, True] Translation: X:282.46, Y:-95.93, Z:1.52 [[ 7.16354939e-01 6.97734869e-01 1.28648588e-03 2.82461776e+02] [-6.97733935e-01 7.16356090e-01 -1.14414586e-03 -9.59306981e+01] [-1.71989245e-03 -7.80103206e-05 9.99998518e-01 1.51844935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.122320588 meters 0.034622871149355756 Centerline is valid? [True, True] Translation: X:282.50, Y:-95.96, Z:1.52 [[ 7.18114139e-01 6.95920456e-01 2.60823901e-03 2.82500402e+02] [-6.95916618e-01 7.18118860e-01 -2.31598913e-03 -9.59554300e+01] [-3.48476983e-03 -1.51972331e-04 9.99993917e-01 1.51875740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15232058799995 meters 0.03421774377925323 Centerline is valid? [True, True] Translation: X:282.54, Y:-95.98, Z:1.52 [[ 7.17959757e-01 6.96077653e-01 3.11259914e-03 2.82536874e+02] [-6.96072157e-01 7.17966483e-01 -2.77164665e-03 -9.59821253e+01] [-4.16402315e-03 -1.76662845e-04 9.99991315e-01 1.51863966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.182320588 meters 0.03348867245338168 Centerline is valid? [True, True] Translation: X:282.58, Y:-96.01, Z:1.52 [[ 7.18081152e-01 6.95951732e-01 3.26278394e-03 2.82576537e+02] [-6.95945640e-01 7.18088543e-01 -2.91737017e-03 -9.60083433e+01] [-4.37331659e-03 -1.75811721e-04 9.99990422e-01 1.51951849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21232058799995 meters 0.032976086602806175 Centerline is valid? [True, True] Translation: X:282.61, Y:-96.04, Z:1.52 [[ 7.17774147e-01 6.96273231e-01 1.96523335e-03 2.82612902e+02] [-6.96270993e-01 7.17776830e-01 -1.76832153e-03 -9.60361447e+01] [-2.64183391e-03 -9.90795003e-05 9.99996505e-01 1.52032287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.242320588 meters 0.03226834203798631 Centerline is valid? [True, True] Translation: X:282.65, Y:-96.06, Z:1.52 [[ 7.17734095e-01 6.96316913e-01 7.24909516e-04 2.82648758e+02] [-6.96316599e-01 7.17734461e-01 -6.61810220e-04 -9.60632357e+01] [-9.81122190e-04 -2.97627691e-05 9.99999518e-01 1.52107340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27232058799996 meters 0.03137385923697602 Centerline is valid? [True, True] Translation: X:282.69, Y:-96.09, Z:1.52 [[ 7.18220321e-01 6.95814192e-01 1.47662299e-03 2.82690217e+02] [-6.95812892e-01 7.18221837e-01 -1.34632441e-03 -9.60903819e+01] [-1.99733450e-03 -6.04957619e-05 9.99998003e-01 1.52035313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.302320588 meters 0.03098099832249997 Centerline is valid? [True, True] Translation: X:282.73, Y:-96.12, Z:1.52 [[ 7.17494142e-01 6.96560531e-01 2.36287787e-03 2.82726831e+02] [-6.96557222e-01 7.17498025e-01 -2.14947944e-03 -9.61176222e+01] [-3.19260274e-03 -1.03640745e-04 9.99994898e-01 1.52105610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33232058799996 meters 0.030221720383425986 Centerline is valid? [True, True] Translation: X:282.76, Y:-96.14, Z:1.52 [[ 7.19013738e-01 6.94970280e-01 5.96273514e-03 2.82764053e+02] [-6.94949140e-01 7.19038421e-01 -5.42609856e-03 -9.61432763e+01] [-8.05841289e-03 -2.42358251e-04 9.99967501e-01 1.52053682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.362320588 meters 0.029628430553762006 Centerline is valid? [True, True] Translation: X:282.80, Y:-96.17, Z:1.52 [[ 7.19064559e-01 6.94911802e-01 6.61424887e-03 2.82799508e+02] [-6.94885602e-01 7.19094934e-01 -6.03957625e-03 -9.61704901e+01] [-8.95324566e-03 -2.53301074e-04 9.99959887e-01 1.52076855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39232058799996 meters 0.02891366668838848 Centerline is valid? [True, True] Translation: X:282.83, Y:-96.20, Z:1.52 [[ 7.19197678e-01 6.94784993e-01 5.33978008e-03 2.82834733e+02] [-6.94767769e-01 7.19217476e-01 -4.89577421e-03 -9.61986793e+01] [-7.24197360e-03 -1.88877646e-04 9.99973759e-01 1.52261424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.422320588 meters 0.028438491753063042 Centerline is valid? [True, True] Translation: X:282.87, Y:-96.23, Z:1.52 [[ 7.18899396e-01 6.95092027e-01 5.54371055e-03 2.82869865e+02] [-6.95073333e-01 7.18920746e-01 -5.10128543e-03 -9.62274560e+01] [-7.53135136e-03 -1.85974354e-04 9.99971622e-01 1.52229938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45232058799996 meters 0.027837935449872828 Centerline is valid? [True, True] Translation: X:282.90, Y:-96.26, Z:1.52 [[ 7.18351945e-01 6.95660164e-01 5.23632798e-03 2.82904339e+02] [-6.95643370e-01 7.18371010e-01 -4.83663000e-03 -9.62564594e+01] [-7.12627704e-03 -1.68214277e-04 9.99974594e-01 1.52260900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48232058799994 meters 0.027831066334354743 Centerline is valid? [True, True] Translation: X:282.94, Y:-96.29, Z:1.52 [[ 7.16991170e-01 6.97062856e-01 5.19965339e-03 2.82940905e+02] [-6.97046156e-01 7.17010006e-01 -4.82782603e-03 -9.62860142e+01] [-7.09350171e-03 -1.62889775e-04 9.99974828e-01 1.52037707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51232058799997 meters 0.027641609440877207 Centerline is valid? [True, True] Translation: X:282.98, Y:-96.32, Z:1.52 [[ 7.15987163e-01 6.98093499e-01 5.27713850e-03 2.82977367e+02] [-6.98076167e-01 7.16006593e-01 -4.92176437e-03 -9.63156409e+01] [-7.21431766e-03 -1.59924506e-04 9.99973964e-01 1.52013487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54232058799994 meters 0.027662301642308654 Centerline is valid? [True, True] Translation: X:283.01, Y:-96.35, Z:1.52 [[ 7.14428547e-01 6.99692536e-01 4.71248641e-03 2.83009983e+02] [-6.99678651e-01 7.14444074e-01 -4.41029029e-03 -9.63462025e+01] [-6.45265518e-03 -1.46388854e-04 9.99979171e-01 1.52089173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57232058799997 meters 0.02758015590008044 Centerline is valid? [True, True] Translation: X:283.04, Y:-96.38, Z:1.52 [[ 7.13748160e-01 7.00378239e-01 5.82123134e-03 2.83044037e+02] [-7.00356929e-01 7.13771877e-01 -5.46626479e-03 -9.63773579e+01] [-7.98348412e-03 -1.75403261e-04 9.99968116e-01 1.52047504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60232058799994 meters 0.02726394515435207 Centerline is valid? [True, True] Translation: X:283.08, Y:-96.41, Z:1.52 [[ 7.13076494e-01 7.01058692e-01 6.21486728e-03 2.83077056e+02] [-7.01034255e-01 7.13103553e-01 -5.85622022e-03 -9.64075613e+01] [-8.53739803e-03 -1.80901872e-04 9.99963539e-01 1.52022399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63232058799997 meters 0.02701041690069909 Centerline is valid? [True, True] Translation: X:283.12, Y:-96.44, Z:1.52 [[ 7.11139061e-01 7.03021721e-01 6.45719816e-03 2.83118569e+02] [-7.02994964e-01 7.11168355e-01 -6.13607756e-03 -9.64433046e+01] [-8.90595080e-03 -1.75773354e-04 9.99960326e-01 1.52083858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66232058799994 meters 0.026738293098920392 Centerline is valid? [True, True] Translation: X:283.15, Y:-96.47, Z:1.52 [[ 7.10638442e-01 7.03532608e-01 5.90553125e-03 2.83152387e+02] [-7.03510132e-01 7.10662962e-01 -5.62579487e-03 -9.64749562e+01] [-8.15477246e-03 -1.56694972e-04 9.99966737e-01 1.52115475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.692320588 meters 0.025676076952330155 Centerline is valid? [True, True] Translation: X:283.18, Y:-96.51, Z:1.52 [[ 7.11258468e-01 7.02914698e-01 4.72426010e-03 2.83184835e+02] [-7.02900174e-01 7.11274149e-01 -4.51992624e-03 -9.65077409e+01] [-6.53736667e-03 -1.05847432e-04 9.99978626e-01 1.52261242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72232058799995 meters 0.02525691632959379 Centerline is valid? [True, True] Translation: X:283.22, Y:-96.54, Z:1.52 [[ 7.11377469e-01 7.02795830e-01 4.48535279e-03 2.83218549e+02] [-7.02782629e-01 7.11391604e-01 -4.30845441e-03 -9.65391229e+01] [-6.21880610e-03 -8.72906301e-05 9.99980659e-01 1.52235278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.752320588 meters 0.02525691632959379 Centerline is valid? [True, True] Translation: X:283.25, Y:-96.57, Z:1.52 [[ 7.10042827e-01 7.04144260e-01 4.47721758e-03 2.83252355e+02] [-7.04131032e-01 7.10056937e-01 -4.31691969e-03 -9.65694474e+01] [-6.21881362e-03 -8.73499726e-05 9.99980659e-01 1.52257243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78232058799995 meters 0.024559414612929906 Centerline is valid? [True, True] Translation: X:283.29, Y:-96.60, Z:1.52 [[ 7.11148331e-01 7.03024395e-01 4.97509113e-03 2.83285316e+02] [-7.03007911e-01 7.11165729e-01 -4.81487216e-03 -9.66022880e+01] [-6.92308689e-03 -7.34401242e-05 9.99976032e-01 1.52264513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.812320588 meters 0.024384102647623054 Centerline is valid? [True, True] Translation: X:283.32, Y:-96.63, Z:1.52 [[ 7.10691669e-01 7.03488373e-01 4.63252102e-03 2.83318216e+02] [-7.03473977e-01 7.10706765e-01 -4.50094170e-03 -9.66346572e+01] [-6.45872418e-03 -6.00762139e-05 9.99979140e-01 1.52411051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84232058799995 meters 0.02427845998045323 Centerline is valid? [True, True] Translation: X:283.35, Y:-96.67, Z:1.53 [[ 7.09925609e-01 7.04263489e-01 4.30910736e-03 2.83350425e+02] [-7.04250947e-01 7.09938684e-01 -4.20341125e-03 -9.66670413e+01] [-6.01951108e-03 -5.05836482e-05 9.99981881e-01 1.52567780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.872320588 meters 0.024218267890581277 Centerline is valid? [True, True] Translation: X:283.38, Y:-96.70, Z:1.53 [[ 7.08566031e-01 7.05629095e-01 4.66464720e-03 2.83381833e+02] [-7.05614311e-01 7.08581383e-01 -4.56808578e-03 -9.67009265e+01] [-6.52865640e-03 -5.46514111e-05 9.99978687e-01 1.52520435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90232058799995 meters 0.024375660190993794 Centerline is valid? [True, True] Translation: X:283.41, Y:-96.73, Z:1.52 [[ 7.06802171e-01 7.07392849e-01 5.10381657e-03 2.83413962e+02] [-7.07375070e-01 7.06820595e-01 -5.01568745e-03 -9.67330859e+01] [-7.15554410e-03 -6.52138243e-05 9.99974397e-01 1.52368861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.932320588 meters 0.024585820371538506 Centerline is valid? [True, True] Translation: X:283.44, Y:-96.77, Z:1.52 [[ 7.04403813e-01 7.09786536e-01 4.28274815e-03 2.83443220e+02] [-7.09773953e-01 7.04416829e-01 -4.22684001e-03 -9.67684534e+01] [-6.01699400e-03 -6.23808630e-05 9.99981896e-01 1.52423576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96232058799995 meters 0.024784547816788734 Centerline is valid? [True, True] Translation: X:283.48, Y:-96.80, Z:1.52 [[ 7.02502940e-01 7.11666631e-01 4.49732050e-03 2.83475526e+02] [-7.11652685e-01 7.02517331e-01 -4.45585889e-03 -9.68024438e+01] [-6.33053168e-03 -7.02762406e-05 9.99979960e-01 1.52446267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.992320588 meters 0.02543983595749207 Centerline is valid? [True, True] Translation: X:283.51, Y:-96.84, Z:1.53 [[ 6.99156911e-01 7.14958567e-01 3.72311621e-03 2.83506219e+02] [-7.14948968e-01 6.99166820e-01 -3.70551034e-03 -9.68378239e+01] [-5.25236569e-03 -7.11049243e-05 9.99986204e-01 1.52708806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02232058799996 meters 0.025493125407911946 Centerline is valid? [True, True] Translation: X:283.54, Y:-96.87, Z:1.53 [[ 6.96610187e-01 7.17439525e-01 3.84379038e-03 2.83539914e+02] [-7.17429228e-01 6.96620787e-01 -3.84465559e-03 -9.68711118e+01] [-5.43597216e-03 -7.94213176e-05 9.99985222e-01 1.52719389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.052320588 meters 0.026119241491954263 Centerline is valid? [True, True] Translation: X:283.57, Y:-96.91, Z:1.53 [[ 6.93705714e-01 7.20247381e-01 4.01151495e-03 2.83572329e+02] [-7.20236139e-01 6.93717306e-01 -4.02538123e-03 -9.69052155e+01] [-5.68212763e-03 -9.68080769e-05 9.99983852e-01 1.52778982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08232058799996 meters 0.026789950006566227 Centerline is valid? [True, True] Translation: X:284.71, Y:-95.80, Z:3.35 [[ 7.76427794e-01 -6.30116136e-01 1.06553428e-02 2.84711575e+02] [-6.30044233e-01 -7.76500592e-01 -9.54441863e-03 -9.57958601e+01] [ 1.42879722e-02 6.97214640e-04 -9.99897679e-01 3.34799769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.112320588 meters 0.02731730007336203 Centerline is valid? [True, True] Translation: X:283.70, Y:-97.05, Z:1.53 [[ 7.46716524e-01 6.65133036e-01 3.53232415e-03 2.83702371e+02] [-6.65126268e-01 7.46724871e-01 -3.00244632e-03 -9.70487252e+01] [-4.63470053e-03 -1.07465295e-04 9.99989254e-01 1.52798979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14232058799996 meters 0.0279560574375515 Centerline is valid? [True, True] Translation: X:283.74, Y:-97.08, Z:1.53 [[ 7.43765246e-01 6.68431839e-01 3.48353079e-03 2.83735647e+02] [-6.68425196e-01 7.43773396e-01 -2.98229082e-03 -9.70811389e+01] [-4.58441566e-03 -1.10355480e-04 9.99989485e-01 1.52897251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.172320588 meters 0.027872006483104835 Centerline is valid? [True, True] Translation: X:283.77, Y:-97.11, Z:1.53 [[ 7.42583526e-01 6.69748155e-01 2.66765320e-03 2.83770946e+02] [-6.69744227e-01 7.42588313e-01 -2.29510789e-03 -9.71108017e+01] [-3.51811236e-03 -8.23360203e-05 9.99993808e-01 1.52957017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20232058799996 meters 0.027876850182026812 Centerline is valid? [True, True] Translation: X:283.81, Y:-97.14, Z:1.53 [[ 7.40345727e-01 6.72223817e-01 1.82889875e-03 2.83813150e+02] [-6.72221922e-01 7.40347984e-01 -1.59669084e-03 -9.71447203e+01] [-2.42735512e-03 -4.73225912e-05 9.99997053e-01 1.53066365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23232058799994 meters 0.027666868584199464 Centerline is valid? [True, True] Translation: X:283.85, Y:-97.17, Z:1.53 [[ 7.39215848e-01 6.73467120e-01 1.40297876e-03 2.83846015e+02] [-6.73466008e-01 7.39217178e-01 -1.22488702e-03 -9.71747865e+01] [-1.86202713e-03 -3.94026056e-05 9.99998266e-01 1.53173773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26232058799997 meters 0.02751561271754292 Centerline is valid? [True, True] Translation: X:283.88, Y:-97.21, Z:1.53 [[ 7.37766296e-01 6.75054148e-01 1.67047722e-03 2.83879619e+02] [-6.75052566e-01 7.37768185e-01 -1.46217243e-03 -9.72061212e+01] [-2.21947051e-03 -4.89183999e-05 9.99997536e-01 1.53306770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29232058799994 meters 0.0276315633007344 Centerline is valid? [True, True] Translation: X:283.91, Y:-97.24, Z:1.53 [[ 7.36415527e-01 6.76528230e-01 1.31385961e-03 2.83913328e+02] [-6.76527242e-01 7.36416698e-01 -1.15658757e-03 -9.72359148e+01] [-1.75001229e-03 -3.71327766e-05 9.99998468e-01 1.53452208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32232058799997 meters 0.027389156783469662 Centerline is valid? [True, True] Translation: X:283.95, Y:-97.27, Z:1.53 [[ 7.35070873e-01 6.77986132e-01 2.37005987e-03 2.83949777e+02] [-6.77982915e-01 7.35074690e-01 -2.08967500e-03 -9.72658107e+01] [-3.15894169e-03 -7.08008745e-05 9.99995008e-01 1.53390460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35232058799994 meters 0.027336101405607143 Centerline is valid? [True, True] Translation: X:283.98, Y:-97.30, Z:1.54 [[ 7.34401965e-01 6.78713532e-01 1.30217186e-03 2.83982927e+02] [-6.78712546e-01 7.34403119e-01 -1.15733609e-03 -9.72980748e+01] [-1.74181874e-03 -3.38504745e-05 9.99998482e-01 1.53562212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38232058799997 meters 0.027205777277586322 Centerline is valid? [True, True] Translation: X:284.02, Y:-97.33, Z:1.54 [[ 7.33499917e-01 6.79689466e-01 3.18938891e-04 2.84017245e+02] [-6.79689403e-01 7.33499986e-01 -2.93329693e-04 -9.73279096e+01] [-4.33314774e-04 -1.62207907e-06 9.99999906e-01 1.53579668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41232058799994 meters 0.027007066935377876 Centerline is valid? [True, True] Translation: X:284.05, Y:-97.36, Z:1.53 [[ 7.32869956e-01 6.80368705e-01 2.30653864e-04 2.84050538e+02] [-6.80368670e-01 7.32869992e-01 -2.16261481e-04 -9.73589791e+01] [-3.16176838e-04 1.56187930e-06 9.99999950e-01 1.53439105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.442320588 meters 0.026720455186323697 Centerline is valid? [True, True] Translation: X:284.08, Y:-97.39, Z:1.54 [[ 7.31507682e-01 6.81832900e-01 6.38404748e-04 2.84084538e+02] [-6.81832653e-01 7.31507961e-01 -5.79617669e-04 -9.73894453e+01] [-8.62200550e-04 -1.12904257e-05 9.99999628e-01 1.53501207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47232058799995 meters 0.026866310170869292 Centerline is valid? [True, True] Translation: X:284.12, Y:-97.42, Z:1.54 [[ 7.30438284e-01 6.82978680e-01 1.91527898e-04 2.84118717e+02] [-6.82978655e-01 7.30438309e-01 -1.82985170e-04 -9.74200047e+01] [-2.64874283e-04 2.84990743e-06 9.99999965e-01 1.53558130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.502320588 meters 0.02672150866439939 Centerline is valid? [True, True] Translation: X:284.15, Y:-97.45, Z:1.54 [[ 7.29720655e-01 6.83745172e-01 5.52795926e-04 2.84151911e+02] [-6.83744984e-01 7.29720864e-01 -5.07398249e-04 -9.74521043e+01] [-7.50317823e-04 -7.71245940e-06 9.99999718e-01 1.53602229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53232058799995 meters 0.0268315359821473 Centerline is valid? [True, True] Translation: X:284.19, Y:-97.48, Z:1.54 [[ 7.28177599e-01 6.85387958e-01 8.55070351e-04 2.84185509e+02] [-6.85387513e-01 7.28178101e-01 -7.81165617e-04 -9.74829605e+01] [-1.15804501e-03 -1.72272378e-05 9.99999329e-01 1.53702114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.562320588 meters 0.026072491347546065 Centerline is valid? [True, True] Translation: X:284.22, Y:-97.52, Z:1.54 [[ 7.28232247e-01 6.85329940e-01 8.17120350e-04 2.84217840e+02] [-6.85329530e-01 7.28232705e-01 -7.49905756e-04 -9.75151226e+01] [-1.10898663e-03 -1.38911512e-05 9.99999385e-01 1.53871100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59232058799995 meters 0.025905800699000937 Centerline is valid? [True, True] Translation: X:284.26, Y:-97.55, Z:1.54 [[ 7.27371960e-01 6.86242715e-01 -9.84183684e-04 2.84255049e+02] [-6.86242155e-01 7.27372625e-01 8.77585800e-04 -9.75480677e+01] [ 1.31810513e-03 3.70570290e-05 9.99999131e-01 1.53963025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.622320588 meters 0.025677444558145586 Centerline is valid? [True, True] Translation: X:284.29, Y:-97.58, Z:1.54 [[ 7.26572482e-01 6.87084397e-01 -2.73107123e-03 2.84289066e+02] [-6.87079940e-01 7.26577611e-01 2.47612836e-03 -9.75791538e+01] [ 3.68564437e-03 7.73775261e-05 9.99993205e-01 1.54055478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65232058799995 meters 0.025116303911627606 Centerline is valid? [True, True] Translation: X:284.32, Y:-97.61, Z:1.54 [[ 7.26099093e-01 6.87585831e-01 -2.41519637e-03 2.84323277e+02] [-6.87582324e-01 7.26103107e-01 2.19695183e-03 -9.76104034e+01] [ 3.26427453e-03 6.54416051e-05 9.99994670e-01 1.53969004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.682320588 meters 0.02531067071247749 Centerline is valid? [True, True] Translation: X:284.36, Y:-97.64, Z:1.54 [[ 7.24976609e-01 6.88768080e-01 -2.72921947e-03 2.84357890e+02] [-6.88763568e-01 7.24981743e-01 2.49405570e-03 -9.76410126e+01] [ 3.69646024e-03 7.16548963e-05 9.99993165e-01 1.53984170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71232058799995 meters 0.025009134391266497 Centerline is valid? [True, True] Translation: X:284.39, Y:-97.67, Z:1.54 [[ 7.24374773e-01 6.89401564e-01 -2.58290047e-03 2.84390765e+02] [-6.89397496e-01 7.24379375e-01 2.36908121e-03 -9.76737810e+01] [ 3.50424812e-03 6.45424524e-05 9.99993858e-01 1.54014925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.742320588 meters 0.025077626419790416 Centerline is valid? [True, True] Translation: X:284.42, Y:-97.71, Z:1.54 [[ 7.23394151e-01 6.90431841e-01 -2.18505359e-03 2.84424450e+02] [-6.90428917e-01 7.23397449e-01 2.01013577e-03 -9.77061438e+01] [ 2.96852394e-03 5.45037298e-05 9.99995592e-01 1.53908202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77232058799996 meters 0.024400539499129306 Centerline is valid? [True, True] Translation: X:284.46, Y:-97.74, Z:1.54 [[ 7.23775583e-01 6.90030839e-01 -2.51921868e-03 2.84457367e+02] [-6.90026914e-01 7.23779966e-01 2.32812621e-03 -9.77399044e+01] [ 3.42983889e-03 5.32877903e-05 9.99994117e-01 1.54087476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.802320588 meters 0.02424607981547243 Centerline is valid? [True, True] Translation: X:284.49, Y:-97.77, Z:1.54 [[ 7.22778822e-01 6.91070569e-01 -3.49908320e-03 2.84491242e+02] [-6.91062910e-01 7.22787289e-01 3.25407413e-03 -9.77719538e+01] [ 4.77788772e-03 6.61107517e-05 9.99988584e-01 1.54280180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83232058799996 meters 0.023995289299633717 Centerline is valid? [True, True] Translation: X:284.52, Y:-97.80, Z:1.54 [[ 7.22722046e-01 6.91131052e-01 -3.27315708e-03 2.84524748e+02] [-6.91124301e-01 7.22729456e-01 3.05516676e-03 -9.78035694e+01] [ 4.47712766e-03 5.41220236e-05 9.99989976e-01 1.54278008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.862320588 meters 0.023708450488177803 Centerline is valid? [True, True] Translation: X:284.56, Y:-97.84, Z:1.54 [[ 7.23138412e-01 6.90692125e-01 -3.90206067e-03 2.84557705e+02] [-6.90682434e-01 7.23148938e-01 3.65911157e-03 -9.78364096e+01] [ 5.34909058e-03 4.90406354e-05 9.99985692e-01 1.54331117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89232058799996 meters 0.023780097752239406 Centerline is valid? [True, True] Translation: X:284.60, Y:-97.87, Z:1.54 [[ 7.21515577e-01 6.92393162e-01 -2.64244677e-03 2.84595114e+02] [-6.92388713e-01 7.21520414e-01 2.48231865e-03 -9.78715509e+01] [ 3.62531974e-03 3.85687433e-05 9.99993428e-01 1.54173158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.922320588 meters 0.02359986063477038 Centerline is valid? [True, True] Translation: X:284.63, Y:-97.91, Z:1.54 [[ 7.21338263e-01 6.92577270e-01 -2.79900135e-03 2.84626117e+02] [-6.92572214e-01 7.21343693e-01 2.64665664e-03 -9.79058923e+01] [ 3.85205620e-03 2.93758556e-05 9.99992580e-01 1.54166606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95232058799996 meters 0.02340783512403369 Centerline is valid? [True, True] Translation: X:284.66, Y:-97.94, Z:1.54 [[ 7.19782946e-01 6.94192365e-01 -3.07735030e-03 2.84664966e+02] [-6.94186210e-01 7.19789524e-01 2.92357205e-03 -9.79422977e+01] [ 4.24456590e-03 3.19168418e-05 9.99990991e-01 1.54154771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98232058799994 meters 0.02344865700930157 Centerline is valid? [True, True] Translation: X:284.70, Y:-97.97, Z:1.54 [[ 7.19605840e-01 6.94371807e-01 -3.90239048e-03 2.84698264e+02] [-6.94361756e-01 7.19616421e-01 3.73610270e-03 -9.79740640e+01] [ 5.40246865e-03 2.11493880e-05 9.99985406e-01 1.54216057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01232058799997 meters 0.023453428715128538 Centerline is valid? [True, True] Translation: X:284.73, Y:-98.01, Z:1.54 [[ 7.20448543e-01 6.93504340e-01 -2.37209791e-03 2.84729349e+02] [-6.93500607e-01 7.20452448e-01 2.27545783e-03 -9.80081157e+01] [ 3.28702362e-03 5.70106096e-06 9.99994598e-01 1.54206454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04232058799994 meters 0.02336480743830307 Centerline is valid? [True, True] Translation: X:284.76, Y:-98.04, Z:1.54 [[ 7.19714944e-01 6.94266574e-01 -2.07950059e-03 2.84761606e+02] [-6.94263688e-01 7.19717948e-01 2.00187773e-03 -9.80408650e+01] [ 2.88649069e-03 2.94043399e-06 9.99995834e-01 1.54351378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07232058799997 meters 0.023486963741586722 Centerline is valid? [True, True] Translation: X:284.79, Y:-98.07, Z:1.54 [[ 7.18997454e-01 6.95006950e-01 -2.82849596e-03 2.84793542e+02] [-6.95001548e-01 7.19003018e-01 2.74024790e-03 -9.80741233e+01] [ 3.93818847e-03 -4.42218956e-06 9.99992245e-01 1.54416558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10232058799994 meters 0.023384478416903443 Centerline is valid? [True, True] Translation: X:284.83, Y:-98.10, Z:1.54 [[ 7.15187859e-01 6.98922338e-01 -3.72712802e-03 2.84829041e+02] [-6.98912903e-01 7.15197571e-01 3.63159725e-03 -9.81040110e+01] [ 5.20383734e-03 7.66359841e-06 9.99986460e-01 1.54204044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13232058799997 meters 0.023381233588205135 Centerline is valid? [True, True] Translation: X:284.87, Y:-98.14, Z:1.54 [[ 7.11941209e-01 7.02226398e-01 -4.21910989e-03 2.84868177e+02] [-7.02214239e-01 7.11953710e-01 4.13243229e-03 -9.81391436e+01] [ 5.90571398e-03 2.06701948e-05 9.99982561e-01 1.54190852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16232058799994 meters 0.023619782053744817 Centerline is valid? [True, True] Translation: X:284.90, Y:-98.17, Z:1.54 [[ 7.07433783e-01 7.06763170e-01 -4.82343158e-03 2.84901085e+02] [-7.06747187e-01 7.07450224e-01 4.75321861e-03 -9.81723060e+01] [ 6.77173760e-03 4.63592854e-05 9.99977070e-01 1.54497297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.192320588 meters 0.02378010113881831 Centerline is valid? [True, True] Translation: X:284.94, Y:-98.20, Z:1.55 [[ 7.04568293e-01 7.09619484e-01 -4.86914461e-03 2.84935365e+02] [-7.09603116e-01 7.04585115e-01 4.82020925e-03 -9.82047225e+01] [ 6.85124122e-03 5.89935846e-05 9.99976528e-01 1.54572900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22232058799995 meters 0.023978109093485255 Centerline is valid? [True, True] Translation: X:284.97, Y:-98.24, Z:1.54 [[ 7.01729259e-01 7.12424934e-01 -5.17306951e-03 2.84970823e+02] [-7.12406358e-01 7.01748322e-01 5.14526174e-03 -9.82360253e+01] [ 7.29580561e-03 7.47468954e-05 9.99973382e-01 1.54490571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.252320588 meters 0.0241554399832706 Centerline is valid? [True, True] Translation: X:285.01, Y:-98.27, Z:1.54 [[ 6.99335607e-01 7.14781237e-01 -4.18223485e-03 2.85006956e+02] [-7.14769043e-01 6.99348109e-01 4.17585175e-03 -9.82680419e+01] [ 5.90965851e-03 6.90101793e-05 9.99982535e-01 1.54476267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28232058799995 meters 0.02426979980497932 Centerline is valid? [True, True] Translation: X:286.26, Y:-97.03, Z:3.35 [[ 7.68245446e-01 -6.40144492e-01 3.73701779e-03 2.86257133e+02] [-6.40134069e-01 -7.68254412e-01 -3.67857262e-03 -9.70285800e+01] [ 5.22579840e-03 4.33854256e-04 -9.99986251e-01 3.34929583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.312320588 meters 0.024337283202181443 Centerline is valid? [True, True] Translation: X:285.14, Y:-98.40, Z:1.55 [[ 7.54841715e-01 6.55898182e-01 -3.40002664e-03 2.85143174e+02] [-6.55891817e-01 7.54849370e-01 2.89015387e-03 -9.84019689e+01] [ 4.46215464e-03 4.84409483e-05 9.99990043e-01 1.54573552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34232058799995 meters 0.024234845519882406 Centerline is valid? [True, True] Translation: X:285.18, Y:-98.43, Z:1.55 [[ 7.53761187e-01 6.57133194e-01 -4.47628197e-03 2.85179231e+02] [-6.57122145e-01 7.53774476e-01 3.81138498e-03 -9.84305160e+01] [ 5.87869468e-03 6.85899410e-05 9.99982718e-01 1.54638414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.372320588 meters 0.02447852375521221 Centerline is valid? [True, True] Translation: X:285.21, Y:-98.46, Z:1.54 [[ 7.52849369e-01 6.58178409e-01 -4.36000358e-03 2.85214562e+02] [-6.58167864e-01 7.52861991e-01 3.72638119e-03 -9.84588904e+01] [ 5.73510463e-03 6.42105162e-05 9.99983552e-01 1.54448098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40232058799995 meters 0.024014083379784782 Centerline is valid? [True, True] Translation: X:285.25, Y:-98.49, Z:1.55 [[ 7.52220245e-01 6.58901934e-01 -3.59775105e-03 2.85250492e+02] [-6.58894715e-01 7.52228847e-01 3.08469304e-03 -9.84875859e+01] [ 4.73884233e-03 5.01705964e-05 9.99988770e-01 1.54569307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.432320588 meters 0.02441503784767636 Centerline is valid? [True, True] Translation: X:285.30, Y:-98.53, Z:1.55 [[ 7.48172703e-01 6.63498405e-01 -2.73353967e-03 2.85300973e+02] [-6.63494261e-01 7.48177695e-01 2.34593886e-03 -9.85268956e+01] [ 3.60170010e-03 5.85204581e-05 9.99993512e-01 1.54650159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46232058799995 meters 0.024439057910509588 Centerline is valid? [True, True] Translation: X:285.34, Y:-98.56, Z:1.55 [[ 7.46423589e-01 6.65466236e-01 -2.55258088e-03 2.85335812e+02] [-6.65462551e-01 7.46427952e-01 2.21491461e-03 -9.85560224e+01] [ 3.37926861e-03 4.53824712e-05 9.99994289e-01 1.54629155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.492320588 meters 0.024449114068580483 Centerline is valid? [True, True] Translation: X:285.37, Y:-98.59, Z:1.55 [[ 7.44698995e-01 6.67391706e-01 -3.42297819e-03 2.85371590e+02] [-6.67385031e-01 7.44706860e-01 2.98560410e-03 -9.85850780e+01] [ 4.54168275e-03 6.10680272e-05 9.99989685e-01 1.54638362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52232058799996 meters 0.024586555474691678 Centerline is valid? [True, True] Translation: X:285.41, Y:-98.62, Z:1.55 [[ 7.42323581e-01 6.70035946e-01 -2.74455483e-03 2.85411532e+02] [-6.70031652e-01 7.42328652e-01 2.39950739e-03 -9.86164509e+01] [ 3.64511789e-03 5.77276831e-05 9.99993355e-01 1.54606678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.552320588 meters 0.024463975817072985 Centerline is valid? [True, True] Translation: X:285.45, Y:-98.65, Z:1.55 [[ 7.40789556e-01 6.71733228e-01 -2.30298639e-03 2.85447724e+02] [-6.71730181e-01 7.40793134e-01 2.02402550e-03 -9.86459723e+01] [ 3.06564169e-03 4.76085155e-05 9.99995300e-01 1.54594585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58232058799996 meters 0.0244043791599594 Centerline is valid? [True, True] Translation: X:285.48, Y:-98.68, Z:1.55 [[ 7.39508857e-01 6.73139839e-01 -3.06727947e-03 2.85483434e+02] [-6.73134386e-01 7.39515215e-01 2.71023195e-03 -9.86767910e+01] [ 4.09266493e-03 6.04507509e-05 9.99991623e-01 1.54663302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.612320588 meters 0.024247341072859887 Centerline is valid? [True, True] Translation: X:285.52, Y:-98.71, Z:1.55 [[ 7.38313710e-01 6.74448974e-01 -3.38338673e-03 2.85517988e+02] [-6.74442283e-01 7.38321460e-01 3.00477026e-03 -9.87075355e+01] [ 4.52459125e-03 6.34359914e-05 9.99989762e-01 1.54761675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64232058799996 meters 0.024247341072859887 Centerline is valid? [True, True] Translation: X:285.55, Y:-98.74, Z:1.55 [[ 7.36994584e-01 6.75890213e-01 -3.37672531e-03 2.85553290e+02] [-6.75883504e-01 7.37002317e-01 3.01223726e-03 -9.87369829e+01] [ 4.52459606e-03 6.22703831e-05 9.99989762e-01 1.54783979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.672320588 meters 0.02409091287434746 Centerline is valid? [True, True] Translation: X:285.59, Y:-98.77, Z:1.55 [[ 7.35748138e-01 6.77243794e-01 -3.93959962e-03 2.85587936e+02] [-6.77234595e-01 7.35758682e-01 3.53047299e-03 -9.87680720e+01] [ 5.28958555e-03 7.04942187e-05 9.99986008e-01 1.54975144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70232058799996 meters 0.023785239290696716 Centerline is valid? [True, True] Translation: X:285.62, Y:-98.80, Z:1.55 [[ 7.35217840e-01 6.77824698e-01 -2.89937586e-03 2.85623715e+02] [-6.77819689e-01 7.35223555e-01 2.60641288e-03 -9.87974458e+01] [ 3.89838045e-03 4.89727974e-05 9.99992400e-01 1.54990449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73232058799994 meters 0.023747420081212414 Centerline is valid? [True, True] Translation: X:285.66, Y:-98.83, Z:1.55 [[ 7.33854347e-01 6.79306070e-01 -1.03022781e-03 2.85659089e+02] [-6.79305444e-01 7.33855070e-01 9.21859799e-04 -9.88276398e+01] [ 1.38226286e-03 2.33285410e-05 9.99999044e-01 1.54812180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76232058799997 meters 0.023769676109601092 Centerline is valid? [True, True] Translation: X:285.70, Y:-98.86, Z:1.55 [[ 7.31823617e-01 6.81494089e-01 2.50957435e-08 2.85701422e+02] [-6.81494089e-01 7.31823617e-01 -2.24178121e-05 -9.88636963e+01] [-1.52959715e-05 1.63887817e-05 1.00000000e+00 1.54700047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79232058799994 meters 0.02354770755235374 Centerline is valid? [True, True] Translation: X:285.74, Y:-98.89, Z:1.55 [[ 7.30826074e-01 6.82562867e-01 1.08738532e-03 2.85736206e+02] [-6.82562118e-01 7.30826883e-01 -1.01138641e-03 -9.88946712e+01] [-1.48502523e-03 -3.06046391e-06 9.99998897e-01 1.54646968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82232058799997 meters 0.023330600757848877 Centerline is valid? [True, True] Translation: X:285.77, Y:-98.93, Z:1.55 [[ 7.30493882e-01 6.82915905e-01 2.13438173e-03 2.85773269e+02] [-6.82913026e-01 7.30497000e-01 -1.98270702e-03 -9.89263695e+01] [-2.91318161e-03 -9.24173783e-06 9.99995757e-01 1.54557517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85232058799994 meters 0.023221529907745172 Centerline is valid? [True, True] Translation: X:285.81, Y:-98.96, Z:1.55 [[ 7.29306396e-01 6.84184740e-01 1.84999510e-03 2.85810230e+02] [-6.84182556e-01 7.29308743e-01 -1.72875305e-03 -9.89577452e+01] [-2.53200405e-03 -4.94371557e-06 9.99996794e-01 1.54624835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88232058799997 meters 0.02313701564724478 Centerline is valid? [True, True] Translation: X:285.84, Y:-98.99, Z:1.55 [[ 7.27952079e-01 6.85625266e-01 1.94064079e-03 2.85844316e+02] [-6.85622852e-01 7.27954665e-01 -1.81942552e-03 -9.89884446e+01] [-2.66014262e-03 -6.09308433e-06 9.99996462e-01 1.54565092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91232058799994 meters 0.023265460833946903 Centerline is valid? [True, True] Translation: X:285.88, Y:-99.02, Z:1.55 [[ 7.25292890e-01 6.88439786e-01 9.41193995e-04 2.85878560e+02] [-6.88439206e-01 7.25293500e-01 -8.93548837e-04 -9.90199730e+01] [-1.29779646e-03 1.29771364e-07 9.99999158e-01 1.54675668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.942320588 meters 0.023718381886106168 Centerline is valid? [True, True] Translation: X:285.91, Y:-99.05, Z:1.55 [[ 7.22016465e-01 6.91872786e-01 2.06689819e-03 2.85913848e+02] [-6.91870026e-01 7.22019423e-01 -1.95463557e-03 -9.90514210e+01] [-2.84469980e-03 -1.87458367e-05 9.99995954e-01 1.54575814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97232058799995 meters 0.023969709068692193 Centerline is valid? [True, True] Translation: X:285.95, Y:-99.08, Z:1.54 [[ 7.19910506e-01 6.94059530e-01 3.19866051e-03 2.85951592e+02] [-6.94052890e-01 7.19917611e-01 -3.03616722e-03 -9.90836571e+01] [-4.41005283e-03 -3.42708905e-05 9.99990275e-01 1.54498775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.002320588 meters 0.02373361452143147 Centerline is valid? [True, True] Translation: X:285.99, Y:-99.11, Z:1.55 [[ 7.18618848e-01 6.95395814e-01 3.40790285e-03 2.85987413e+02] [-6.95388241e-01 7.18626927e-01 -3.24549486e-03 -9.91145143e+01] [-4.70591429e-03 -3.75417892e-05 9.99988926e-01 1.54567276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03232058799995 meters 0.023215462038387775 Centerline is valid? [True, True] Translation: X:286.02, Y:-99.15, Z:1.55 [[ 7.18255787e-01 6.95770558e-01 3.45762659e-03 2.86021843e+02] [-6.95762697e-01 7.18264108e-01 -3.30762915e-03 -9.91469579e+01] [-4.78484006e-03 -2.99638222e-05 9.99988552e-01 1.54770627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.062320588 meters 0.02352185474268683 Centerline is valid? [True, True] Translation: X:286.06, Y:-99.18, Z:1.55 [[ 7.16130063e-01 6.97961736e-01 2.67377745e-03 2.86056809e+02] [-6.97956994e-01 7.16135054e-01 -2.57283939e-03 -9.91790252e+01] [-3.71052920e-03 -2.36940418e-05 9.99993116e-01 1.54925945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09232058799995 meters 0.023550823105225695 Centerline is valid? [True, True] Translation: X:286.11, Y:-99.22, Z:1.55 [[ 7.12283524e-01 7.01884191e-01 3.28087749e-03 2.86108040e+02] [-7.01876874e-01 7.12291080e-01 -3.20491168e-03 -9.92197032e+01] [-4.58641661e-03 -1.99662544e-05 9.99989482e-01 1.54624166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.122320588 meters 0.023711469446815736 Centerline is valid? [True, True] Translation: X:286.15, Y:-99.25, Z:1.55 [[ 7.09982894e-01 7.04212368e-01 3.03826132e-03 2.86145504e+02] [-7.04206116e-01 7.09989394e-01 -2.96756124e-03 -9.92522582e+01] [-4.24692664e-03 -3.26444889e-05 9.99990981e-01 1.54518167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15232058799995 meters 0.024080143635001366 Centerline is valid? [True, True] Translation: X:286.18, Y:-99.28, Z:1.54 [[ 7.07507160e-01 7.06695006e-01 3.97332451e-03 2.86180719e+02] [-7.06684290e-01 7.07518314e-01 -3.89220816e-03 -9.92840476e+01] [-5.56180393e-03 -5.41208681e-05 9.99984532e-01 1.54401415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.182320588 meters 0.023959379648019873 Centerline is valid? [True, True] Translation: X:286.22, Y:-99.32, Z:1.55 [[ 7.05362316e-01 7.08840271e-01 3.07803076e-03 2.86216186e+02] [-7.08833784e-01 7.05369030e-01 -3.03292678e-03 -9.93158182e+01] [-4.32100822e-03 -4.24999339e-05 9.99990663e-01 1.54635068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21232058799995 meters 0.02388800389057578 Centerline is valid? [True, True] Translation: X:286.25, Y:-99.35, Z:1.55 [[ 7.03737620e-01 7.10451025e-01 3.56407405e-03 2.86252193e+02] [-7.10442277e-01 7.03746644e-01 -3.52591778e-03 -9.93472123e+01] [-5.01319705e-03 -5.07478963e-05 9.99987433e-01 1.54643468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.242320588 meters 0.023936764068316525 Centerline is valid? [True, True] Translation: X:286.30, Y:-99.38, Z:1.54 [[ 7.01480865e-01 7.12673073e-01 4.65680356e-03 2.86297418e+02] [-7.12657902e-01 7.01496320e-01 -4.65049103e-03 -9.93847347e+01] [-6.58101030e-03 -5.64773799e-05 9.99978343e-01 1.54389689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27232058799996 meters 0.023793159966520424 Centerline is valid? [True, True] Translation: X:286.35, Y:-99.43, Z:1.54 [[ 6.97882035e-01 7.16195716e-01 4.93577873e-03 2.86353589e+02] [-7.16178193e-01 6.97899488e-01 -5.01014376e-03 -9.94317910e+01] [-7.03292094e-03 -3.84077639e-05 9.99975268e-01 1.54446262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.302320588 meters 0.023597382478975058 Centerline is valid? [True, True] Translation: X:287.62, Y:-98.18, Z:3.36 [[ 7.66425425e-01 -6.42213690e-01 1.23953522e-02 2.87617912e+02] [-6.42118347e-01 -7.66525469e-01 -1.10785597e-02 -9.81840349e+01] [ 1.66161558e-02 5.31606794e-04 -9.99861801e-01 3.36422613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33232058799996 meters 0.02329624919307651 Centerline is valid? [True, True] Translation: X:286.49, Y:-99.57, Z:1.55 [[ 7.55159754e-01 6.55518016e-01 5.46597164e-03 2.86489724e+02] [-6.55501374e-01 7.55179534e-01 -4.67123427e-03 -9.95705535e+01] [-7.18986813e-03 -5.54237956e-05 9.99974151e-01 1.54636935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.362320588 meters 0.023381804674966627 Centerline is valid? [True, True] Translation: X:286.53, Y:-99.60, Z:1.55 [[ 7.53918479e-01 6.56942575e-01 5.77749885e-03 2.86525702e+02] [-6.56923814e-01 7.53940615e-01 -4.96508916e-03 -9.95984161e+01] [-7.61766949e-03 -5.21041169e-05 9.99970984e-01 1.54596128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39232058799996 meters 0.02305809230918195 Centerline is valid? [True, True] Translation: X:286.57, Y:-99.63, Z:1.54 [[ 7.52708444e-01 6.58333122e-01 5.24399819e-03 2.86565651e+02] [-6.58317520e-01 7.52726709e-01 -4.53249188e-03 -9.96271778e+01] [-6.93118703e-03 -4.05709726e-05 9.99975978e-01 1.54451241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.422320588 meters 0.023243049675496414 Centerline is valid? [True, True] Translation: X:286.60, Y:-99.66, Z:1.54 [[ 7.51325333e-01 6.59909200e-01 5.48564162e-03 2.86602011e+02] [-6.59892057e-01 7.51345357e-01 -4.75679344e-03 -9.96559547e+01] [-7.26066311e-03 -4.60319138e-05 9.99973640e-01 1.54317174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45232058799996 meters 0.022981274879612174 Centerline is valid? [True, True] Translation: X:286.64, Y:-99.68, Z:1.54 [[ 7.50420750e-01 6.60942612e-01 4.85406689e-03 2.86638177e+02] [-6.60929095e-01 7.50436448e-01 -4.22716712e-03 -9.96847431e+01] [-6.43658359e-03 -3.60401181e-05 9.99979284e-01 1.54320726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48232058799994 meters 0.022933372229492398 Centerline is valid? [True, True] Translation: X:286.67, Y:-99.71, Z:1.54 [[ 7.49479850e-01 6.62008897e-01 4.91671924e-03 2.86674330e+02] [-6.61994942e-01 7.49495976e-01 -4.29859622e-03 -9.97143423e+01] [-6.53077023e-03 -3.31320169e-05 9.99978674e-01 1.54395841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51232058799997 meters 0.022779781143313062 Centerline is valid? [True, True] Translation: X:286.71, Y:-99.75, Z:1.55 [[ 7.48106656e-01 6.63562712e-01 4.57804154e-03 2.86708803e+02] [-6.63550540e-01 7.48120663e-01 -4.01916491e-03 -9.97456414e+01] [-6.09189544e-03 -3.09979175e-05 9.99981444e-01 1.54554760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54232058799994 meters 0.022854945446612693 Centerline is valid? [True, True] Translation: X:286.74, Y:-99.78, Z:1.55 [[ 7.47014744e-01 6.64783132e-01 5.68852852e-03 2.86743916e+02] [-6.64764248e-01 7.47036402e-01 -5.01092214e-03 -9.97753063e+01] [-7.58071439e-03 -3.82976616e-05 9.99971265e-01 1.54541420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57232058799997 meters 0.02284663922884701 Centerline is valid? [True, True] Translation: X:286.78, Y:-99.80, Z:1.55 [[ 7.46443183e-01 6.65417432e-01 6.49736726e-03 2.86780176e+02] [-6.65392601e-01 7.46471459e-01 -5.74862616e-03 -9.98034256e+01] [-8.67533528e-03 -3.22773017e-05 9.99962368e-01 1.54629881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60232058799994 meters 0.023038749373519414 Centerline is valid? [True, True] Translation: X:286.82, Y:-99.83, Z:1.54 [[ 7.45281625e-01 6.66719293e-01 6.37841273e-03 2.86817527e+02] [-6.66695231e-01 7.45308918e-01 -5.66441670e-03 -9.98316921e+01] [-8.53046379e-03 -3.08716701e-05 9.99963614e-01 1.54338360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63232058799997 meters 0.02298588975120085 Centerline is valid? [True, True] Translation: X:286.85, Y:-99.86, Z:1.54 [[ 7.43661899e-01 6.68527962e-01 6.11095266e-03 2.86853373e+02] [-6.68505752e-01 7.43687006e-01 -5.44949572e-03 -9.98615796e+01] [-8.18777635e-03 -3.26246657e-05 9.99966479e-01 1.54315879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66232058799994 meters 0.02288797968857497 Centerline is valid? [True, True] Translation: X:286.89, Y:-99.89, Z:1.54 [[ 7.41619424e-01 6.70800399e-01 5.23970126e-03 2.86888861e+02] [-6.70783948e-01 7.41637933e-01 -4.69800404e-03 -9.98926481e+01] [-7.03738420e-03 -3.05764425e-05 9.99975237e-01 1.54392366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.692320588 meters 0.023169468717415154 Centerline is valid? [True, True] Translation: X:286.93, Y:-99.93, Z:1.54 [[ 7.38881025e-01 6.73815971e-01 5.18351152e-03 2.86929850e+02] [-6.73799707e-01 7.38899206e-01 -4.68179191e-03 -9.99257036e+01] [-6.98475871e-03 -3.33613360e-05 9.99975606e-01 1.54321283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72232058799995 meters 0.023346863288231812 Centerline is valid? [True, True] Translation: X:286.97, Y:-99.96, Z:1.54 [[ 7.37731491e-01 6.75053439e-01 7.42304297e-03 2.86965288e+02] [-6.75020033e-01 7.37768833e-01 -6.71596771e-03 -9.99552503e+01] [-1.00101269e-02 -5.61218325e-05 9.99949896e-01 1.54228023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.752320588 meters 0.023065196711234463 Centerline is valid? [True, True] Translation: X:287.00, Y:-99.99, Z:1.54 [[ 7.36927706e-01 6.75935231e-01 7.00853956e-03 2.87002013e+02] [-6.75905180e-01 7.36961032e-01 -6.37375390e-03 -9.99863679e+01] [-9.47326535e-03 -4.01123494e-05 9.99955127e-01 1.54401746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78232058799995 meters 0.02307772033944207 Centerline is valid? [True, True] Translation: X:287.04, Y:-100.02, Z:1.55 [[ 7.35495552e-01 6.77491364e-01 7.19339550e-03 2.87036522e+02] [-6.77459512e-01 7.35530726e-01 -6.56961071e-03 -1.00017274e+02] [-9.74181794e-03 -4.13147573e-05 9.99952547e-01 1.54565430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.812320588 meters 0.022969171136533562 Centerline is valid? [True, True] Translation: X:287.07, Y:-100.05, Z:1.55 [[ 7.34358030e-01 6.78721087e-01 7.48125569e-03 2.87073847e+02] [-6.78686295e-01 7.34396136e-01 -6.87226018e-03 -1.00049548e+02] [-1.01585532e-02 -3.07262602e-05 9.99948400e-01 1.54700812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84232058799995 meters 0.02315359660708371 Centerline is valid? [True, True] Translation: X:287.11, Y:-100.08, Z:1.55 [[ 7.33121194e-01 6.80061132e-01 7.08321088e-03 2.87109719e+02] [-6.80029750e-01 7.33155410e-01 -6.53320097e-03 -1.00078940e+02] [-9.63607042e-03 -2.71660333e-05 9.99953572e-01 1.54586860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.872320588 meters 0.022874066880063184 Centerline is valid? [True, True] Translation: X:287.15, Y:-100.11, Z:1.54 [[ 7.32474776e-01 6.80765750e-01 6.22059541e-03 2.87146021e+02] [-6.80741343e-01 7.32501190e-01 -5.76461293e-03 -1.00108468e+02] [-8.48094458e-03 -1.21829083e-05 9.99964036e-01 1.54282583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90232058799995 meters 0.022759629085998375 Centerline is valid? [True, True] Translation: X:287.18, Y:-100.14, Z:1.54 [[ 7.31182483e-01 6.82151122e-01 6.48258914e-03 2.87181986e+02] [-6.82124417e-01 7.31211219e-01 -6.03589808e-03 -1.00139724e+02] [-8.85753655e-03 -8.58939073e-06 9.99960771e-01 1.54302880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.932320588 meters 0.023008429605557584 Centerline is valid? [True, True] Translation: X:287.23, Y:-100.18, Z:1.55 [[ 7.28296283e-01 6.85218171e-01 7.78345681e-03 2.87225007e+02] [-6.85179250e-01 7.28337873e-01 -7.30328941e-03 -1.00176339e+02] [-1.06733330e-02 -1.41045711e-05 9.99943038e-01 1.54500349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96232058799995 meters 0.023091327236542447 Centerline is valid? [True, True] Translation: X:287.27, Y:-100.21, Z:1.54 [[ 7.26070947e-01 6.87570775e-01 8.21030894e-03 2.87265824e+02] [-6.87527084e-01 7.26117366e-01 -7.75114004e-03 -1.00210137e+02] [-1.12911053e-02 -1.69321785e-05 9.99936253e-01 1.54472954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.992320588 meters 0.022993708139791787 Centerline is valid? [True, True] Translation: X:287.30, Y:-100.24, Z:1.54 [[ 7.25141685e-01 6.88559416e-01 7.44764938e-03 2.87303911e+02] [-6.88523207e-01 7.25179930e-01 -7.06136303e-03 -1.00241167e+02] [-1.02630539e-02 -7.39075006e-06 9.99947333e-01 1.54451104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02232058799996 meters 0.022960397929752897 Centerline is valid? [True, True] Translation: X:287.34, Y:-100.27, Z:1.54 [[ 7.24255012e-01 6.89488912e-01 7.72771786e-03 2.87339322e+02] [-6.89449655e-01 7.24296238e-01 -7.35753326e-03 -1.00271636e+02] [-1.06700946e-02 8.57932263e-07 9.99943073e-01 1.54230601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.052320588 meters 0.0228944680317037 Centerline is valid? [True, True] Translation: X:287.39, Y:-100.31, Z:1.54 [[ 7.20786602e-01 6.93123897e-01 6.77784192e-03 2.87388627e+02] [-6.93093038e-01 7.20818468e-01 -6.54036206e-03 -1.00313574e+02] [-9.41887487e-03 1.65302867e-05 9.99955641e-01 1.54466638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08232058799996 meters 0.02273240198091952 Centerline is valid? [True, True] Translation: X:287.43, Y:-100.35, Z:1.55 [[ 7.18998866e-01 6.94976449e-01 6.95460656e-03 2.87428669e+02] [-6.94943745e-01 7.19032499e-01 -6.74215369e-03 -1.00347763e+02] [-9.68622617e-03 1.45405251e-05 9.99953087e-01 1.54674263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.112320588 meters 0.022705542856470487 Centerline is valid? [True, True] Translation: X:287.47, Y:-100.38, Z:1.55 [[ 7.17365517e-01 6.96665094e-01 6.66796108e-03 2.87472526e+02] [-6.96634649e-01 7.17396506e-01 -6.51299727e-03 -1.00383392e+02] [-9.32094983e-03 2.70669312e-05 9.99956559e-01 1.54640065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14232058799996 meters 0.02280432635172805 Centerline is valid? [True, True] Translation: X:287.51, Y:-100.41, Z:1.54 [[ 7.16113306e-01 6.97957478e-01 6.09033218e-03 2.87507956e+02] [-6.97931952e-01 7.16139203e-01 -5.96931440e-03 -1.00413957e+02] [-8.52785326e-03 2.40680433e-05 9.99963637e-01 1.54466424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.172320588 meters 0.022861470700058402 Centerline is valid? [True, True] Translation: X:287.54, Y:-100.45, Z:1.54 [[ 7.13217751e-01 7.00918493e-01 5.80563586e-03 2.87542224e+02] [-7.00895180e-01 7.13241380e-01 -5.71669051e-03 -1.00446795e+02] [-8.14775383e-03 8.10295866e-06 9.99966806e-01 1.54414728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20232058799996 meters 0.022795757046650853 Centerline is valid? [True, True] Translation: X:287.58, Y:-100.48, Z:1.54 [[ 7.10920537e-01 7.03248640e-01 5.77421029e-03 2.87575933e+02] [-7.03225445e-01 7.10943986e-01 -5.71164184e-03 -1.00479271e+02] [-8.12184443e-03 -4.81233110e-08 9.99967017e-01 1.54496930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23232058799994 meters 0.022870238364909305 Centerline is valid? [True, True] Translation: X:287.61, Y:-100.51, Z:1.55 [[ 7.09184948e-01 7.04995284e-01 6.19355673e-03 2.87610817e+02] [-7.04968420e-01 7.09211992e-01 -6.15438189e-03 -1.00511888e+02] [-8.73135492e-03 -1.66690093e-06 9.99961881e-01 1.54566573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26232058799997 meters 0.02293794722806685 Centerline is valid? [True, True] Translation: X:287.65, Y:-100.54, Z:1.55 [[ 7.07558944e-01 7.06630061e-01 5.85643213e-03 2.87647061e+02] [-7.06605867e-01 7.07583180e-01 -5.84740624e-03 -1.00543701e+02] [-8.27586590e-03 -8.04720510e-07 9.99965754e-01 1.54500758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29232058799994 meters 0.022999465724143422 Centerline is valid? [True, True] Translation: X:287.68, Y:-100.57, Z:1.54 [[ 7.06422294e-01 7.07765202e-01 5.99678767e-03 2.87683716e+02] [-7.07739641e-01 7.06447747e-01 -6.01506356e-03 -1.00574394e+02] [-8.49366981e-03 5.01064109e-06 9.99963928e-01 1.54474020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32232058799997 meters 0.023040628610752144 Centerline is valid? [True, True] Translation: X:288.94, Y:-99.33, Z:3.38 [[ 7.62894520e-01 -6.46404175e-01 1.23932736e-02 2.88938438e+02] [-6.46310486e-01 -7.62995078e-01 -1.10120891e-02 -9.93272986e+01] [ 1.65742671e-02 3.91159702e-04 -9.99862561e-01 3.38089817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35232058799994 meters 0.022889652155510223 Centerline is valid? [True, True] Translation: X:287.82, Y:-100.71, Z:1.55 [[ 7.62623334e-01 6.46818877e-01 5.56700911e-03 2.87818395e+02] [-6.46801591e-01 7.62643653e-01 -4.72879844e-03 -1.00710527e+02] [-7.30432026e-03 5.54168235e-06 9.99973323e-01 1.54725633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38232058799997 meters 0.02290488953369028 Centerline is valid? [True, True] Translation: X:287.86, Y:-100.74, Z:1.55 [[ 7.60078423e-01 6.49817587e-01 4.23019797e-03 2.87861092e+02] [-6.49807407e-01 7.60090194e-01 -3.63751310e-03 -1.00743977e+02] [-5.57905198e-03 1.59812460e-05 9.99984437e-01 1.54800245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41232058799994 meters 0.022845258501162556 Centerline is valid? [True, True] Translation: X:287.90, Y:-100.77, Z:1.55 [[ 7.59344745e-01 6.50671580e-01 4.69613108e-03 2.87897483e+02] [-6.50659026e-01 7.59359266e-01 -4.04186289e-03 -1.00772262e+02] [-6.19597596e-03 1.35872673e-05 9.99980805e-01 1.54639946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.442320588 meters 0.022980941631379474 Centerline is valid? [True, True] Translation: X:287.93, Y:-100.80, Z:1.55 [[ 7.57518222e-01 6.52792906e-01 5.25018896e-03 2.87933239e+02] [-6.52777155e-01 7.57536416e-01 -4.53473232e-03 -1.00800180e+02] [-6.93745042e-03 7.93895270e-06 9.99975936e-01 1.54596245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47232058799995 meters 0.023030095075148485 Centerline is valid? [True, True] Translation: X:287.97, Y:-100.83, Z:1.55 [[ 7.55608675e-01 6.55009488e-01 4.25463182e-03 2.87971218e+02] [-6.54999049e-01 7.55620653e-01 -3.69792669e-03 -1.00830136e+02] [-5.63706474e-03 7.40568725e-06 9.99984112e-01 1.54787818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.502320588 meters 0.02288555579455027 Centerline is valid? [True, True] Translation: X:288.01, Y:-100.86, Z:1.55 [[ 7.54339543e-01 6.56473634e-01 3.77118415e-03 2.88006104e+02] [-6.56465395e-01 7.54348970e-01 -3.28892041e-03 -1.00859097e+02] [-5.00387841e-03 5.31082592e-06 9.99987481e-01 1.55037645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53232058799995 meters 0.022713706228957405 Centerline is valid? [True, True] Translation: X:288.04, Y:-100.89, Z:1.55 [[ 7.53563812e-01 6.57364447e-01 3.68310277e-03 2.88041859e+02] [-6.57356537e-01 7.53572813e-01 -3.22475845e-03 -1.00888110e+02] [-4.89532766e-03 8.94958658e-06 9.99988018e-01 1.54991981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.562320588 meters 0.022713706228957405 Centerline is valid? [True, True] Translation: X:288.08, Y:-100.92, Z:1.55 [[ 7.51943737e-01 6.59217052e-01 3.67346867e-03 2.88080021e+02] [-6.59209111e-01 7.51952710e-01 -3.23575803e-03 -1.00918723e+02] [-4.89534159e-03 1.15239694e-05 9.99988018e-01 1.55015367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59232058799995 meters 0.02291933755122344 Centerline is valid? [True, True] Translation: X:288.12, Y:-100.95, Z:1.55 [[ 7.51000270e-01 6.60289347e-01 4.07081336e-03 2.88115784e+02] [-6.60279542e-01 7.51011303e-01 -3.59840615e-03 -1.00948299e+02] [-5.43321609e-03 1.45292126e-05 9.99985240e-01 1.54975351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.622320588 meters 0.022808969479154066 Centerline is valid? [True, True] Translation: X:288.15, Y:-100.98, Z:1.55 [[ 7.48931493e-01 6.62635559e-01 3.96673829e-03 2.88153971e+02] [-6.62626179e-01 7.48941998e-01 -3.52579713e-03 -1.00979638e+02] [-5.30717545e-03 1.21158731e-05 9.99985917e-01 1.55015052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65232058799995 meters 0.02289619373134597 Centerline is valid? [True, True] Translation: X:288.19, Y:-101.01, Z:1.55 [[ 7.47184880e-01 6.64605279e-01 3.81810553e-03 2.88191725e+02] [-6.64596529e-01 7.47194635e-01 -3.41040270e-03 -1.01010349e+02] [-5.11943961e-03 1.07016516e-05 9.99986896e-01 1.55059675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.682320588 meters 0.022947939435547154 Centerline is valid? [True, True] Translation: X:288.23, Y:-101.04, Z:1.55 [[ 7.45823373e-01 6.66135766e-01 3.26149181e-03 2.88228504e+02] [-6.66129348e-01 7.45830504e-01 -2.92413736e-03 -1.01039075e+02] [-4.38039256e-03 8.31457329e-06 9.99990406e-01 1.55024194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71232058799995 meters 0.02272676815619337 Centerline is valid? [True, True] Translation: X:288.27, Y:-101.07, Z:1.55 [[ 7.44269549e-01 6.67876961e-01 1.78961567e-03 2.88267139e+02] [-6.67874988e-01 7.44271701e-01 -1.62336036e-03 -1.01070139e+02] [-2.41616529e-03 1.29781408e-05 9.99997081e-01 1.55091179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.742320588 meters 0.02288454064190745 Centerline is valid? [True, True] Translation: X:288.30, Y:-101.10, Z:1.55 [[ 7.41141259e-01 6.71345428e-01 2.22507830e-03 2.88302174e+02] [-6.71342397e-01 7.41144599e-01 -2.01749554e-03 -1.01101168e+02] [-3.00354117e-03 1.45978094e-06 9.99995489e-01 1.55022059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77232058799996 meters 0.023040161501004512 Centerline is valid? [True, True] Translation: X:288.34, Y:-101.13, Z:1.55 [[ 7.38569001e-01 6.74176065e-01 1.56952778e-03 2.88337893e+02] [-6.74174544e-01 7.38570669e-01 -1.43235566e-03 -1.01131303e+02] [-2.12486708e-03 -2.42185760e-07 9.99997742e-01 1.55166263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.802320588 meters 0.023030357156537257 Centerline is valid? [True, True] Translation: X:288.37, Y:-101.16, Z:1.55 [[ 7.36927997e-01 6.75968331e-01 1.98590467e-03 2.88373547e+02] [-6.75965891e-01 7.36930673e-01 -1.81616357e-03 -1.01161608e+02] [-2.69114312e-03 -4.02203335e-06 9.99996379e-01 1.55237958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83232058799996 meters 0.023279876896809996 Centerline is valid? [True, True] Translation: X:288.41, Y:-101.19, Z:1.56 [[ 7.35604547e-01 6.77409311e-01 1.60501815e-03 2.88411603e+02] [-6.77407688e-01 7.35606298e-01 -1.48282589e-03 -1.01192830e+02] [-2.18514152e-03 3.52183316e-06 9.99997613e-01 1.55508803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.862320588 meters 0.023112824057567555 Centerline is valid? [True, True] Translation: X:288.45, Y:-101.22, Z:1.55 [[ 7.34965016e-01 6.78103804e-01 1.28698626e-03 2.88448122e+02] [-6.78102755e-01 7.34966143e-01 -1.19239696e-03 -1.01221654e+02] [-1.75446025e-03 3.66112048e-06 9.99998461e-01 1.55365251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89232058799996 meters 0.02308356722290292 Centerline is valid? [True, True] Translation: X:288.49, Y:-101.25, Z:1.55 [[ 7.34364259e-01 6.78755027e-01 8.64976964e-04 2.88485002e+02] [-6.78754545e-01 7.34364769e-01 -8.08561651e-04 -1.01250341e+02] [-1.18402389e-03 6.67173188e-06 9.99999299e-01 1.55168058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.922320588 meters 0.023137011191088235 Centerline is valid? [True, True] Translation: X:288.52, Y:-101.28, Z:1.55 [[ 7.34192224e-01 6.78938094e-01 2.20061984e-03 2.88520105e+02] [-6.78935011e-01 7.34195522e-01 -2.04606201e-03 -1.01280261e+02] [-3.00483467e-03 8.12495728e-06 9.99995485e-01 1.55179665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95232058799996 meters 0.023251584201391527 Centerline is valid? [True, True] Translation: X:288.55, Y:-101.31, Z:1.55 [[ 7.32798491e-01 6.80441330e-01 2.44285116e-03 2.88554602e+02] [-6.80437505e-01 7.32802563e-01 -2.28154541e-03 -1.01311092e+02] [-3.34258538e-03 9.70548272e-06 9.99994413e-01 1.55353166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98232058799994 meters 0.02316656603711855 Centerline is valid? [True, True] Translation: X:288.59, Y:-101.34, Z:1.55 [[ 7.32237829e-01 6.81046874e-01 1.70793788e-03 2.88592330e+02] [-6.81044975e-01 7.32239821e-01 -1.60831997e-03 -1.01341938e+02] [-2.34596141e-03 1.44902105e-05 9.99997248e-01 1.55432481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01232058799997 meters 0.023451403772835548 Centerline is valid? [True, True] Translation: X:288.63, Y:-101.37, Z:1.55 [[ 7.31918434e-01 6.81390204e-01 1.67208100e-03 2.88628584e+02] [-6.81388372e-01 7.31920343e-01 -1.58048623e-03 -1.01370816e+02] [-2.30075794e-03 1.74504570e-05 9.99997353e-01 1.55331725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04232058799994 meters 0.023508576137027306 Centerline is valid? [True, True] Translation: X:288.66, Y:-101.40, Z:1.55 [[ 7.30817062e-01 6.82566462e-01 3.07355261e-03 2.88663252e+02] [-6.82560287e-01 7.30823525e-01 -2.90336618e-03 -1.01401641e+02] [-4.22796493e-03 2.39445871e-05 9.99991062e-01 1.55220263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07232058799997 meters 0.02369414185932191 Centerline is valid? [True, True] Translation: X:288.70, Y:-101.43, Z:1.55 [[ 7.30365375e-01 6.83049132e-01 3.20964735e-03 2.88699879e+02] [-6.83042334e-01 7.30372427e-01 -3.04765181e-03 -1.01433037e+02] [-4.42593385e-03 3.35743470e-05 9.99990205e-01 1.55333053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10232058799994 meters 0.023736747251637658 Centerline is valid? [True, True] Translation: X:288.74, Y:-101.47, Z:1.55 [[ 7.28067962e-01 6.85498406e-01 2.99638143e-03 2.88744646e+02] [-6.85492361e-01 7.28074126e-01 -2.87931613e-03 -1.01470253e+02] [-4.15535441e-03 4.23412478e-05 9.99991366e-01 1.55362136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13232058799997 meters 0.02386680188755949 Centerline is valid? [True, True] Translation: X:288.78, Y:-101.50, Z:1.55 [[ 7.26772886e-01 6.86869580e-01 3.36936336e-03 2.88779660e+02] [-6.86861952e-01 7.26780695e-01 -3.23726027e-03 -1.01500593e+02] [-4.67236384e-03 3.84654974e-05 9.99989084e-01 1.55254709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16232058799994 meters 0.023992502029296117 Centerline is valid? [True, True] Translation: X:288.81, Y:-101.53, Z:1.55 [[ 7.25043643e-01 6.88693649e-01 3.57396502e-03 2.88814416e+02] [-6.88685019e-01 7.25052450e-01 -3.44806967e-03 -1.01530982e+02] [-4.96597578e-03 3.86648233e-05 9.99987669e-01 1.55320085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.192320588 meters 0.023952160597698776 Centerline is valid? [True, True] Translation: X:288.85, Y:-101.56, Z:1.55 [[ 7.23031949e-01 6.90801117e-01 4.31485053e-03 2.88848940e+02] [-6.90788482e-01 7.23044822e-01 -4.17821263e-03 -1.01561161e+02] [-6.00614428e-03 4.03321721e-05 9.99981962e-01 1.55242247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22232058799995 meters 0.02406060300900326 Centerline is valid? [True, True] Translation: X:288.88, Y:-101.59, Z:1.55 [[ 7.21345842e-01 6.92560077e-01 4.55147067e-03 2.88883456e+02] [-6.92545936e-01 7.21360200e-01 -4.42586870e-03 -1.01591529e+02] [-6.34842976e-03 4.04794674e-05 9.99979848e-01 1.55257459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.252320588 meters 0.024006163114326236 Centerline is valid? [True, True] Translation: X:288.92, Y:-101.62, Z:1.55 [[ 7.18661617e-01 6.95352137e-01 3.29944736e-03 2.88917696e+02] [-6.95344648e-01 7.18669191e-01 -3.22716144e-03 -1.01623428e+02] [-4.61522477e-03 2.49839963e-05 9.99989349e-01 1.55318791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28232058799995 meters 0.02400686406382679 Centerline is valid? [True, True] Translation: X:288.95, Y:-101.65, Z:1.55 [[ 7.17028559e-01 6.97039299e-01 2.50214389e-03 2.88952199e+02] [-6.97034954e-01 7.17032925e-01 -2.46137457e-03 -1.01654032e+02] [-3.50979435e-03 2.07941105e-05 9.99993840e-01 1.55385877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.312320588 meters 0.0240291543566916 Centerline is valid? [True, True] Translation: X:288.99, Y:-101.69, Z:1.55 [[ 7.13942804e-01 7.00200146e-01 2.32965698e-03 2.88988152e+02] [-7.00196353e-01 7.13946605e-01 -2.30474164e-03 -1.01686400e+02] [-3.27703112e-03 1.42363875e-05 9.99994630e-01 1.55328464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34232058799995 meters 0.024033508813513977 Centerline is valid? [True, True] Translation: X:289.02, Y:-101.72, Z:1.55 [[ 7.11930186e-01 7.02246341e-01 2.34265374e-03 2.89022879e+02] [-7.02242485e-01 7.11934040e-01 -2.32718328e-03 -1.01718452e+02] [-3.30207088e-03 1.16810416e-05 9.99994548e-01 1.55429131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.372320588 meters 0.02441593951109168 Centerline is valid? [True, True] Translation: X:289.06, Y:-101.75, Z:1.55 [[ 7.07772580e-01 7.06431858e-01 3.46469979e-03 2.89061889e+02] [-7.06423365e-01 7.07781060e-01 -3.46409224e-03 -1.01754862e+02] [-4.89939402e-03 4.24461793e-06 9.99987998e-01 1.55333729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40232058799995 meters 0.02435959822939432 Centerline is valid? [True, True] Translation: X:289.10, Y:-101.79, Z:1.55 [[ 7.05208596e-01 7.08994904e-01 2.65753057e-03 2.89096550e+02] [-7.08989883e-01 7.05213604e-01 -2.66815148e-03 -1.01787997e+02] [-3.76583251e-03 -2.55892729e-06 9.99992909e-01 1.55402880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.432320588 meters 0.024393297934533657 Centerline is valid? [True, True] Translation: X:289.13, Y:-101.82, Z:1.56 [[ 7.02625990e-01 7.11556342e-01 2.07130134e-03 2.89131183e+02] [-7.11553265e-01 7.02629043e-01 -2.09255437e-03 -1.01820498e+02] [-2.94432681e-03 -3.55814828e-06 9.99995665e-01 1.55521403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46232058799995 meters 0.024584130058247538 Centerline is valid? [True, True] Translation: X:290.39, Y:-100.58, Z:3.39 [[ 7.66339768e-01 -6.42369345e-01 9.21869588e-03 2.90386107e+02] [-6.42315412e-01 -7.66395072e-01 -8.33702565e-03 -1.00581438e+02] [ 1.24206128e-02 4.67683866e-04 -9.99922752e-01 3.38934140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.492320588 meters 0.02475155593810356 Centerline is valid? [True, True] Translation: X:289.27, Y:-101.96, Z:1.56 [[ 7.56025504e-01 6.54535409e-01 2.97237311e-03 2.89268472e+02] [-6.54530512e-01 7.56031346e-01 -2.53209464e-03 -1.01959198e+02] [-3.90455284e-03 -3.11807666e-05 9.99992377e-01 1.55590596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52232058799996 meters 0.025169679008355646 Centerline is valid? [True, True] Translation: X:289.31, Y:-101.99, Z:1.56 [[ 7.52064334e-01 6.59083348e-01 2.89433978e-03 2.89309897e+02] [-6.59078618e-01 7.52069903e-01 -2.49706269e-03 -1.01992902e+02] [-3.82251828e-03 -2.96456725e-05 9.99992694e-01 1.55715343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.552320588 meters 0.025459506463284688 Centerline is valid? [True, True] Translation: X:289.35, Y:-102.02, Z:1.56 [[ 7.50093263e-01 6.61324837e-01 3.09144972e-03 2.89345516e+02] [-6.61319449e-01 7.50099632e-01 -2.66979865e-03 -1.02022012e+02] [-4.08449946e-03 -4.18378463e-05 9.99991658e-01 1.55740573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58232058799996 meters 0.025370153583844444 Centerline is valid? [True, True] Translation: X:289.40, Y:-102.06, Z:1.56 [[ 7.45604673e-01 6.66380367e-01 3.29812287e-03 2.89403410e+02] [-6.66374011e-01 7.45611967e-01 -2.91060075e-03 -1.02064119e+02] [-4.39868707e-03 -2.76258473e-05 9.99990325e-01 1.55679058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.612320588 meters 0.0255047540595868 Centerline is valid? [True, True] Translation: X:289.44, Y:-102.09, Z:1.56 [[ 7.43964242e-01 6.68213452e-01 2.82652665e-03 2.89440743e+02] [-6.68208840e-01 7.43969610e-01 -2.48308805e-03 -1.02091982e+02] [-3.76208277e-03 -4.13813728e-05 9.99992922e-01 1.55596167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64232058799996 meters 0.025681373465235083 Centerline is valid? [True, True] Translation: X:289.48, Y:-102.12, Z:1.56 [[ 7.42203192e-01 6.70168779e-01 2.86880078e-03 2.89477721e+02] [-6.70164005e-01 7.42208734e-01 -2.52996474e-03 -1.02120873e+02] [-3.82475237e-03 -4.48191179e-05 9.99992685e-01 1.55525140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.672320588 meters 0.02606326618889481 Centerline is valid? [True, True] Translation: X:289.54, Y:-102.17, Z:1.56 [[ 7.35489676e-01 6.77528202e-01 3.23590086e-03 2.89543633e+02] [-6.77521823e-01 7.35496794e-01 -2.94026584e-03 -1.02169584e+02] [-4.37210774e-03 -2.98582827e-05 9.99990442e-01 1.55762746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70232058799996 meters 0.026203451653737577 Centerline is valid? [True, True] Translation: X:289.58, Y:-102.20, Z:1.56 [[ 7.33361777e-01 6.79828823e-01 3.64340900e-03 2.89579064e+02] [-6.79820912e-01 7.33370824e-01 -3.28048689e-03 -1.02199792e+02] [-4.90213940e-03 -7.10819323e-05 9.99987982e-01 1.55814759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73232058799994 meters 0.026399248119647566 Centerline is valid? [True, True] Translation: X:289.62, Y:-102.23, Z:1.56 [[ 7.31615888e-01 6.81702839e-01 4.40816970e-03 2.89615989e+02] [-6.81691195e-01 7.31629163e-01 -3.98545679e-03 -1.02230487e+02] [-5.94204272e-03 -8.91869586e-05 9.99982342e-01 1.55813273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76232058799997 meters 0.02622316497916768 Centerline is valid? [True, True] Translation: X:289.65, Y:-102.26, Z:1.56 [[ 7.29933909e-01 6.83503518e-01 4.40788126e-03 2.89651592e+02] [-6.83491807e-01 7.29947213e-01 -4.00211919e-03 -1.02260503e+02] [-5.95298318e-03 -9.14682184e-05 9.99982277e-01 1.55865012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79232058799994 meters 0.026072053643731066 Centerline is valid? [True, True] Translation: X:289.69, Y:-102.29, Z:1.56 [[ 7.28582392e-01 6.84946226e-01 4.04535283e-03 2.89692988e+02] [-6.84936233e-01 7.28593619e-01 -3.70064127e-03 -1.02293333e+02] [-5.48215853e-03 -7.45866602e-05 9.99984970e-01 1.55887285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82232058799997 meters 0.025853462920761548 Centerline is valid? [True, True] Translation: X:289.73, Y:-102.32, Z:1.56 [[ 7.28245229e-01 6.85285271e-01 6.55612821e-03 2.89729837e+02] [-6.85258944e-01 7.28274731e-01 -6.00796938e-03 -1.02321202e+02] [-8.89183543e-03 -1.17370459e-04 9.99960460e-01 1.55621705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85232058799994 meters 0.025602561007561014 Centerline is valid? [True, True] Translation: X:289.77, Y:-102.35, Z:1.56 [[ 7.27290409e-01 6.86298631e-01 6.54603286e-03 2.89765533e+02] [-6.86272190e-01 7.27319859e-01 -6.02531445e-03 -1.02350257e+02] [-8.89622476e-03 -1.10206896e-04 9.99960422e-01 1.55660576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88232058799997 meters 0.02525610576046469 Centerline is valid? [True, True] Translation: X:289.80, Y:-102.38, Z:1.56 [[ 7.26502610e-01 6.87136462e-01 6.11875431e-03 2.89802041e+02] [-6.87113157e-01 7.26528371e-01 -5.66008501e-03 -1.02381410e+02] [-8.33469939e-03 -9.22100565e-05 9.99965262e-01 1.55743741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91232058799994 meters 0.025004312403901725 Centerline is valid? [True, True] Translation: X:289.84, Y:-102.41, Z:1.56 [[ 7.25915820e-01 6.87763285e-01 5.28075840e-03 2.89837172e+02] [-6.87745778e-01 7.25935024e-01 -4.90778963e-03 -1.02411604e+02] [-7.20888499e-03 -6.91771610e-05 9.99974013e-01 1.55801996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.942320588 meters 0.024562042477787663 Centerline is valid? [True, True] Translation: X:289.87, Y:-102.44, Z:1.56 [[ 7.25676995e-01 6.88020015e-01 4.62137013e-03 2.89874522e+02] [-6.88006470e-01 7.25691709e-01 -4.31749497e-03 -1.02441536e+02] [-6.32421294e-03 -4.64257797e-05 9.99980001e-01 1.55817065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97232058799995 meters 0.02427467883366767 Centerline is valid? [True, True] Translation: X:289.91, Y:-102.47, Z:1.56 [[ 7.24981984e-01 6.88746909e-01 5.36821671e-03 2.89911858e+02] [-6.88728488e-01 7.25001857e-01 -5.03762328e-03 -1.02472961e+02] [-7.36161455e-03 -4.50576502e-05 9.99972902e-01 1.55768446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.002320588 meters 0.02416320838181867 Centerline is valid? [True, True] Translation: X:289.95, Y:-102.51, Z:1.56 [[ 7.22796866e-01 6.91041631e-01 5.11416380e-03 2.89951116e+02] [-6.91024704e-01 7.22814957e-01 -4.83694044e-03 -1.02508026e+02] [-7.03912130e-03 -3.78881345e-05 9.99975224e-01 1.55912281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03232058799995 meters 0.023871004843646033 Centerline is valid? [True, True] Translation: X:289.99, Y:-102.54, Z:1.56 [[ 7.21984274e-01 6.91889458e-01 5.26169982e-03 2.89990912e+02] [-6.91871329e-01 7.22003447e-01 -5.00867285e-03 -1.02543471e+02] [-7.26441335e-03 -2.42362208e-05 9.99973614e-01 1.55935105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.062320588 meters 0.023523172160009816 Centerline is valid? [True, True] Translation: X:290.05, Y:-102.59, Z:1.56 [[ 7.17859486e-01 6.96165286e-01 5.62610996e-03 2.90052169e+02] [-6.96143871e-01 7.17881533e-01 -5.46033304e-03 -1.02591551e+02] [-7.84017475e-03 3.16990399e-06 9.99969265e-01 1.55820712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09232058799995 meters 0.023372191822053356 Centerline is valid? [True, True] Translation: X:290.09, Y:-102.62, Z:1.56 [[ 7.16718379e-01 6.97343709e-01 5.14942977e-03 2.90087257e+02] [-6.97325879e-01 7.16736877e-01 -4.98676486e-03 -1.02622760e+02] [-7.16827532e-03 -1.67246153e-05 9.99974307e-01 1.55769948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.122320588 meters 0.023295162390264457 Centerline is valid? [True, True] Translation: X:290.13, Y:-102.66, Z:1.56 [[ 7.13204424e-01 7.00934251e-01 5.53392357e-03 2.90134354e+02] [-7.00913264e-01 7.13225893e-01 -5.42415330e-03 -1.02663858e+02] [-7.74891241e-03 -1.02702957e-05 9.99969977e-01 1.55768112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15232058799995 meters 0.02326013233573039 Centerline is valid? [True, True] Translation: X:290.17, Y:-102.70, Z:1.56 [[ 7.11170173e-01 7.02996776e-01 5.70239821e-03 2.90168710e+02] [-7.02974482e-01 7.11193034e-01 -5.59875965e-03 -1.02695985e+02] [-7.99141587e-03 -2.69695618e-05 9.99968068e-01 1.55836417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.182320588 meters 0.02314965259370061 Centerline is valid? [True, True] Translation: X:290.20, Y:-102.73, Z:1.56 [[ 7.09393092e-01 7.04783016e-01 6.50704653e-03 2.90204405e+02] [-7.04753815e-01 7.09422934e-01 -6.41561487e-03 -1.02726999e+02] [-9.13786444e-03 -3.46730029e-05 9.99958248e-01 1.55749567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21232058799995 meters 0.02312157039861748 Centerline is valid? [True, True] Translation: X:290.24, Y:-102.76, Z:1.56 [[ 7.07471776e-01 7.06714791e-01 6.15546721e-03 2.90238686e+02] [-7.06688488e-01 7.07498553e-01 -6.09739847e-03 -1.02759057e+02] [-8.66410583e-03 -3.62604850e-05 9.99962465e-01 1.55707082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.242320588 meters 0.022621173207036705 Centerline is valid? [True, True] Translation: X:290.27, Y:-102.79, Z:1.56 [[ 7.06334031e-01 7.07856635e-01 5.58766812e-03 2.90273395e+02] [-7.07834788e-01 7.06356131e-01 -5.56141305e-03 -1.02791482e+02] [-7.88356676e-03 -2.69305821e-05 9.99968924e-01 1.55926240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27232058799996 meters 0.023064237681856548 Centerline is valid? [True, True] Translation: X:290.31, Y:-102.82, Z:1.56 [[ 7.03094677e-01 7.11075045e-01 5.49149456e-03 2.90307153e+02] [-7.11053839e-01 7.03116120e-01 -5.49170824e-03 -1.02824927e+02] [-7.76617503e-03 -4.35574643e-05 9.99969842e-01 1.55932458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.302320588 meters 0.0237856647993514 Centerline is valid? [True, True] Translation: X:290.35, Y:-102.86, Z:1.56 [[ 6.97961974e-01 7.16113415e-01 5.53718418e-03 2.90347027e+02] [-7.16091670e-01 6.97983934e-01 -5.58102994e-03 -1.02861629e+02] [-7.86151601e-03 -6.97847922e-05 9.99969095e-01 1.55974742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33232058799996 meters 0.02397209212867244 Centerline is valid? [True, True] Translation: X:291.60, Y:-101.62, Z:3.40 [[ 7.69560564e-01 -6.38440045e-01 1.30708983e-02 2.91604018e+02] [-6.38334514e-01 -7.69671325e-01 -1.16232556e-02 -1.01624666e+02] [ 1.74810474e-02 6.01193668e-04 -9.99847014e-01 3.40058151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.362320588 meters 0.024597462556898726 Centerline is valid? [True, True] Translation: X:290.49, Y:-103.00, Z:1.56 [[ 7.51210912e-01 6.60024723e-01 7.03787062e-03 2.90488378e+02] [-6.59997469e-01 7.51243866e-01 -5.99952779e-03 -1.03000354e+02] [-9.24699380e-03 -1.38066055e-04 9.99957236e-01 1.55750200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39232058799996 meters 0.024683265154620864 Centerline is valid? [True, True] Translation: X:290.52, Y:-103.03, Z:1.56 [[ 7.49407671e-01 6.62070929e-01 7.08721006e-03 2.90524329e+02] [-6.62043086e-01 7.49441169e-01 -6.07346114e-03 -1.03028929e+02] [-9.33250905e-03 -1.40540048e-04 9.99956441e-01 1.55835662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.422320588 meters 0.024168790068582757 Centerline is valid? [True, True] Translation: X:290.56, Y:-103.06, Z:1.56 [[ 7.48351474e-01 6.63279403e-01 5.52311582e-03 2.90561420e+02] [-6.63262368e-01 7.48371848e-01 -4.75484582e-03 -1.03057263e+02] [-7.28713569e-03 -1.04979003e-04 9.99973443e-01 1.56027997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45232058799996 meters 0.024168790068582757 Centerline is valid? [True, True] Translation: X:290.60, Y:-103.09, Z:1.56 [[ 7.47045519e-01 6.64750021e-01 5.51374780e-03 2.90597271e+02] [-6.64732946e-01 7.47065859e-01 -4.76571948e-03 -1.03086043e+02] [-7.28714486e-03 -1.04960436e-04 9.99973443e-01 1.56049891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48232058799994 meters 0.024522459250133282 Centerline is valid? [True, True] Translation: X:290.63, Y:-103.11, Z:1.56 [[ 7.45699670e-01 6.66255955e-01 5.91644189e-03 2.90634613e+02] [-6.66236198e-01 7.45723132e-01 -5.13223832e-03 -1.03113222e+02] [-7.83141192e-03 -1.14639327e-04 9.99969327e-01 1.56022300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51232058799997 meters 0.0240156347622379 Centerline is valid? [True, True] Translation: X:290.67, Y:-103.14, Z:1.56 [[ 7.45471786e-01 6.66511692e-01 5.82936096e-03 2.90672011e+02] [-6.66492361e-01 7.45494570e-01 -5.07726095e-03 -1.03141132e+02] [-7.72981073e-03 -1.00269759e-04 9.99970120e-01 1.56189990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54232058799994 meters 0.023948049243869934 Centerline is valid? [True, True] Translation: X:290.71, Y:-103.17, Z:1.56 [[ 7.44285087e-01 6.67835329e-01 5.97357730e-03 2.90708909e+02] [-6.67814911e-01 7.44309051e-01 -5.22317786e-03 -1.03170238e+02] [-7.93441035e-03 -1.01710609e-04 9.99968517e-01 1.56252349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57232058799997 meters 0.024231150032927185 Centerline is valid? [True, True] Translation: X:290.75, Y:-103.20, Z:1.56 [[ 7.42880974e-01 6.69395877e-01 6.08428354e-03 2.90745602e+02] [-6.69374580e-01 7.42905881e-01 -5.34077442e-03 -1.03198555e+02] [-8.09514240e-03 -1.05105036e-04 9.99967228e-01 1.56229714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60232058799994 meters 0.023700221361873414 Centerline is valid? [True, True] Translation: X:290.79, Y:-103.22, Z:1.56 [[ 7.42825970e-01 6.69454600e-01 6.33381602e-03 2.90785462e+02] [-6.69431295e-01 7.42852967e-01 -5.58661960e-03 -1.03224264e+02] [-8.44508221e-03 -9.01685333e-05 9.99964336e-01 1.55983005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63232058799997 meters 0.023452105704014056 Centerline is valid? [True, True] Translation: X:290.82, Y:-103.25, Z:1.56 [[ 7.42507484e-01 6.69812232e-01 5.84904006e-03 2.90822540e+02] [-6.69792216e-01 7.42530517e-01 -5.17869747e-03 -1.03252747e+02] [-7.81184565e-03 -7.24198729e-05 9.99969484e-01 1.55914982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66232058799994 meters 0.022900542802290483 Centerline is valid? [True, True] Translation: X:290.86, Y:-103.28, Z:1.56 [[ 7.43725310e-01 6.68449093e-01 6.96231868e-03 2.90859969e+02] [-6.68420466e-01 7.43757896e-01 -6.18659916e-03 -1.03281088e+02] [-9.31370609e-03 -5.26259152e-05 9.99956625e-01 1.55873813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.692320588 meters 0.022754618930866097 Centerline is valid? [True, True] Translation: X:290.90, Y:-103.31, Z:1.56 [[ 7.43240833e-01 6.68990824e-01 6.65890530e-03 2.90896301e+02] [-6.68964445e-01 7.43270661e-01 -5.94103575e-03 -1.03310153e+02] [-8.92386735e-03 -3.89505256e-05 9.99960181e-01 1.55972149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72232058799995 meters 0.02266181645412478 Centerline is valid? [True, True] Translation: X:290.93, Y:-103.34, Z:1.56 [[ 7.43666685e-01 6.68505208e-01 7.78769087e-03 2.90933270e+02] [-6.68468848e-01 7.43707460e-01 -6.97222684e-03 -1.03337325e+02] [-1.04527338e-02 -2.08159226e-05 9.99945368e-01 1.55982844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.752320588 meters 0.02232118080577275 Centerline is valid? [True, True] Translation: X:290.97, Y:-103.37, Z:1.56 [[ 7.44393697e-01 6.67683311e-01 8.77608331e-03 2.90970071e+02] [-6.67636741e-01 7.44445428e-01 -7.88587242e-03 -1.03365241e+02] [-1.17985805e-02 1.09580670e-05 9.99930394e-01 1.55926215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78232058799995 meters 0.02245660354093527 Centerline is valid? [True, True] Translation: X:291.01, Y:-103.39, Z:1.56 [[ 7.44758349e-01 6.67271994e-01 9.11526394e-03 2.91006097e+02] [-6.67221328e-01 7.44814128e-01 -8.22285066e-03 -1.03394828e+02] [-1.22760553e-02 4.21381691e-05 9.99924646e-01 1.55923333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.812320588 meters 0.02243454229102879 Centerline is valid? [True, True] Translation: X:291.04, Y:-103.42, Z:1.56 [[ 7.45353730e-01 6.66622522e-01 7.88860821e-03 2.91041540e+02] [-6.66584172e-01 7.45395471e-01 -7.15075157e-03 -1.03424951e+02] [-1.06469849e-02 7.14179861e-05 9.99943317e-01 1.55972815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84232058799995 meters 0.0224774653678281 Centerline is valid? [True, True] Translation: X:291.08, Y:-103.45, Z:1.56 [[ 7.45278786e-01 6.66708210e-01 7.72624092e-03 2.91077085e+02] [-6.66671168e-01 7.45318828e-01 -7.02834304e-03 -1.03454145e+02] [-1.04443668e-02 8.72129059e-05 9.99945452e-01 1.55982117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.872320588 meters 0.022626086146631228 Centerline is valid? [True, True] Translation: X:291.11, Y:-103.48, Z:1.56 [[ 7.44307218e-01 6.67778178e-01 8.89212598e-03 2.91112176e+02] [-6.67728845e-01 7.44360326e-01 -8.11755217e-03 -1.03483278e+02] [-1.20396700e-02 1.04423668e-04 9.99927515e-01 1.55847425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90232058799995 meters 0.022823292143382076 Centerline is valid? [True, True] Translation: X:291.15, Y:-103.51, Z:1.56 [[ 7.43834637e-01 6.68282766e-01 1.04008224e-02 2.91148689e+02] [-6.68214718e-01 7.43907336e-01 -9.53766355e-03 -1.03512814e+02] [-1.41111043e-02 1.44461876e-04 9.99900423e-01 1.55698619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.932320588 meters 0.022828013207676943 Centerline is valid? [True, True] Translation: X:291.18, Y:-103.54, Z:1.56 [[ 7.42672746e-01 6.69580627e-01 9.94865231e-03 2.91183738e+02] [-6.69518022e-01 7.42739365e-01 -9.15715747e-03 -1.03543743e+02] [-1.35207109e-02 1.39969268e-04 9.99908581e-01 1.55733615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96232058799995 meters 0.0229329866299234 Centerline is valid? [True, True] Translation: X:291.22, Y:-103.58, Z:1.56 [[ 7.41869084e-01 6.70465275e-01 1.03235980e-02 2.91218063e+02] [-6.70397437e-01 7.41940894e-01 -9.53862152e-03 -1.03575638e+02] [-1.40548140e-02 1.55494788e-04 9.99901214e-01 1.55690135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.992320588 meters 0.022995718529081992 Centerline is valid? [True, True] Translation: X:291.25, Y:-103.61, Z:1.56 [[ 7.41525065e-01 6.70844956e-01 1.03741796e-02 2.91253141e+02] [-6.70775965e-01 7.41597610e-01 -9.62238526e-03 -1.03606875e+02] [-1.41485954e-02 1.76489542e-04 9.99899888e-01 1.55821920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02232058799996 meters 0.023334231709278834 Centerline is valid? [True, True] Translation: X:291.29, Y:-103.64, Z:1.56 [[ 7.40527435e-01 6.71922185e-01 1.18192934e-02 2.91287127e+02] [-6.71832114e-01 7.40621722e-01 -1.10034660e-02 -1.03638470e+02] [-1.61470983e-02 2.07787570e-04 9.99869606e-01 1.55862990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.052320588 meters 0.023588643180761912 Centerline is valid? [True, True] Translation: X:291.32, Y:-103.67, Z:1.56 [[ 7.40484506e-01 6.71962763e-01 1.21960137e-02 2.91321599e+02] [-6.71866140e-01 7.40584894e-01 -1.13975485e-02 -1.03669559e+02] [-1.66909117e-02 2.45619435e-04 9.99860667e-01 1.56006188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08232058799996 meters 0.0235726995333716 Centerline is valid? [True, True] Translation: X:291.36, Y:-103.70, Z:1.56 [[ 7.39083839e-01 6.73517263e-01 1.13831311e-02 2.91356469e+02] [-6.73432626e-01 7.39171458e-01 -1.06795691e-02 -1.03700449e+02] [-1.56069598e-02 2.27325045e-04 9.99878178e-01 1.55953343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.112320588 meters 0.02362792677478858 Centerline is valid? [True, True] Translation: X:291.39, Y:-103.73, Z:1.56 [[ 7.38100723e-01 6.74628523e-01 9.14764471e-03 2.91393363e+02] [-6.74573379e-01 7.38157380e-01 -8.62782482e-03 -1.03732752e+02] [-1.25729782e-02 1.97446136e-04 9.99920937e-01 1.55919691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14232058799996 meters 0.023431733537615445 Centerline is valid? [True, True] Translation: X:291.43, Y:-103.76, Z:1.56 [[ 7.36492187e-01 6.76389765e-01 8.72608495e-03 2.91426858e+02] [-6.76339355e-01 7.36543857e-01 -8.25977191e-03 -1.03764391e+02] [-1.20139694e-02 1.81462807e-04 9.99927813e-01 1.56050051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.172320588 meters 0.023311994586141166 Centerline is valid? [True, True] Translation: X:291.46, Y:-103.80, Z:1.56 [[ 7.33936664e-01 6.79146408e-01 9.85544910e-03 2.91464332e+02] [-6.79081563e-01 7.34002805e-01 -9.38684751e-03 -1.03799516e+02] [-1.36089711e-02 1.96697774e-04 9.99907374e-01 1.56054660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20232058799996 meters 0.023368053526816576 Centerline is valid? [True, True] Translation: X:291.50, Y:-103.83, Z:1.56 [[ 7.32373664e-01 6.80837912e-01 9.41029017e-03 2.91499118e+02] [-6.80778551e-01 7.32434097e-01 -8.99211412e-03 -1.03831028e+02] [-1.30145896e-02 1.79263862e-04 9.99915291e-01 1.56053541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23232058799994 meters 0.023288607338220305 Centerline is valid? [True, True] Translation: X:291.53, Y:-103.86, Z:1.56 [[ 7.31227213e-01 6.82077887e-01 8.74750795e-03 2.91533520e+02] [-6.82026284e-01 7.31279513e-01 -8.39177028e-03 -1.03861996e+02] [-1.21207143e-02 1.70260453e-04 9.99926527e-01 1.56094835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26232058799997 meters 0.023241506030226657 Centerline is valid? [True, True] Translation: X:291.57, Y:-103.89, Z:1.56 [[ 7.28704165e-01 6.84762439e-01 9.52059776e-03 2.91566978e+02] [-6.84701011e-01 7.28766337e-01 -9.17344903e-03 -1.03893631e+02] [-1.32199245e-02 1.65967608e-04 9.99912599e-01 1.55933549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29232058799994 meters 0.023003037823953958 Centerline is valid? [True, True] Translation: X:291.61, Y:-103.93, Z:1.56 [[ 7.25401492e-01 6.88270147e-01 8.76817304e-03 2.91610508e+02] [-6.88217335e-01 7.25454466e-01 -8.52748666e-03 -1.03932546e+02] [-1.22301248e-02 1.51442861e-04 9.99925198e-01 1.56141470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32232058799997 meters 0.022901207601134805 Centerline is valid? [True, True] Translation: X:291.67, Y:-103.98, Z:1.56 [[ 7.20201272e-01 6.93705069e-01 9.13262621e-03 2.91669892e+02] [-6.93646262e-01 7.20259153e-01 -9.03414001e-03 -1.03983132e+02] [-1.28448863e-02 1.71587098e-04 9.99917486e-01 1.56226928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35232058799994 meters 0.022980286793333752 Centerline is valid? [True, True] Translation: X:291.70, Y:-104.01, Z:1.56 [[ 7.18745175e-01 6.95211423e-01 9.29793456e-03 2.91703363e+02] [-6.95150519e-01 7.18805297e-01 -9.20328087e-03 -1.04014588e+02] [-1.30816306e-02 1.51349677e-04 9.99914420e-01 1.56250434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38232058799997 meters 0.022935895344897844 Centerline is valid? [True, True] Translation: X:291.74, Y:-104.05, Z:1.56 [[ 7.17489710e-01 6.96512781e-01 8.85787307e-03 2.91737258e+02] [-6.96457117e-01 7.17544371e-01 -8.80680624e-03 -1.04046516e+02] [-1.24899701e-02 1.49664119e-04 9.99921986e-01 1.56317989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41232058799994 meters 0.023154929650075252 Centerline is valid? [True, True] Translation: X:291.77, Y:-104.08, Z:1.56 [[ 7.16408917e-01 6.97627899e-01 8.57778098e-03 2.91770406e+02] [-6.97575328e-01 7.16460251e-01 -8.56565829e-03 -1.04078133e+02] [-1.21212813e-02 1.52865593e-04 9.99926523e-01 1.56355800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.442320588 meters 0.023288828074328465 Centerline is valid? [True, True] Translation: X:291.80, Y:-104.11, Z:1.56 [[ 7.15385177e-01 6.98660832e-01 9.85339051e-03 2.91804891e+02] [-6.98590974e-01 7.15453008e-01 -9.88151634e-03 -1.04110619e+02] [-1.39534663e-02 1.85600643e-04 9.99902628e-01 1.56309210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47232058799995 meters 0.023432614243165124 Centerline is valid? [True, True] Translation: X:293.05, Y:-102.88, Z:3.41 [[ 7.53234876e-01 -6.57508449e-01 1.78846587e-02 2.93048469e+02] [-6.57321254e-01 -7.53447168e-01 -1.56886459e-02 -1.02883425e+02] [ 2.37905627e-02 6.12689582e-05 -9.99716963e-01 3.41416146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.502320588 meters 0.02343236546917682 Centerline is valid? [True, True] Translation: X:291.94, Y:-104.25, Z:1.56 [[ 7.70157572e-01 6.37756545e-01 1.11311942e-02 2.91940347e+02] [-6.37686285e-01 7.70237984e-01 -9.46839793e-03 -1.04250979e+02] [-1.46122013e-02 1.93948509e-04 9.99893217e-01 1.56412854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53232058799995 meters 0.023232606663463225 Centerline is valid? [True, True] Translation: X:291.97, Y:-104.28, Z:1.57 [[ 7.68985442e-01 6.39179868e-01 1.05112753e-02 2.91974616e+02] [-6.39116759e-01 7.69057254e-01 -8.98378476e-03 -1.04281195e+02] [-1.38260269e-02 1.90467500e-04 9.99904398e-01 1.56511440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.562320588 meters 0.023145919967665324 Centerline is valid? [True, True] Translation: X:292.01, Y:-104.31, Z:1.57 [[ 7.66423797e-01 6.42236497e-01 1.12625582e-02 2.92009481e+02] [-6.42163845e-01 7.66506525e-01 -9.66143112e-03 -1.04311063e+02] [-1.48377480e-02 1.72343047e-04 9.99889900e-01 1.56510828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59232058799995 meters 0.022938886785361445 Centerline is valid? [True, True] Translation: X:292.04, Y:-104.34, Z:1.57 [[ 7.64129852e-01 6.44964587e-01 1.12360933e-02 2.92043808e+02] [-6.44892024e-01 7.64212444e-01 -9.67563381e-03 -1.04340674e+02] [-1.48272035e-02 1.47373691e-04 9.99890060e-01 1.56585281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.622320588 meters 0.022738213014333156 Centerline is valid? [True, True] Translation: X:292.08, Y:-104.37, Z:1.57 [[ 7.62660474e-01 6.46705076e-01 1.10248260e-02 2.92078882e+02] [-6.46634869e-01 7.62740143e-01 -9.52998910e-03 -1.04370130e+02] [-1.45721697e-02 1.39109057e-04 9.99893811e-01 1.56596245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65232058799995 meters 0.022620559651516745 Centerline is valid? [True, True] Translation: X:292.11, Y:-104.40, Z:1.57 [[ 7.60263023e-01 6.49530086e-01 1.05262832e-02 2.92113907e+02] [-6.49465857e-01 7.60335883e-01 -9.13485160e-03 -1.04400194e+02] [-1.39368718e-02 1.08428379e-04 9.99902871e-01 1.56712309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.682320588 meters 0.02258425558161941 Centerline is valid? [True, True] Translation: X:292.15, Y:-104.43, Z:1.57 [[ 7.56597626e-01 6.53791504e-01 1.08028604e-02 2.92147155e+02] [-6.53723781e-01 7.56674743e-01 -9.41018328e-03 -1.04431961e+02] [-1.43265495e-02 5.76355685e-05 9.99897368e-01 1.56810369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71232058799995 meters 0.022371177936439095 Centerline is valid? [True, True] Translation: X:292.19, Y:-104.46, Z:1.57 [[ 7.53115277e-01 6.57820323e-01 9.47646329e-03 2.92186524e+02] [-6.57767842e-01 7.53174895e-01 -8.30920907e-03 -1.04463915e+02] [-1.26034008e-02 2.44794808e-05 9.99920574e-01 1.56772138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.742320588 meters 0.022377034162946507 Centerline is valid? [True, True] Translation: X:292.22, Y:-104.49, Z:1.57 [[ 7.51559119e-01 6.59614986e-01 8.18293378e-03 2.92223266e+02] [-6.59575684e-01 7.51603665e-01 -7.20052531e-03 -1.04492568e+02] [-1.08998974e-02 1.43563162e-05 9.99940594e-01 1.56692012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77232058799996 meters 0.022281314004337 Centerline is valid? [True, True] Translation: X:292.26, Y:-104.52, Z:1.57 [[ 7.50500514e-01 6.60823857e-01 7.79797995e-03 2.92259995e+02] [-6.60787942e-01 7.50541024e-01 -6.88956295e-03 -1.04521311e+02] [-1.04054914e-02 1.78094106e-05 9.99945861e-01 1.56595977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.802320588 meters 0.02265678212923417 Centerline is valid? [True, True] Translation: X:292.30, Y:-104.55, Z:1.57 [[ 7.48937179e-01 6.62554414e-01 1.07121180e-02 2.92295997e+02] [-6.62486235e-01 7.49013783e-01 -9.50481606e-03 -1.04551736e+02] [-1.43209819e-02 2.18793907e-05 9.99897449e-01 1.56563840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83232058799996 meters 0.02263155696008686 Centerline is valid? [True, True] Translation: X:292.33, Y:-104.58, Z:1.57 [[ 7.48240460e-01 6.63328384e-01 1.14747008e-02 2.92331342e+02] [-6.63249670e-01 7.48328440e-01 -1.02187201e-02 -1.04582441e+02] [-1.53652120e-02 3.54683280e-05 9.99881948e-01 1.56706313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.862320588 meters 0.02291343768047588 Centerline is valid? [True, True] Translation: X:292.37, Y:-104.61, Z:1.57 [[ 7.46816428e-01 6.64921720e-01 1.20137265e-02 2.92366299e+02] [-6.64834966e-01 7.46913050e-01 -1.07407190e-02 -1.04612815e+02] [-1.61149464e-02 3.41999210e-05 9.99870145e-01 1.56713024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89232058799996 meters 0.02250855813487263 Centerline is valid? [True, True] Translation: X:292.41, Y:-104.64, Z:1.57 [[ 7.45390473e-01 6.66552417e-01 1.00457648e-02 2.92407760e+02] [-6.66491097e-01 7.45458163e-01 -9.04125734e-03 -1.04643347e+02] [-1.35151693e-02 4.38542889e-05 9.99908665e-01 1.56607159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.922320588 meters 0.022479864890554365 Centerline is valid? [True, True] Translation: X:292.44, Y:-104.67, Z:1.56 [[ 7.43500600e-01 6.68679065e-01 8.66980460e-03 2.92443702e+02] [-6.68633216e-01 7.43551147e-01 -7.83037311e-03 -1.04672805e+02] [-1.16824497e-02 2.49677754e-05 9.99931758e-01 1.56478199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95232058799996 meters 0.022552180299914775 Centerline is valid? [True, True] Translation: X:292.48, Y:-104.70, Z:1.56 [[ 7.41540623e-01 6.70842528e-01 9.37055465e-03 2.92478875e+02] [-6.70788731e-01 7.41599826e-01 -8.49567292e-03 -1.04703394e+02] [-1.26484604e-02 1.42241271e-05 9.99920005e-01 1.56427998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98232058799994 meters 0.02251746588517887 Centerline is valid? [True, True] Translation: X:292.51, Y:-104.73, Z:1.57 [[ 7.39785014e-01 6.72773972e-01 9.66002940e-03 2.92513531e+02] [-6.72716443e-01 7.39848081e-01 -8.79801894e-03 -1.04733958e+02] [-1.30660324e-02 1.01819490e-05 9.99914636e-01 1.56588774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01232058799997 meters 0.022572867575267348 Centerline is valid? [True, True] Translation: X:292.55, Y:-104.76, Z:1.57 [[ 7.38355169e-01 6.74340860e-01 9.80042593e-03 2.92548479e+02] [-6.74281259e-01 7.38420208e-01 -8.96552338e-03 -1.04763643e+02] [-1.32826513e-02 1.14970010e-05 9.99911782e-01 1.56641196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04232058799994 meters 0.022637490552780058 Centerline is valid? [True, True] Translation: X:292.59, Y:-104.79, Z:1.57 [[ 7.37350225e-01 6.75428487e-01 1.05358571e-02 2.92585072e+02] [-6.75359120e-01 7.37425493e-01 -9.67992198e-03 -1.04792830e+02] [-1.43075047e-02 2.20054742e-05 9.99897642e-01 1.56514668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07232058799997 meters 0.02255468638079759 Centerline is valid? [True, True] Translation: X:292.62, Y:-104.82, Z:1.56 [[ 7.36699943e-01 6.76154106e-01 9.42434693e-03 2.92621667e+02] [-6.76098153e-01 7.36760221e-01 -8.69856123e-03 -1.04821715e+02] [-1.28250518e-02 3.64460137e-05 9.99917755e-01 1.56492144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10232058799994 meters 0.02253591745660955 Centerline is valid? [True, True] Translation: X:292.66, Y:-104.85, Z:1.56 [[ 7.35199992e-01 6.77779648e-01 9.78366998e-03 2.92657044e+02] [-6.77718966e-01 7.35265086e-01 -9.06953215e-03 -1.04851744e+02] [-1.33407353e-02 3.73412653e-05 9.99911008e-01 1.56471188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13232058799997 meters 0.0225932901493248 Centerline is valid? [True, True] Translation: X:292.69, Y:-104.88, Z:1.56 [[ 7.33873446e-01 6.79208239e-01 1.02923773e-02 2.92692035e+02] [-6.79140727e-01 7.33945616e-01 -9.57633754e-03 -1.04881646e+02] [-1.40583726e-02 3.78472057e-05 9.99901175e-01 1.56434161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16232058799994 meters 0.022792261702881556 Centerline is valid? [True, True] Translation: X:292.73, Y:-104.91, Z:1.56 [[ 7.31054997e-01 6.82231708e-01 1.08851961e-02 2.92726471e+02] [-6.82155945e-01 7.31136031e-01 -1.01671415e-02 -1.04912919e+02] [-1.48949054e-02 7.33839996e-06 9.99889065e-01 1.56383768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.192320588 meters 0.022673066186863915 Centerline is valid? [True, True] Translation: X:292.76, Y:-104.94, Z:1.56 [[ 7.28604572e-01 6.84859915e-01 1.01130633e-02 2.92760701e+02] [-6.84794161e-01 7.28674754e-01 -9.49006668e-03 -1.04944006e+02] [-1.38685002e-02 -1.08607116e-05 9.99903828e-01 1.56483077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22232058799995 meters 0.022614526788580197 Centerline is valid? [True, True] Translation: X:292.80, Y:-104.97, Z:1.57 [[ 7.26923394e-01 6.86641745e-01 1.02710399e-02 2.92796322e+02] [-6.86573497e-01 7.26995952e-01 -9.68086110e-03 -1.04974211e+02] [-1.41142878e-02 -1.45793593e-05 9.99900388e-01 1.56539000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.252320588 meters 0.022648295802383145 Centerline is valid? [True, True] Translation: X:292.83, Y:-105.01, Z:1.57 [[ 7.25434326e-01 6.88222576e-01 9.73264573e-03 2.92834188e+02] [-6.88160795e-01 7.25499611e-01 -9.22141085e-03 -1.05006590e+02] [-1.34074138e-02 -8.09725227e-06 9.99910117e-01 1.56559626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28232058799995 meters 0.022446110844197145 Centerline is valid? [True, True] Translation: X:292.87, Y:-105.04, Z:1.57 [[ 7.24370174e-01 6.89341530e-01 9.80342963e-03 2.92870587e+02] [-6.89278356e-01 7.24436509e-01 -9.33231257e-03 -1.05038506e+02] [-1.35351130e-02 2.75701853e-06 9.99908396e-01 1.56631936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.312320588 meters 0.02248241346106425 Centerline is valid? [True, True] Translation: X:292.91, Y:-105.07, Z:1.57 [[ 7.24156282e-01 6.89566474e-01 9.78559143e-03 2.92907062e+02] [-6.89502979e-01 7.24222395e-01 -9.35758186e-03 -1.05068728e+02] [-1.35396192e-02 2.91572438e-05 9.99908335e-01 1.56620425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34232058799995 meters 0.02229495786235461 Centerline is valid? [True, True] Translation: X:292.95, Y:-105.10, Z:1.57 [[ 7.22572077e-01 6.91248131e-01 8.10029415e-03 2.92947297e+02] [-6.91204138e-01 7.22617479e-01 -7.79869214e-03 -1.05102447e+02] [-1.12442455e-02 3.61603414e-05 9.99936781e-01 1.56580777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.372320588 meters 0.02229495786235461 Centerline is valid? [True, True] Translation: X:292.98, Y:-105.13, Z:1.57 [[ 7.20997147e-01 6.92890865e-01 8.08470119e-03 2.92982144e+02] [-6.92846794e-01 7.21042473e-01 -7.81486805e-03 -1.05133309e+02] [-1.12442636e-02 3.30382738e-05 9.99936781e-01 1.56603262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40232058799995 meters 0.022320006528465972 Centerline is valid? [True, True] Translation: X:293.02, Y:-105.16, Z:1.57 [[ 7.19556793e-01 6.94385355e-01 8.18536094e-03 2.93016940e+02] [-6.94339883e-01 7.19603348e-01 -7.94661493e-03 -1.05163973e+02] [-1.14082262e-02 3.46182000e-05 9.99934923e-01 1.56607191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.432320588 meters 0.022323219293607692 Centerline is valid? [True, True] Translation: X:293.05, Y:-105.20, Z:1.57 [[ 7.18666081e-01 6.95310998e-01 7.85364698e-03 2.93052121e+02] [-6.95268791e-01 7.18708991e-01 -7.66124275e-03 -1.05195762e+02] [-1.09714330e-02 4.54796559e-05 9.99939811e-01 1.56853720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46232058799995 meters 0.02216689790329485 Centerline is valid? [True, True] Translation: X:293.09, Y:-105.23, Z:1.57 [[ 7.17828741e-01 6.96175603e-01 7.83763136e-03 2.93087904e+02] [-6.96133246e-01 7.17871525e-01 -7.67969048e-03 -1.05226678e+02] [-1.09728255e-02 5.66667897e-05 9.99939795e-01 1.56991156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.492320588 meters 0.022287713613109682 Centerline is valid? [True, True] Translation: X:293.12, Y:-105.26, Z:1.57 [[ 7.16408036e-01 6.97641166e-01 7.50530665e-03 2.93123601e+02] [-6.97602047e-01 7.16447346e-01 -7.38804284e-03 -1.05257503e+02] [-1.05313599e-02 5.71359816e-05 9.99944542e-01 1.57020392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52232058799996 meters 0.022485423628128606 Centerline is valid? [True, True] Translation: X:293.16, Y:-105.29, Z:1.57 [[ 7.15289199e-01 6.98794391e-01 6.91089602e-03 2.93159873e+02] [-6.98760956e-01 7.15322581e-01 -6.83597956e-03 -1.05289009e+02] [-9.72046415e-03 6.06380342e-05 9.99952753e-01 1.56961859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.552320588 meters 0.022632471147027593 Centerline is valid? [True, True] Translation: X:293.20, Y:-105.32, Z:1.57 [[ 7.14909267e-01 6.99182860e-01 6.93309276e-03 2.93196289e+02] [-6.99148906e-01 7.14942880e-01 -6.89095210e-03 -1.05320684e+02] [-9.77480090e-03 7.91412996e-05 9.99952222e-01 1.56996146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58232058799996 meters 0.022681445224591198 Centerline is valid? [True, True] Translation: X:293.23, Y:-105.35, Z:1.57 [[ 7.13844971e-01 7.00274442e-01 6.40810037e-03 2.93232130e+02] [-7.00245205e-01 7.13873728e-01 -6.39948451e-03 -1.05353064e+02] [-9.05596995e-03 8.09982788e-05 9.99958991e-01 1.57147848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.612320588 meters 0.023098576802313 Centerline is valid? [True, True] Translation: X:293.27, Y:-105.38, Z:1.57 [[ 7.14568428e-01 6.99529173e-01 7.13428969e-03 2.93267964e+02] [-6.99492602e-01 7.14604031e-01 -7.15394665e-03 -1.05383120e+02] [-1.01025866e-02 1.21601557e-04 9.99948960e-01 1.57106556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64232058799996 meters 0.023697887522510515 Centerline is valid? [True, True] Translation: X:294.52, Y:-104.16, Z:3.42 [[ 7.53214463e-01 -6.57598966e-01 1.52175163e-02 2.94523672e+02] [-6.57462207e-01 -7.53368164e-01 -1.34110563e-02 -1.04157999e+02] [ 2.02834890e-02 9.64597045e-05 -9.99794264e-01 3.42319349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.672320588 meters 0.023857434694117382 Centerline is valid? [True, True] Translation: X:293.41, Y:-105.53, Z:1.57 [[ 7.71197283e-01 6.36550522e-01 7.62791257e-03 2.93414535e+02] [-6.36517511e-01 7.71234992e-01 -6.48427174e-03 -1.05527372e+02] [-1.00104796e-02 1.45352823e-04 9.99949883e-01 1.57330957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70232058799996 meters 0.0241124149804137 Centerline is valid? [True, True] Translation: X:293.46, Y:-105.56, Z:1.57 [[ 7.70916321e-01 6.36885462e-01 8.05816310e-03 2.93455284e+02] [-6.36848089e-01 7.70958412e-01 -6.90214344e-03 -1.05557296e+02] [-1.06083834e-02 1.89149262e-04 9.99943712e-01 1.57360395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73232058799994 meters 0.024043317097518956 Centerline is valid? [True, True] Translation: X:293.49, Y:-105.59, Z:1.58 [[ 7.69448134e-01 6.38670041e-01 7.08158649e-03 2.93491778e+02] [-6.38641061e-01 7.69480704e-01 -6.08620933e-03 -1.05586645e+02] [-9.33622372e-03 1.60430498e-04 9.99956404e-01 1.57603127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76232058799997 meters 0.024166090401458184 Centerline is valid? [True, True] Translation: X:293.53, Y:-105.61, Z:1.58 [[ 7.68341030e-01 6.40009816e-01 6.28460338e-03 2.93527250e+02] [-6.39986871e-01 7.68366719e-01 -5.42133687e-03 -1.05614784e+02] [-8.29858889e-03 1.43371905e-04 9.99965556e-01 1.57614127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79232058799994 meters 0.02380583401014117 Centerline is valid? [True, True] Translation: X:293.56, Y:-105.64, Z:1.58 [[ 7.66654544e-01 6.42041258e-01 4.88189220e-03 2.93563131e+02] [-6.42027339e-01 7.66670080e-01 -4.22896074e-03 -1.05641888e+02] [-6.45796796e-03 1.07843712e-04 9.99979141e-01 1.57506478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82232058799997 meters 0.023715631034246103 Centerline is valid? [True, True] Translation: X:293.60, Y:-105.67, Z:1.57 [[ 7.65157300e-01 6.43826110e-01 4.71674180e-03 2.93598751e+02] [-6.43813050e-01 7.65171831e-01 -4.10201921e-03 -1.05670555e+02] [-6.25010502e-03 1.01990016e-04 9.99980463e-01 1.57475569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85232058799994 meters 0.023808961677987774 Centerline is valid? [True, True] Translation: X:293.63, Y:-105.70, Z:1.58 [[ 7.64024630e-01 6.45161485e-01 5.74653888e-03 2.93634284e+02] [-6.45142013e-01 7.64046231e-01 -5.01399263e-03 -1.05700009e+02] [-7.62545630e-03 1.23480204e-04 9.99970918e-01 1.57505992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88232058799997 meters 0.024257475143617518 Centerline is valid? [True, True] Translation: X:293.67, Y:-105.73, Z:1.58 [[ 7.63207252e-01 6.46118727e-01 6.72906521e-03 2.93671912e+02] [-6.46091817e-01 7.63236901e-01 -5.89892557e-03 -1.05729333e+02] [-8.94727716e-03 1.54508802e-04 9.99959960e-01 1.57500628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91232058799994 meters 0.02435451323160716 Centerline is valid? [True, True] Translation: X:293.71, Y:-105.76, Z:1.58 [[ 7.62473333e-01 6.46985343e-01 6.66206967e-03 2.93708012e+02] [-6.46958816e-01 7.62502420e-01 -5.86084765e-03 -1.05758220e+02] [-8.87172677e-03 1.58655331e-04 9.99960633e-01 1.57541078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.942320588 meters 0.024457882518456795 Centerline is valid? [True, True] Translation: X:293.74, Y:-105.79, Z:1.58 [[ 7.61038781e-01 6.48674001e-01 6.48185234e-03 2.93742851e+02] [-6.48648772e-01 7.61066369e-01 -5.72301743e-03 -1.05787323e+02] [-8.64549244e-03 1.50992653e-04 9.99962616e-01 1.57571787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97232058799995 meters 0.02452994694062414 Centerline is valid? [True, True] Translation: X:293.78, Y:-105.82, Z:1.58 [[ 7.59862703e-01 6.50050505e-01 6.55846672e-03 2.93778233e+02] [-6.50024539e-01 7.59890990e-01 -5.81220018e-03 -1.05817046e+02] [-8.76194344e-03 1.53309834e-04 9.99961602e-01 1.57521307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.002320588 meters 0.02468739900060108 Centerline is valid? [True, True] Translation: X:293.81, Y:-105.85, Z:1.57 [[ 7.59217185e-01 6.50802347e-01 6.75063358e-03 2.93813765e+02] [-6.50774667e-01 7.59247178e-01 -6.00459770e-03 -1.05845750e+02] [-9.03320578e-03 1.65652446e-04 9.99959186e-01 1.57411022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03232058799995 meters 0.024642224963326697 Centerline is valid? [True, True] Translation: X:293.85, Y:-105.88, Z:1.57 [[ 7.57519704e-01 6.52772614e-01 7.19807144e-03 2.93850957e+02] [-6.52740929e-01 7.57553882e-01 -6.43391073e-03 -1.05876146e+02] [-9.65280768e-03 1.75338314e-04 9.99953395e-01 1.57388452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.062320588 meters 0.024301109029580756 Centerline is valid? [True, True] Translation: X:293.89, Y:-105.91, Z:1.57 [[ 7.53976474e-01 6.56860583e-01 7.32468258e-03 2.93885468e+02] [-6.56827751e-01 7.54012039e-01 -6.56890164e-03 -1.05906162e+02] [-9.83775140e-03 1.41742507e-04 9.99951598e-01 1.57435725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09232058799995 meters 0.02387498273728516 Centerline is valid? [True, True] Translation: X:293.92, Y:-105.94, Z:1.58 [[ 7.50241802e-01 6.61127422e-01 6.91170326e-03 2.93919541e+02] [-6.61098146e-01 7.50273632e-01 -6.22239179e-03 -1.05936864e+02] [-9.29946255e-03 9.89842106e-05 9.99956754e-01 1.57532170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.122320588 meters 0.023586404530224578 Centerline is valid? [True, True] Translation: X:293.95, Y:-105.97, Z:1.58 [[ 7.47227795e-01 6.64537972e-01 6.31711665e-03 2.93953804e+02] [-6.64513438e-01 7.47254494e-01 -5.71071009e-03 -1.05968446e+02] [-8.51547751e-03 6.93924007e-05 9.99963740e-01 1.57699446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15232058799995 meters 0.02359098051726536 Centerline is valid? [True, True] Translation: X:293.99, Y:-106.00, Z:1.58 [[ 7.44858228e-01 6.67187315e-01 6.87792562e-03 2.93989804e+02] [-6.67158128e-01 7.44889980e-01 -6.24093743e-03 -1.05998304e+02] [-9.28717216e-03 5.99496134e-05 9.99956871e-01 1.57507622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.182320588 meters 0.023605088861476605 Centerline is valid? [True, True] Translation: X:294.03, Y:-106.03, Z:1.57 [[ 7.43043785e-01 6.69200157e-01 7.55532595e-03 2.94026235e+02] [-6.69164779e-01 7.43082194e-01 -6.88128090e-03 -1.06027879e+02] [-1.02191824e-02 5.73349813e-05 9.99947781e-01 1.57343038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21232058799995 meters 0.023619505225066388 Centerline is valid? [True, True] Translation: X:294.07, Y:-106.06, Z:1.57 [[ 7.40097385e-01 6.72453135e-01 7.91465018e-03 2.94066378e+02] [-6.72413993e-01 7.40139702e-01 -7.25558747e-03 -1.06061132e+02] [-1.07369894e-02 4.79197837e-05 9.99942356e-01 1.57282672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.242320588 meters 0.023660119803338733 Centerline is valid? [True, True] Translation: X:294.10, Y:-106.09, Z:1.57 [[ 7.39071120e-01 6.73585191e-01 7.54125060e-03 2.94102171e+02] [-6.73549482e-01 7.39109591e-01 -6.93592347e-03 -1.06091540e+02] [-1.02457460e-02 4.67352854e-05 9.99947510e-01 1.57378343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27232058799996 meters 0.023523735312850798 Centerline is valid? [True, True] Translation: X:294.14, Y:-106.12, Z:1.57 [[ 7.37612420e-01 6.75189566e-01 6.85332494e-03 2.94138584e+02] [-6.75159904e-01 7.37644256e-01 -6.32896209e-03 -1.06121220e+02] [-9.32856495e-03 4.12308320e-05 9.99956487e-01 1.57260633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.302320588 meters 0.02379083527631443 Centerline is valid? [True, True] Translation: X:294.18, Y:-106.15, Z:1.57 [[ 7.36057761e-01 6.76877558e-01 7.46617785e-03 2.94176612e+02] [-6.76842072e-01 7.36095625e-01 -6.93109895e-03 -1.06152663e+02] [-1.01873262e-02 4.82658903e-05 9.99948107e-01 1.57083633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33232058799996 meters 0.023750901319338803 Centerline is valid? [True, True] Translation: X:294.21, Y:-106.18, Z:1.57 [[ 7.35087727e-01 6.77922265e-01 8.21198512e-03 2.94211276e+02] [-6.77879118e-01 7.35133593e-01 -7.64862241e-03 -1.06184014e+02] [-1.12220776e-02 5.56752340e-05 9.99937029e-01 1.57319559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.362320588 meters 0.023727192586352745 Centerline is valid? [True, True] Translation: X:294.25, Y:-106.21, Z:1.57 [[ 7.34081065e-01 6.79005639e-01 8.73680375e-03 2.94245782e+02] [-6.78956447e-01 7.34133052e-01 -8.17345798e-03 -1.06214138e+02] [-1.19638005e-02 6.80715053e-05 9.99928429e-01 1.57428891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39232058799996 meters 0.023681755193858865 Centerline is valid? [True, True] Translation: X:295.48, Y:-105.07, Z:3.43 [[ 7.71708460e-01 -6.35776054e-01 1.59644016e-02 2.95481470e+02] [-6.35624920e-01 -7.71873368e-01 -1.38731660e-02 -1.05069793e+02] [ 2.11427232e-02 5.58668026e-04 -9.99776312e-01 3.43204190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.422320588 meters 0.023837549556105217 Centerline is valid? [True, True] Translation: X:294.41, Y:-106.46, Z:1.57 [[ 7.80452450e-01 6.25148731e-01 9.11253386e-03 2.94405350e+02] [-6.25104610e-01 7.80505640e-01 -7.42780929e-03 -1.06456973e+02] [-1.17558696e-02 1.00765035e-04 9.99930892e-01 1.57373890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45232058799996 meters 0.02372457753762307 Centerline is valid? [True, True] Translation: X:294.44, Y:-106.48, Z:1.57 [[ 7.79765473e-01 6.26019472e-01 8.08874328e-03 2.94439818e+02] [-6.25984424e-01 7.79807419e-01 -6.62501348e-03 -1.06484002e+02] [-1.04550495e-02 1.02529463e-04 9.99945339e-01 1.57459167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48232058799994 meters 0.023879107447354053 Centerline is valid? [True, True] Translation: X:294.47, Y:-106.51, Z:1.58 [[ 7.79072989e-01 6.26896083e-01 6.82493711e-03 2.94474082e+02] [-6.26870974e-01 7.79102877e-01 -5.61147245e-03 -1.06511315e+02] [-8.83513823e-03 9.33916400e-05 9.99960965e-01 1.57547021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51232058799997 meters 0.023969055310050367 Centerline is valid? [True, True] Translation: X:294.51, Y:-106.54, Z:1.57 [[ 7.78273402e-01 6.27879452e-01 7.60951292e-03 2.94509377e+02] [-6.27848080e-01 7.78310595e-01 -6.27743486e-03 -1.06537464e+02] [-9.86403688e-03 1.07942509e-04 9.99951343e-01 1.57411492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54232058799994 meters 0.02413101796138693 Centerline is valid? [True, True] Translation: X:294.55, Y:-106.57, Z:1.57 [[ 7.77265621e-01 6.29129119e-01 7.39629585e-03 2.94549796e+02] [-6.29099165e-01 7.77300802e-01 -6.14035906e-03 -1.06566396e+02] [-9.61222539e-03 1.19686457e-04 9.99953794e-01 1.57391884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57232058799997 meters 0.02407641397411396 Centerline is valid? [True, True] Translation: X:294.58, Y:-106.59, Z:1.58 [[ 7.77077277e-01 6.29370789e-01 6.58142120e-03 2.94584704e+02] [-6.29346939e-01 7.77105138e-01 -5.48038406e-03 -1.06594071e+02] [-8.56364988e-03 1.16684639e-04 9.99963324e-01 1.57571412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60232058799994 meters 0.02416742433622044 Centerline is valid? [True, True] Translation: X:294.62, Y:-106.62, Z:1.58 [[ 7.76583463e-01 6.29971401e-01 7.35926216e-03 2.94618670e+02] [-6.29941416e-01 7.76618320e-01 -6.14805266e-03 -1.06622415e+02] [-9.58843516e-03 1.38571999e-04 9.99954020e-01 1.57666920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63232058799997 meters 0.024213191183723375 Centerline is valid? [True, True] Translation: X:294.65, Y:-106.65, Z:1.58 [[ 7.75211364e-01 6.31649422e-01 8.14552946e-03 2.94651977e+02] [-6.31612522e-01 7.75254143e-01 -6.82908608e-03 -1.06652500e+02] [-1.06284437e-02 1.49166728e-04 9.99943505e-01 1.57820682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66232058799994 meters 0.02418171397139439 Centerline is valid? [True, True] Translation: X:294.69, Y:-106.68, Z:1.58 [[ 7.74057003e-01 6.33060525e-01 8.37421846e-03 2.94687392e+02] [-6.33021329e-01 7.74102286e-01 -7.04619901e-03 -1.06679913e+02] [-1.09431721e-02 1.53100798e-04 9.99940110e-01 1.57684008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.692320588 meters 0.024075029143709206 Centerline is valid? [True, True] Translation: X:294.72, Y:-106.71, Z:1.58 [[ 7.72958447e-01 6.34425644e-01 6.27235665e-03 2.94723982e+02] [-6.34403519e-01 7.72983887e-01 -5.29958116e-03 -1.06706318e+02] [-8.21062081e-03 1.17150887e-04 9.99966285e-01 1.57514603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72232058799995 meters 0.023839913782022076 Centerline is valid? [True, True] Translation: X:294.76, Y:-106.73, Z:1.57 [[ 7.71675372e-01 6.35986289e-01 6.20972011e-03 2.94759162e+02] [-6.35964499e-01 7.71700348e-01 -5.26576522e-03 -1.06734108e+02] [-8.14099765e-03 1.14299794e-04 9.99966855e-01 1.57413232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.752320588 meters 0.02379560244204164 Centerline is valid? [True, True] Translation: X:294.81, Y:-106.77, Z:1.58 [[ 7.68862938e-01 6.39389571e-01 5.54604460e-03 2.94807000e+02] [-6.39371883e-01 7.68882933e-01 -4.75726993e-03 -1.06771111e+02] [-7.30600782e-03 1.11703559e-04 9.99973305e-01 1.57540711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78232058799995 meters 0.02373901863851648 Centerline is valid? [True, True] Translation: X:294.84, Y:-106.80, Z:1.58 [[ 7.67595125e-01 6.40895846e-01 7.08793624e-03 2.94840975e+02] [-6.40866993e-01 7.67627839e-01 -6.08263312e-03 -1.06801259e+02] [-9.33923147e-03 1.26575152e-04 9.99956380e-01 1.57698692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.812320588 meters 0.023737214049939632 Centerline is valid? [True, True] Translation: X:294.88, Y:-106.83, Z:1.58 [[ 7.65961451e-01 6.42845336e-01 7.27524254e-03 2.94876176e+02] [-6.42814792e-01 7.65995991e-01 -6.26778123e-03 -1.06831687e+02] [-9.60202055e-03 1.24245283e-04 9.99953892e-01 1.57801882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84232058799995 meters 0.02333903040787398 Centerline is valid? [True, True] Translation: X:294.91, Y:-106.86, Z:1.58 [[ 7.63182256e-01 6.46168237e-01 4.41068255e-03 2.94909895e+02] [-6.46156958e-01 7.63194998e-01 -3.81843082e-03 -1.06861913e+02] [-5.83355957e-03 6.41654285e-05 9.99982983e-01 1.58073806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.872320588 meters 0.02323405945745827 Centerline is valid? [True, True] Translation: X:294.95, Y:-106.89, Z:1.58 [[ 7.60522678e-01 6.49295482e-01 4.54235012e-03 2.94945912e+02] [-6.49283483e-01 7.60536241e-01 -3.94786346e-03 -1.06890792e+02] [-6.01795179e-03 5.31667846e-05 9.99981891e-01 1.57887267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90232058799995 meters 0.02311880407643473 Centerline is valid? [True, True] Translation: X:294.98, Y:-106.92, Z:1.58 [[ 7.56611901e-01 6.53844567e-01 5.07081779e-03 2.94980989e+02] [-6.53829612e-01 7.56628893e-01 -4.42236448e-03 -1.06920093e+02] [-6.72826624e-03 3.05627751e-05 9.99977364e-01 1.57878170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.932320588 meters 0.02335380249481629 Centerline is valid? [True, True] Translation: X:295.02, Y:-106.95, Z:1.58 [[ 7.53986977e-01 6.56866007e-01 5.53954738e-03 2.95015371e+02] [-6.56848112e-01 7.54007326e-01 -4.84864650e-03 -1.06949875e+02] [-7.36177038e-03 1.71750779e-05 9.99972902e-01 1.57891847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96232058799995 meters 0.023251875359749957 Centerline is valid? [True, True] Translation: X:295.05, Y:-106.98, Z:1.58 [[ 7.50987010e-01 6.60294417e-01 5.45833115e-03 2.95050206e+02] [-6.60276992e-01 7.51006846e-01 -4.79696278e-03 -1.06981259e+02] [-7.26665180e-03 -1.55373948e-06 9.99973598e-01 1.58110493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.992320588 meters 0.023338074506861754 Centerline is valid? [True, True] Translation: X:295.09, Y:-107.01, Z:1.58 [[ 7.48012948e-01 6.63667269e-01 4.73130306e-03 2.95086199e+02] [-6.63654130e-01 7.48027911e-01 -4.17608244e-03 -1.07011192e+02] [-6.31067597e-03 -1.61850761e-05 9.99980087e-01 1.58138080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02232058799996 meters 0.02348817099162576 Centerline is valid? [True, True] Translation: X:295.12, Y:-107.04, Z:1.58 [[ 7.44714662e-01 6.67369826e-01 4.19374189e-03 2.95121696e+02] [-6.67359472e-01 7.44726469e-01 -3.71767643e-03 -1.07040972e+02] [-5.60425567e-03 -3.01252325e-05 9.99984296e-01 1.58050761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.052320588 meters 0.024352193928874874 Centerline is valid? [True, True] Translation: X:295.16, Y:-107.07, Z:1.58 [[ 7.40106223e-01 6.72473802e-01 4.66518715e-03 2.95157375e+02] [-6.72460997e-01 7.40120923e-01 -4.15046547e-03 -1.07070909e+02] [-6.24388191e-03 -6.53710780e-05 9.99980505e-01 1.58102958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08232058799996 meters 0.024788400622162084 Centerline is valid? [True, True] Translation: X:295.20, Y:-107.10, Z:1.58 [[ 7.36605524e-01 6.76306105e-01 4.72797982e-03 2.95197396e+02] [-6.76292841e-01 7.36620694e-01 -4.23637516e-03 -1.07103408e+02] [-6.34781415e-03 -7.69615581e-05 9.99979849e-01 1.58154786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.112320588 meters 0.025682533509538315 Centerline is valid? [True, True] Translation: X:295.23, Y:-107.13, Z:1.58 [[ 7.31311706e-01 6.82039145e-01 2.40701942e-03 2.95233636e+02] [-6.82035699e-01 7.31315665e-01 -2.16865727e-03 -1.07134242e+02] [-3.23940016e-03 -5.57087241e-05 9.99994752e-01 1.58434535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14232058799996 meters 0.026428702477527644 Centerline is valid? [True, True] Translation: X:295.27, Y:-107.16, Z:1.58 [[ 7.28322675e-01 6.85232934e-01 1.38112487e-03 2.95269301e+02] [-6.85231787e-01 7.28323984e-01 -1.25417082e-03 -1.07163437e+02] [-1.86530551e-03 -3.29496161e-05 9.99998260e-01 1.58437279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.172320588 meters 0.02636353049072093 Centerline is valid? [True, True] Translation: X:295.31, Y:-107.19, Z:1.58 [[ 7.26302111e-01 6.87373007e-01 1.89544675e-03 2.95306486e+02] [-6.87370848e-01 7.26304583e-01 -1.72351106e-03 -1.07192245e+02] [-2.56136664e-03 -5.10851153e-05 9.99996718e-01 1.58352973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20232058799996 meters 0.02744216598274446 Centerline is valid? [True, True] Translation: X:295.34, Y:-107.22, Z:1.58 [[ 7.22332033e-01 6.91542631e-01 2.28556133e-03 2.95344232e+02] [-6.91539493e-01 7.22335645e-01 -2.08453809e-03 -1.07220684e+02] [-3.09248937e-03 -7.48272857e-05 9.99995215e-01 1.58329014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23232058799994 meters 0.028100351332519032 Centerline is valid? [True, True] Translation: X:295.38, Y:-107.25, Z:1.59 [[ 7.18715876e-01 6.95296480e-01 3.20850632e-03 2.95384243e+02] [-6.95290265e-01 7.18723029e-01 -2.94203570e-03 -1.07250190e+02] [-4.35161444e-03 -1.16355446e-04 9.99990525e-01 1.58523640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26232058799997 meters 0.028100351332519032 Centerline is valid? [True, True] Translation: X:295.42, Y:-107.28, Z:1.59 [[ 7.16830846e-01 6.97239768e-01 3.20068449e-03 2.95421713e+02] [-6.97233534e-01 7.16837982e-01 -2.95056686e-03 -1.07281392e+02] [-4.35162476e-03 -1.16567218e-04 9.99990525e-01 1.58546778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29232058799994 meters 0.028751327159893553 Centerline is valid? [True, True] Translation: X:295.46, Y:-107.31, Z:1.59 [[ 7.14414136e-01 6.99715134e-01 3.34267792e-03 2.95457783e+02] [-6.99708331e-01 7.14421944e-01 -3.08824527e-03 -1.07311027e+02] [-4.54897441e-03 -1.32613515e-04 9.99989645e-01 1.58708623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32232058799997 meters 0.02878554250730215 Centerline is valid? [True, True] Translation: X:295.50, Y:-107.34, Z:1.59 [[ 7.12006137e-01 7.02163642e-01 3.67153805e-03 2.95496889e+02] [-7.02155359e-01 7.12015588e-01 -3.41384024e-03 -1.07341056e+02] [-5.01126682e-03 -1.47314915e-04 9.99987433e-01 1.58743646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35232058799994 meters 0.02879504113548797 Centerline is valid? [True, True] Translation: X:295.54, Y:-107.37, Z:1.59 [[ 7.10322031e-01 7.03874122e-01 1.95762578e-03 2.95535871e+02] [-7.03871739e-01 7.10324725e-01 -1.83300474e-03 -1.07366736e+02] [-2.68075460e-03 -7.58938137e-05 9.99996404e-01 1.58608014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38232058799997 meters 0.028329288369511506 Centerline is valid? [True, True] Translation: X:295.57, Y:-107.40, Z:1.59 [[ 7.09663927e-01 7.04534907e-01 2.77053602e-03 2.95574790e+02] [-7.04530112e-01 7.09669327e-01 -2.60142053e-03 -1.07395170e+02] [-3.79895600e-03 -1.05791746e-04 9.99992778e-01 1.58569601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41232058799994 meters 0.02780294576588834 Centerline is valid? [True, True] Translation: X:295.61, Y:-107.42, Z:1.59 [[ 7.09232921e-01 7.04967567e-01 3.06470283e-03 2.95610566e+02] [-7.04961661e-01 7.09239534e-01 -2.88798499e-03 -1.07424187e+02] [-4.20954416e-03 -1.12243964e-04 9.99991134e-01 1.58758279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.442320588 meters 0.02726419899085497 Centerline is valid? [True, True] Translation: X:295.65, Y:-107.45, Z:1.59 [[ 7.08570280e-01 7.05633535e-01 3.07780827e-03 2.95649155e+02] [-7.05627517e-01 7.08576956e-01 -2.91617583e-03 -1.07454979e+02] [-4.23861548e-03 -1.05470682e-04 9.99991011e-01 1.58936859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47232058799995 meters 0.02644262159421951 Centerline is valid? [True, True] Translation: X:295.70, Y:-107.49, Z:1.59 [[ 7.07672769e-01 7.06535309e-01 2.66633591e-03 2.95700416e+02] [-7.06530668e-01 7.07677789e-01 -2.56180730e-03 -1.07490542e+02] [-3.69691401e-03 -7.09268275e-05 9.99993164e-01 1.58835499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.502320588 meters 0.025408447809670096 Centerline is valid? [True, True] Translation: X:295.74, Y:-107.52, Z:1.59 [[ 7.08702585e-01 7.05500346e-01 3.14765472e-03 2.95737687e+02] [-7.05493900e-01 7.08709571e-01 -3.01679509e-03 -1.07519397e+02] [-4.35912301e-03 -8.26407292e-05 9.99990496e-01 1.58729461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53232058799995 meters 0.024174420539512315 Centerline is valid? [True, True] Translation: X:295.78, Y:-107.55, Z:1.59 [[ 7.09752070e-01 7.04445466e-01 2.92998080e-03 2.95780679e+02] [-7.04439771e-01 7.09758116e-01 -2.83312857e-03 -1.07552051e+02] [-4.07536223e-03 -5.31761348e-05 9.99991694e-01 1.58849993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.562320588 meters 0.02383766507031213 Centerline is valid? [True, True] Translation: X:295.82, Y:-107.58, Z:1.59 [[ 7.09506956e-01 7.04687270e-01 3.96622895e-03 2.95816990e+02] [-7.04676812e-01 7.09518039e-01 -3.83982775e-03 -1.07581397e+02] [-5.51998872e-03 -7.05250725e-05 9.99984762e-01 1.58866556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59232058799995 meters 0.023475673585022942 Centerline is valid? [True, True] Translation: X:295.85, Y:-107.61, Z:1.59 [[ 7.09437609e-01 7.04753964e-01 4.48650965e-03 2.95853696e+02] [-7.04740475e-01 7.09451792e-01 -4.36090672e-03 -1.07610496e+02] [-6.25632861e-03 -6.80337061e-05 9.99980427e-01 1.58898234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.622320588 meters 0.022571917378611864 Centerline is valid? [True, True] Translation: X:295.91, Y:-107.65, Z:1.59 [[ 7.07769600e-01 7.06437947e-01 2.76052362e-03 2.95908860e+02] [-7.06432627e-01 7.07774984e-01 -2.74144845e-03 -1.07651009e+02] [-3.89049277e-03 -9.81007705e-06 9.99992432e-01 1.58838470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65232058799995 meters 0.022373336442822217 Centerline is valid? [True, True] Translation: X:295.94, Y:-107.68, Z:1.59 [[ 7.07287175e-01 7.06923654e-01 1.94922340e-03 2.95944553e+02] [-7.06921012e-01 7.07289861e-01 -1.93267855e-03 -1.07680586e+02] [-2.74492213e-03 -1.09882308e-05 9.99996233e-01 1.58800593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.682320588 meters 0.021884862203045256 Centerline is valid? [True, True] Translation: X:295.98, Y:-107.71, Z:1.59 [[ 7.07537038e-01 7.06675008e-01 1.33105677e-03 2.95980933e+02] [-7.06673757e-01 7.07538290e-01 -1.33001483e-03 -1.07709640e+02] [-1.88166187e-03 4.11861876e-07 9.99998230e-01 1.58853180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71232058799995 meters 0.021921978504576896 Centerline is valid? [True, True] Translation: X:296.02, Y:-107.74, Z:1.59 [[ 7.07515849e-01 7.06689381e-01 3.38266119e-03 2.96018193e+02] [-7.06681323e-01 7.07523935e-01 -3.37482652e-03 -1.07740568e+02] [-4.77826782e-03 -2.72023550e-06 9.99988584e-01 1.58760820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.742320588 meters 0.022020594779015138 Centerline is valid? [True, True] Translation: X:296.05, Y:-107.77, Z:1.59 [[ 7.07212740e-01 7.06984747e-01 4.76538634e-03 2.96054439e+02] [-7.06968652e-01 7.07228795e-01 -4.77042599e-03 -1.07771950e+02] [-6.74283685e-03 4.72727433e-06 9.99977267e-01 1.58744858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77232058799996 meters 0.021877682340824094 Centerline is valid? [True, True] Translation: X:296.09, Y:-107.80, Z:1.59 [[ 7.09721205e-01 7.04461642e-01 5.44116180e-03 2.96090620e+02] [-7.04440422e-01 7.09742061e-01 -5.46798648e-03 -1.07801640e+02] [-7.71380812e-03 4.77716410e-05 9.99970247e-01 1.58910806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.802320588 meters 0.022071701505198632 Centerline is valid? [True, True] Translation: X:297.27, Y:-106.64, Z:3.44 [[ 7.56269678e-01 -6.54145639e-01 1.22334925e-02 2.97272059e+02] [-6.54055072e-01 -7.56368580e-01 -1.08872871e-02 -1.06638654e+02] [ 1.63749007e-02 2.32347272e-04 -9.99865895e-01 3.43937076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83232058799996 meters 0.022685235361426352 Centerline is valid? [True, True] Translation: X:296.23, Y:-107.93, Z:1.59 [[ 7.70457163e-01 6.37482608e-01 3.41826721e-03 2.96226629e+02] [-6.37475965e-01 7.70464743e-01 -2.91102302e-03 -1.07931793e+02] [-4.48938091e-03 6.37553487e-05 9.99989921e-01 1.58936252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.862320588 meters 0.02325532725453627 Centerline is valid? [True, True] Translation: X:296.26, Y:-107.96, Z:1.59 [[ 7.71227309e-01 6.36549227e-01 3.67684002e-03 2.96261953e+02] [-6.36541440e-01 7.71236068e-01 -3.14997243e-03 -1.07958761e+02] [-4.84082416e-03 8.88837143e-05 9.99988279e-01 1.58868914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89232058799996 meters 0.023894698224375743 Centerline is valid? [True, True] Translation: X:296.30, Y:-107.99, Z:1.59 [[ 7.71904683e-01 6.35728629e-01 3.50294407e-03 2.96296352e+02] [-6.35721501e-01 7.71912625e-01 -3.01193949e-03 -1.07986263e+02] [-4.61874291e-03 9.80333324e-05 9.99989329e-01 1.58957342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.922320588 meters 0.025096204176180064 Centerline is valid? [True, True] Translation: X:296.33, Y:-108.01, Z:1.59 [[ 7.73735338e-01 6.33481113e-01 5.94194834e-03 2.96329659e+02] [-6.33460460e-01 7.73758128e-01 -5.11899630e-03 -1.08014803e+02] [-7.84041829e-03 1.96759000e-04 9.99969244e-01 1.58995616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95232058799996 meters 0.025762352439466122 Centerline is valid? [True, True] Translation: X:296.36, Y:-108.04, Z:1.59 [[ 7.73645549e-01 6.33588319e-01 6.19722900e-03 2.96363872e+02] [-6.33565710e-01 7.73670339e-01 -5.35695719e-03 -1.08043106e+02] [-8.18871777e-03 2.18034302e-04 9.99966448e-01 1.59016803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98232058799994 meters 0.02725601555444218 Centerline is valid? [True, True] Translation: X:296.40, Y:-108.07, Z:1.59 [[ 7.75504275e-01 6.31321120e-01 5.17330615e-03 2.96398587e+02] [-6.31305204e-01 7.75521500e-01 -4.48799929e-03 -1.08070004e+02] [-6.84537889e-03 2.14527541e-04 9.99976547e-01 1.59060141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01232058799997 meters 0.02761156736932366 Centerline is valid? [True, True] Translation: X:296.43, Y:-108.10, Z:1.59 [[ 7.74961986e-01 6.31986785e-01 5.15990627e-03 2.96431043e+02] [-6.31970868e-01 7.74979133e-01 -4.49070286e-03 -1.08098156e+02] [-6.83688455e-03 2.19213558e-04 9.99976604e-01 1.59032588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04232058799994 meters 0.028354506264733972 Centerline is valid? [True, True] Translation: X:296.46, Y:-108.13, Z:1.59 [[ 7.75262224e-01 6.31605662e-01 6.54004958e-03 2.96464573e+02] [-6.31579936e-01 7.75289753e-01 -5.70817990e-03 -1.08126004e+02] [-8.67575217e-03 2.94772144e-04 9.99962322e-01 1.58973330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07232058799997 meters 0.02841112242837408 Centerline is valid? [True, True] Translation: X:296.50, Y:-108.16, Z:1.59 [[ 7.74159170e-01 6.32954087e-01 6.83400419e-03 2.96497070e+02] [-6.32925857e-01 7.74189272e-01 -5.98590080e-03 -1.08157518e+02] [-9.07961310e-03 3.08622032e-04 9.99958732e-01 1.59071156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10232058799994 meters 0.02830706101651214 Centerline is valid? [True, True] Translation: X:296.53, Y:-108.19, Z:1.59 [[ 7.72932740e-01 6.34457702e-01 6.19708853e-03 2.96530009e+02] [-6.34434380e-01 7.72957533e-01 -5.44699923e-03 -1.08187279e+02] [-8.24597687e-03 2.78518017e-04 9.99965963e-01 1.59206878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13232058799997 meters 0.02917224669671996 Centerline is valid? [True, True] Translation: X:296.56, Y:-108.22, Z:1.59 [[ 7.73182385e-01 6.34164344e-01 4.95828846e-03 2.96562099e+02] [-6.34149297e-01 7.73198247e-01 -4.37493662e-03 -1.08217448e+02] [-6.60816875e-03 2.38328789e-04 9.99978137e-01 1.59190666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16232058799994 meters 0.029851201692114106 Centerline is valid? [True, True] Translation: X:296.59, Y:-108.25, Z:1.59 [[ 7.73151759e-01 6.34203955e-01 4.65843765e-03 2.96594775e+02] [-6.34190586e-01 7.73165757e-01 -4.12466075e-03 -1.08246789e+02] [-6.21762063e-03 2.34651414e-04 9.99980643e-01 1.59197453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.192320588 meters 0.0306623141709092 Centerline is valid? [True, True] Translation: X:296.63, Y:-108.28, Z:1.59 [[ 7.73366138e-01 6.33939609e-01 5.03874182e-03 2.96626001e+02] [-6.33923867e-01 7.73382507e-01 -4.47545643e-03 -1.08277808e+02] [-6.73404387e-03 2.66987755e-04 9.99977290e-01 1.59120525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22232058799995 meters 0.03077099783545502 Centerline is valid? [True, True] Translation: X:296.66, Y:-108.31, Z:1.59 [[ 7.72670704e-01 6.34789783e-01 4.68137084e-03 2.96659112e+02] [-6.34776108e-01 7.72684843e-01 -4.17438178e-03 -1.08309598e+02] [-6.26707920e-03 2.53800139e-04 9.99980329e-01 1.59186763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.252320588 meters 0.03076868528662281 Centerline is valid? [True, True] Translation: X:296.69, Y:-108.34, Z:1.59 [[ 7.72305961e-01 6.35237075e-01 4.16677919e-03 2.96690693e+02] [-6.35226175e-01 7.72317166e-01 -3.72850122e-03 -1.08340839e+02] [-5.58655730e-03 2.32696511e-04 9.99984368e-01 1.59340445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28232058799995 meters 0.031073763875978065 Centerline is valid? [True, True] Translation: X:296.72, Y:-108.37, Z:1.59 [[ 7.70606698e-01 6.37305573e-01 2.63122245e-03 2.96721997e+02] [-6.37301197e-01 7.70611176e-01 -2.36639147e-03 -1.08372681e+02] [-3.53576390e-03 1.46675900e-04 9.99993738e-01 1.59399906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.312320588 meters 0.029536857108935725 Centerline is valid? [True, True] Translation: X:296.75, Y:-108.40, Z:1.59 [[ 7.67065311e-01 6.41557012e-01 3.92543099e-03 2.96754086e+02] [-6.41547291e-01 7.67075331e-01 -3.53695917e-03 -1.08402666e+02] [-5.28026223e-03 1.94729068e-04 9.99986040e-01 1.59273257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34232058799995 meters 0.02629584291128808 Centerline is valid? [True, True] Translation: X:296.78, Y:-108.44, Z:1.59 [[ 7.60557443e-01 6.49251705e-01 4.95973656e-03 2.96782098e+02] [-6.49236260e-01 7.60573591e-01 -4.48223611e-03 -1.08439184e+02] [-6.68234408e-03 1.88957222e-04 9.99977655e-01 1.59470162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.372320588 meters 0.024680555725929552 Centerline is valid? [True, True] Translation: X:296.81, Y:-108.47, Z:1.60 [[ 7.56011542e-01 6.54537204e-01 5.25334703e-03 2.96813658e+02] [-6.54519880e-01 7.56029776e-01 -4.76490751e-03 -1.08472497e+02] [-7.09049602e-03 1.63905003e-04 9.99974849e-01 1.59574164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40232058799995 meters 0.0227948719257714 Centerline is valid? [True, True] Translation: X:296.85, Y:-108.51, Z:1.60 [[ 7.49004695e-01 6.62560137e-01 2.45586188e-03 2.96847733e+02] [-6.62556330e-01 7.49008719e-01 -2.24689895e-03 -1.08507066e+02] [-3.32816764e-03 5.57910331e-05 9.99994460e-01 1.59568682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.432320588 meters 0.022091518152436512 Centerline is valid? [True, True] Translation: X:296.88, Y:-108.54, Z:1.59 [[ 7.44510541e-01 6.67609522e-01 1.25736335e-03 2.96882413e+02] [-6.67608516e-01 7.44511602e-01 -1.15937587e-03 -1.08538510e+02] [-1.71013197e-03 2.37410770e-05 9.99998537e-01 1.59457584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46232058799995 meters 0.021807912496802848 Centerline is valid? [True, True] Translation: X:296.92, Y:-108.57, Z:1.59 [[ 7.40338828e-01 6.72232107e-01 1.55360393e-03 2.96916139e+02] [-6.72230575e-01 7.40340458e-01 -1.43537816e-03 -1.08570119e+02] [-2.11510313e-03 1.82861183e-05 9.99997763e-01 1.59386471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.492320588 meters 0.022156917184120016 Centerline is valid? [True, True] Translation: X:296.95, Y:-108.60, Z:1.60 [[ 7.33114240e-01 6.80104430e-01 1.21445308e-03 2.96947952e+02] [-6.80103493e-01 7.33115246e-01 -1.12912128e-03 -1.08603821e+02] [-1.65825445e-03 1.82110163e-06 9.99998625e-01 1.59703643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52232058799996 meters 0.022694300409297256 Centerline is valid? [True, True] Translation: X:296.98, Y:-108.63, Z:1.60 [[ 7.29362001e-01 6.84125905e-01 1.67852201e-03 2.96982883e+02] [-6.84124121e-01 7.29363933e-01 -1.56211549e-03 -1.08634970e+02] [-2.29293708e-03 -8.96971344e-06 9.99997371e-01 1.59657080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.552320588 meters 0.02372241586409225 Centerline is valid? [True, True] Translation: X:297.02, Y:-108.67, Z:1.60 [[ 7.23881782e-01 6.89921992e-01 1.67665247e-03 2.97017040e+02] [-6.89920209e-01 7.23883723e-01 -1.56870357e-03 -1.08665781e+02] [-2.29598453e-03 -2.12004894e-05 9.99997364e-01 1.59623558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58232058799996 meters 0.024254048490931778 Centerline is valid? [True, True] Translation: X:297.05, Y:-108.70, Z:1.60 [[ 7.21067082e-01 6.92861722e-01 2.21295669e-03 2.97051445e+02] [-6.92858623e-01 7.21070477e-01 -2.07280030e-03 -1.08696776e+02] [-3.03186172e-03 -3.86380647e-05 9.99995403e-01 1.59606008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.612320588 meters 0.024863907795747233 Centerline is valid? [True, True] Translation: X:297.09, Y:-108.73, Z:1.60 [[ 7.18418279e-01 6.95607236e-01 2.39791182e-03 2.97085890e+02] [-6.95603585e-01 7.18422279e-01 -2.25405916e-03 -1.08728477e+02] [-3.29065314e-03 -4.86387574e-05 9.99994585e-01 1.59694170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64232058799996 meters 0.025303234142312385 Centerline is valid? [True, True] Translation: X:297.12, Y:-108.76, Z:1.60 [[ 7.14912124e-01 6.99212971e-01 1.36974564e-03 2.97120933e+02] [-6.99211763e-01 7.14913436e-01 -1.29982571e-03 -1.08758545e+02] [-1.88810455e-03 -2.84811060e-05 9.99998217e-01 1.60008119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.672320588 meters 0.025654634601194732 Centerline is valid? [True, True] Translation: X:297.16, Y:-108.79, Z:1.60 [[ 7.12560108e-01 7.01609665e-01 1.40397608e-03 2.97157352e+02] [-7.01608389e-01 7.12561490e-01 -1.33838611e-03 -1.08788754e+02] [-1.93944391e-03 -3.13608451e-05 9.99998119e-01 1.60038668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70232058799996 meters 0.026547664167197744 Centerline is valid? [True, True] Translation: X:297.19, Y:-108.82, Z:1.60 [[ 7.09156131e-01 7.05051225e-01 5.93415888e-04 2.97194465e+02] [-7.05050989e-01 7.09156379e-01 -5.76366868e-04 -1.08818268e+02] [-8.27192828e-04 -9.65436076e-06 9.99999658e-01 1.60062480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73232058799994 meters 0.026685660343743055 Centerline is valid? [True, True] Translation: X:297.23, Y:-108.85, Z:1.60 [[ 7.06641200e-01 7.07571996e-01 -2.90393862e-04 2.97231856e+02] [-7.07571948e-01 7.06641260e-01 2.61600191e-04 -1.08849401e+02] [ 3.90305254e-04 2.06170773e-05 9.99999924e-01 1.60113156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76232058799997 meters 0.027329455177508736 Centerline is valid? [True, True] Translation: X:297.27, Y:-108.88, Z:1.60 [[ 7.04204198e-01 7.09996568e-01 1.14924605e-03 2.97269243e+02] [-7.09995696e-01 7.04205135e-01 -1.11331152e-03 -1.08878432e+02] [-1.59975233e-03 -3.19611050e-05 9.99998720e-01 1.59952960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79232058799994 meters 0.027337923166157033 Centerline is valid? [True, True] Translation: X:297.31, Y:-108.91, Z:1.60 [[ 7.02620936e-01 7.11563197e-01 1.27907385e-03 2.97305381e+02] [-7.11562113e-01 7.02622099e-01 -1.24311504e-03 -1.08909209e+02] [-1.78326047e-03 -3.67018376e-05 9.99998409e-01 1.59998292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82232058799997 meters 0.027096922417255535 Centerline is valid? [True, True] Translation: X:297.34, Y:-108.94, Z:1.60 [[ 7.01726491e-01 7.12444487e-01 1.66866446e-03 2.97342268e+02] [-7.12442636e-01 7.01728473e-01 -1.62475731e-03 -1.08938650e+02] [-2.32849875e-03 -4.86924618e-05 9.99997288e-01 1.60026619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85232058799994 meters 0.02698402920492469 Centerline is valid? [True, True] Translation: X:297.38, Y:-108.97, Z:1.60 [[ 7.00316770e-01 7.13831271e-01 1.15699531e-03 2.97378333e+02] [-7.13830368e-01 7.00317725e-01 -1.13598941e-03 -1.08969676e+02] [-1.62116909e-03 -3.03459581e-05 9.99998685e-01 1.60086957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88232058799997 meters 0.026616808153487236 Centerline is valid? [True, True] Translation: X:297.41, Y:-109.00, Z:1.60 [[ 6.99526449e-01 7.14604541e-01 1.75958641e-03 2.97414601e+02] [-7.14602452e-01 6.99528661e-01 -1.72872685e-03 -1.09000928e+02] [-2.46623718e-03 -4.81146067e-05 9.99996958e-01 1.60092321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91232058799994 meters 0.0260627719344791 Centerline is valid? [True, True] Translation: X:297.45, Y:-109.03, Z:1.60 [[ 7.00022481e-01 7.14114390e-01 3.02724669e-03 2.97452046e+02] [-7.14108191e-01 7.00029022e-01 -2.97659355e-03 -1.09029496e+02] [-4.24478883e-03 -7.80992570e-05 9.99990988e-01 1.59953881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.942320588 meters 0.025613658098350273 Centerline is valid? [True, True] Translation: X:297.49, Y:-109.06, Z:1.60 [[ 6.99865099e-01 7.14268200e-01 3.12761156e-03 2.97488878e+02] [-7.14261525e-01 6.99872084e-01 -3.08871941e-03 -1.09059722e+02] [-4.39510208e-03 -7.22456871e-05 9.99990339e-01 1.59871158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97232058799995 meters 0.02451341542888362 Centerline is valid? [True, True] Translation: X:297.53, Y:-109.09, Z:1.60 [[ 7.00561708e-01 7.13590322e-01 1.46454600e-03 2.97525155e+02] [-7.13588828e-01 7.00563239e-01 -1.46051689e-03 -1.09090251e+02] [-2.06821780e-03 -2.19014539e-05 9.99997861e-01 1.59991187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.002320588 meters 0.02435242615707913 Centerline is valid? [True, True] Translation: X:297.56, Y:-109.13, Z:1.60 [[ 6.99488089e-01 7.14641370e-01 2.03089776e-03 2.97563836e+02] [-7.14638470e-01 6.99491037e-01 -2.03610342e-03 -1.09125231e+02] [-2.87567852e-03 -2.71275775e-05 9.99995865e-01 1.59963741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03232058799995 meters 0.023939236245552362 Centerline is valid? [True, True] Translation: X:297.60, Y:-109.16, Z:1.60 [[ 6.98910470e-01 7.15205703e-01 2.22663688e-03 2.97598795e+02] [-7.15202207e-01 6.98914016e-01 -2.23618854e-03 -1.09156486e+02] [-3.15556252e-03 -2.96000308e-05 9.99995021e-01 1.60052280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.062320588 meters 0.023406298152977945 Centerline is valid? [True, True] Translation: X:297.64, Y:-109.19, Z:1.60 [[ 6.99768450e-01 7.14364678e-01 2.68765756e-03 2.97635789e+02] [-7.14359541e-01 6.99773611e-01 -2.70930204e-03 -1.09187673e+02] [-3.81618151e-03 -2.40697331e-05 9.99992718e-01 1.59963565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09232058799995 meters 0.02337747222181919 Centerline is valid? [True, True] Translation: X:298.86, Y:-107.97, Z:3.45 [[ 7.66515761e-01 -6.42140411e-01 1.04537406e-02 2.98860618e+02] [-6.42072171e-01 -7.66586896e-01 -9.37324339e-03 -1.07973665e+02] [ 1.40326389e-02 4.72682854e-04 -9.99901426e-01 3.44886015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.122320588 meters 0.022997805942286356 Centerline is valid? [True, True] Translation: X:297.77, Y:-109.32, Z:1.60 [[ 7.58279331e-01 6.51923051e-01 2.96496542e-03 2.97768128e+02] [-6.51918159e-01 7.58285128e-01 -2.52563856e-03 -1.09321686e+02] [-3.89481118e-03 -1.77752817e-05 9.99992415e-01 1.59915966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15232058799995 meters 0.022789833179652972 Centerline is valid? [True, True] Translation: X:297.80, Y:-109.35, Z:1.60 [[ 7.57429195e-01 6.52909359e-01 3.22238037e-03 2.97804072e+02] [-6.52903508e-01 7.57436050e-01 -2.76410308e-03 -1.09350547e+02] [-4.24545583e-03 -1.02910777e-05 9.99990988e-01 1.59892611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.182320588 meters 0.022789833179652972 Centerline is valid? [True, True] Translation: X:297.84, Y:-109.38, Z:1.60 [[ 7.56149932e-01 6.54390504e-01 3.21681656e-03 2.97840037e+02] [-6.54384639e-01 7.56156774e-01 -2.77059010e-03 -1.09379230e+02] [-4.24546549e-03 -1.00538311e-05 9.99990988e-01 1.59914010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21232058799995 meters 0.022987646669157712 Centerline is valid? [True, True] Translation: X:297.88, Y:-109.41, Z:1.60 [[ 7.54765347e-01 6.55976862e-01 4.86076167e-03 2.97875448e+02] [-6.55963441e-01 7.54780999e-01 -4.19624692e-03 -1.09407499e+02] [-6.42145143e-03 -2.13001873e-05 9.99979382e-01 1.59721533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.242320588 meters 0.023087410598307757 Centerline is valid? [True, True] Translation: X:297.91, Y:-109.44, Z:1.60 [[ 7.53985551e-01 6.56866020e-01 5.72882679e-03 2.97911051e+02] [-6.56847273e-01 7.54007315e-01 -4.96281754e-03 -1.09436328e+02] [-7.57948351e-03 -2.10715342e-05 9.99971275e-01 1.59573770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27232058799996 meters 0.02262866847883644 Centerline is valid? [True, True] Translation: X:297.95, Y:-109.47, Z:1.60 [[ 7.53830231e-01 6.57049044e-01 5.15127706e-03 2.97947302e+02] [-6.57033760e-01 7.53847832e-01 -4.48168845e-03 -1.09465396e+02] [-6.82796815e-03 -6.13068580e-06 9.99976689e-01 1.59709136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.302320588 meters 0.022572042732322637 Centerline is valid? [True, True] Translation: X:297.98, Y:-109.50, Z:1.60 [[ 7.53525474e-01 6.57396729e-01 5.37594849e-03 2.97981243e+02] [-6.57379969e-01 7.53544651e-01 -4.69429591e-03 -1.09495212e+02] [-7.13703200e-03 3.23070392e-06 9.99974531e-01 1.59842976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33232058799996 meters 0.022501058624337638 Centerline is valid? [True, True] Translation: X:298.02, Y:-109.52, Z:1.60 [[ 7.52867191e-01 6.58151730e-01 5.22431629e-03 2.98016158e+02] [-6.58135796e-01 7.52885317e-01 -4.57964415e-03 -1.09524438e+02] [-6.94741175e-03 9.55426519e-06 9.99975866e-01 1.59854926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.362320588 meters 0.022482983967124445 Centerline is valid? [True, True] Translation: X:298.06, Y:-109.56, Z:1.60 [[ 7.51728190e-01 6.59447972e-01 5.75338692e-03 2.98058222e+02] [-6.59428406e-01 7.51750206e-01 -5.07983932e-03 -1.09557620e+02] [-7.67499954e-03 2.47116491e-05 9.99970546e-01 1.59807173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39232058799996 meters 0.02258096690199038 Centerline is valid? [True, True] Translation: X:298.09, Y:-109.59, Z:1.60 [[ 7.51025160e-01 6.60246264e-01 6.00657074e-03 2.98094293e+02] [-6.60224863e-01 7.51049179e-01 -5.31606143e-03 -1.09585863e+02] [-8.02113972e-03 2.68085425e-05 9.99967830e-01 1.59581255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.422320588 meters 0.022535951111599718 Centerline is valid? [True, True] Translation: X:298.13, Y:-109.61, Z:1.60 [[ 7.50335641e-01 6.61026610e-01 6.34410790e-03 2.98129365e+02] [-6.61002588e-01 7.50362459e-01 -5.63552040e-03 -1.09614769e+02] [-8.48560935e-03 3.50600650e-05 9.99963996e-01 1.59527813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45232058799996 meters 0.022302435492225926 Centerline is valid? [True, True] Translation: X:298.16, Y:-109.64, Z:1.60 [[ 7.49735566e-01 6.61710699e-01 5.96085811e-03 2.98164263e+02] [-6.61689347e-01 7.49759261e-01 -5.31598083e-03 -1.09644987e+02] [-7.98684996e-03 4.13435919e-05 9.99968104e-01 1.59657409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48232058799994 meters 0.022258448458627334 Centerline is valid? [True, True] Translation: X:298.20, Y:-109.68, Z:1.60 [[ 7.49364422e-01 6.62147276e-01 3.73472913e-03 2.98197983e+02] [-6.62138814e-01 7.49373728e-01 -3.34764333e-03 -1.09675393e+02] [-5.01534080e-03 3.56956865e-05 9.99987422e-01 1.59907597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51232058799997 meters 0.022222464066297125 Centerline is valid? [True, True] Translation: X:298.23, Y:-109.70, Z:1.60 [[ 7.48621114e-01 6.62988079e-01 3.63793594e-03 2.98234365e+02] [-6.62979980e-01 7.48629952e-01 -3.27737955e-03 -1.09704289e+02] [-4.89633138e-03 4.16368312e-05 9.99988012e-01 1.59795877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54232058799994 meters 0.022507831544249925 Centerline is valid? [True, True] Translation: X:298.27, Y:-109.73, Z:1.60 [[ 7.48988510e-01 6.62561178e-01 5.37565400e-03 2.98270649e+02] [-6.62543409e-01 7.49007797e-01 -4.85292365e-03 -1.09732149e+02] [-7.24176557e-03 7.31799278e-05 9.99973775e-01 1.59564957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57232058799997 meters 0.022474987191211736 Centerline is valid? [True, True] Translation: X:298.31, Y:-109.76, Z:1.60 [[ 7.47872162e-01 6.63815423e-01 6.02607511e-03 2.98305904e+02] [-6.63792937e-01 7.47896434e-01 -5.46440182e-03 -1.09762622e+02] [-8.13423429e-03 8.66079084e-05 9.99966913e-01 1.59607846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60232058799994 meters 0.02275958362733493 Centerline is valid? [True, True] Translation: X:298.34, Y:-109.79, Z:1.60 [[ 7.47812933e-01 6.63883845e-01 5.83593669e-03 2.98340989e+02] [-6.63862605e-01 7.47835698e-01 -5.31144103e-03 -1.09793034e+02] [-7.89050169e-03 9.77041620e-05 9.99968865e-01 1.59661099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63232058799997 meters 0.023043099652083076 Centerline is valid? [True, True] Translation: X:298.38, Y:-109.82, Z:1.60 [[ 7.48391910e-01 6.63238056e-01 4.98296791e-03 2.98376209e+02] [-6.63222434e-01 7.48408492e-01 -4.55336970e-03 -1.09822890e+02] [-6.74926357e-03 1.02888940e-04 9.99977218e-01 1.59612885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66232058799994 meters 0.023012070196695714 Centerline is valid? [True, True] Translation: X:298.41, Y:-109.85, Z:1.60 [[ 7.47626679e-01 6.64104808e-01 4.37638167e-03 2.98410748e+02] [-6.64092676e-01 7.47639482e-01 -4.01530580e-03 -1.09852706e+02] [-5.93853961e-03 9.56267272e-05 9.99982362e-01 1.59642925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.692320588 meters 0.023820721546991087 Centerline is valid? [True, True] Translation: X:298.45, Y:-109.88, Z:1.60 [[ 7.48844155e-01 6.62730318e-01 4.57797675e-03 2.98446645e+02] [-6.62716921e-01 7.48858138e-01 -4.21568576e-03 -1.09882105e+02] [-6.22211791e-03 1.22988982e-04 9.99980635e-01 1.59644932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72232058799995 meters 0.023803691116857015 Centerline is valid? [True, True] Translation: X:298.48, Y:-109.91, Z:1.60 [[ 7.47820051e-01 6.63879130e-01 5.44712532e-03 2.98483752e+02] [-6.63860016e-01 7.47839874e-01 -5.04005295e-03 -1.09914399e+02] [-7.41956348e-03 1.52923956e-04 9.99972463e-01 1.59607404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.752320588 meters 0.023780586152883688 Centerline is valid? [True, True] Translation: X:298.52, Y:-109.95, Z:1.60 [[ 7.46182317e-01 6.65722492e-01 5.05104378e-03 2.98517293e+02] [-6.65705992e-01 7.46199400e-01 -4.68907327e-03 -1.09945448e+02] [-6.89070738e-03 1.36393445e-04 9.99976249e-01 1.59519631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78232058799995 meters 0.02344320366894747 Centerline is valid? [True, True] Translation: X:298.55, Y:-109.98, Z:1.59 [[ 7.44029889e-01 6.68118015e-01 6.15154627e-03 2.98552138e+02] [-6.68093466e-01 7.44055303e-01 -5.72945376e-03 -1.09975816e+02] [-8.40504190e-03 1.53076981e-04 9.99964665e-01 1.59438120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.812320588 meters 0.022373911336710635 Centerline is valid? [True, True] Translation: X:298.58, Y:-110.01, Z:1.60 [[ 7.39026054e-01 6.73655458e-01 5.36807879e-03 2.98583991e+02] [-6.73636753e-01 7.39045544e-01 -5.02087505e-03 -1.10009888e+02] [-7.34959459e-03 9.44223102e-05 9.99972987e-01 1.59542933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84232058799995 meters 0.022359606637904407 Centerline is valid? [True, True] Translation: X:298.62, Y:-110.04, Z:1.60 [[ 7.36834945e-01 6.76044088e-01 6.21734177e-03 2.98622455e+02] [-6.76018763e-01 7.36861167e-01 -5.85259054e-03 -1.10044004e+02] [-8.53792695e-03 1.09353534e-04 9.99963545e-01 1.59534568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.872320588 meters 0.021876618882222986 Centerline is valid? [True, True] Translation: X:298.66, Y:-110.08, Z:1.60 [[ 7.33761756e-01 6.79394593e-01 4.08312901e-03 2.98656634e+02] [-6.79383637e-01 7.33773115e-01 -3.85875640e-03 -1.10075719e+02] [-5.61770852e-03 5.73968302e-05 9.99984219e-01 1.59613217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90232058799995 meters 0.02187114585898382 Centerline is valid? [True, True] Translation: X:298.69, Y:-110.11, Z:1.59 [[ 7.31755976e-01 6.81549517e-01 4.84223972e-03 2.98691122e+02] [-6.81534051e-01 7.31771995e-01 -4.59177866e-03 -1.10106956e+02] [-6.67293995e-03 5.99102191e-05 9.99977734e-01 1.59431645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.932320588 meters 0.021506855199159344 Centerline is valid? [True, True] Translation: X:298.73, Y:-110.14, Z:1.60 [[ 7.28649475e-01 6.84877998e-01 3.47413715e-03 2.98729834e+02] [-6.84869917e-01 7.28657756e-01 -3.32741838e-03 -1.10142659e+02] [-4.81033262e-03 4.51896389e-05 9.99988429e-01 1.59727301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96232058799995 meters 0.02147612642923411 Centerline is valid? [True, True] Translation: X:298.76, Y:-110.18, Z:1.60 [[ 7.23865379e-01 6.89935114e-01 2.90716618e-03 2.98763586e+02] [-6.89929451e-01 7.23871216e-01 -2.79554960e-03 -1.10177355e+02] [-4.03316176e-03 1.78620013e-05 9.99991867e-01 1.60005547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.992320588 meters 0.021690437029803507 Centerline is valid? [True, True] Translation: X:298.80, Y:-110.21, Z:1.60 [[ 7.21085631e-01 6.92839226e-01 3.05277157e-03 2.98798351e+02] [-6.92832960e-01 7.21092093e-01 -2.94670551e-03 -1.10208019e+02] [-4.24292261e-03 9.76623643e-06 9.99990999e-01 1.59894912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02232058799996 meters 0.021832076618564407 Centerline is valid? [True, True] Translation: X:298.83, Y:-110.24, Z:1.60 [[ 7.17851367e-01 6.96191390e-01 2.63863801e-03 2.98833116e+02] [-6.96186684e-01 7.17856217e-01 -2.56003572e-03 -1.10238906e+02] [-3.67643753e-03 7.40491281e-07 9.99993242e-01 1.59827536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.052320588 meters 0.022066472135368165 Centerline is valid? [True, True] Translation: X:298.87, Y:-110.27, Z:1.60 [[ 7.14767660e-01 6.99351249e-01 3.87603385e-03 2.98868373e+02] [-6.99341084e-01 7.14778169e-01 -3.77071462e-03 -1.10269539e+02] [-5.40755835e-03 -1.54848500e-05 9.99985379e-01 1.59664786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08232058799996 meters 0.021940573322343143 Centerline is valid? [True, True] Translation: X:298.90, Y:-110.30, Z:1.60 [[ 7.13336648e-01 7.00808422e-01 4.28747875e-03 2.98904217e+02] [-7.00795892e-01 7.13349533e-01 -4.19073205e-03 -1.10302124e+02] [-5.99537127e-03 -1.52447372e-05 9.99982027e-01 1.59839694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.112320588 meters 0.022029506625594195 Centerline is valid? [True, True] Translation: X:298.94, Y:-110.34, Z:1.60 [[ 7.11434288e-01 7.02745717e-01 3.11619981e-03 2.98939740e+02] [-7.02739031e-01 7.11441113e-01 -3.06554564e-03 -1.10336607e+02] [-4.37129173e-03 -8.94095508e-06 9.99990446e-01 1.59955717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14232058799996 meters 0.021889311323868062 Centerline is valid? [True, True] Translation: X:298.97, Y:-110.37, Z:1.60 [[ 7.10200379e-01 7.03996726e-01 2.00798680e-03 2.98974832e+02] [-7.03993917e-01 7.10203218e-01 -1.98854135e-03 -1.10368209e+02] [-2.82600529e-03 -1.34767034e-06 9.99996007e-01 1.59995802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.172320588 meters 0.021737095188772138 Centerline is valid? [True, True] Translation: X:299.01, Y:-110.40, Z:1.60 [[ 7.08537096e-01 7.05671964e-01 1.50458731e-03 2.99009704e+02] [-7.05670369e-01 7.08538693e-01 -1.50031556e-03 -1.10399404e+02] [-2.12478895e-03 1.28654262e-06 9.99997743e-01 1.60044178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20232058799996 meters 0.021967617033207137 Centerline is valid? [True, True] Translation: X:299.05, Y:-110.43, Z:1.60 [[ 7.06406125e-01 7.07802984e-01 2.30705546e-03 2.99046690e+02] [-7.07799229e-01 7.06409893e-01 -2.30549778e-03 -1.10432417e+02] [-3.26156501e-03 -4.31432609e-06 9.99994681e-01 1.59900833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23232058799994 meters 0.02183786990104548 Centerline is valid? [True, True] Translation: X:299.08, Y:-110.46, Z:1.60 [[ 7.05010737e-01 7.09193300e-01 2.17357569e-03 2.99081859e+02] [-7.09189942e-01 7.05014088e-01 -2.18217883e-03 -1.10464624e+02] [-3.07998808e-03 -3.01851363e-06 9.99995257e-01 1.59963516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26232058799997 meters 0.02138809353048325 Centerline is valid? [True, True] Translation: X:299.12, Y:-110.50, Z:1.60 [[ 7.04458134e-01 7.09744371e-01 1.29037474e-03 2.99117640e+02] [-7.09743166e-01 7.04459316e-01 -1.30756835e-03 -1.10496612e+02] [-1.83705578e-03 5.29250929e-06 9.99998313e-01 1.60020730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29232058799994 meters 0.021373526018292958 Centerline is valid? [True, True] Translation: X:300.37, Y:-109.25, Z:3.46 [[ 7.63332642e-01 -6.45958090e-01 7.83729706e-03 3.00366151e+02] [-6.45918715e-01 -7.63372775e-01 -7.14275646e-03 -1.09254294e+02] [ 1.05967005e-02 3.90042309e-04 -9.99943777e-01 3.46427108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32232058799997 meters 0.021341111415417544 Centerline is valid? [True, True] Translation: X:299.25, Y:-110.63, Z:1.60 [[ 7.60643728e-01 6.49167824e-01 1.50164148e-03 2.99250152e+02] [-6.49166563e-01 7.60645210e-01 -1.27963431e-03 -1.10630992e+02] [-1.97291382e-03 -1.46962587e-06 9.99998054e-01 1.60222987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35232058799994 meters 0.021467019064113642 Centerline is valid? [True, True] Translation: X:299.29, Y:-110.66, Z:1.60 [[ 7.58539696e-01 6.51622315e-01 2.42658938e-03 2.99285886e+02] [-6.51618985e-01 7.58543578e-01 -2.08298046e-03 -1.10660113e+02] [-3.19799034e-03 -1.18834478e-06 9.99994886e-01 1.60389068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38232058799997 meters 0.021579153476249214 Centerline is valid? [True, True] Translation: X:299.32, Y:-110.69, Z:1.60 [[ 7.56853812e-01 6.53576312e-01 3.21130160e-03 2.99321212e+02] [-6.53570469e-01 7.56860624e-01 -2.76358236e-03 -1.10688707e+02] [-4.23671970e-03 -7.18405131e-06 9.99991025e-01 1.60411912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41232058799994 meters 0.021985192453222887 Centerline is valid? [True, True] Translation: X:299.36, Y:-110.72, Z:1.60 [[ 7.54900712e-01 6.55816262e-01 5.47232779e-03 2.99357894e+02] [-6.55799281e-01 7.54920545e-01 -4.71950460e-03 -1.10715901e+02] [-7.22630055e-03 -2.59912481e-05 9.99973890e-01 1.60158865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.442320588 meters 0.021937314778068987 Centerline is valid? [True, True] Translation: X:299.39, Y:-110.74, Z:1.60 [[ 7.53331228e-01 6.57625610e-01 4.54067507e-03 2.99394071e+02] [-6.57613850e-01 7.53344912e-01 -3.93292957e-03 -1.10743623e+02] [-6.00708967e-03 -2.32121536e-05 9.99981957e-01 1.60231431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47232058799995 meters 0.021837375940234913 Centerline is valid? [True, True] Translation: X:299.43, Y:-110.77, Z:1.60 [[ 7.50144230e-01 6.61271438e-01 1.92883595e-03 2.99429661e+02] [-6.61269293e-01 7.50146709e-01 -1.68408812e-03 -1.10773367e+02] [-2.56054932e-03 -1.21710011e-05 9.99996722e-01 1.60499470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.502320588 meters 0.022400252442830462 Centerline is valid? [True, True] Translation: X:299.46, Y:-110.80, Z:1.61 [[ 7.47342180e-01 6.64436679e-01 1.88845010e-03 2.99464347e+02] [-6.64434618e-01 7.47344565e-01 -1.65515957e-03 -1.10803452e+02] [-2.51107164e-03 -1.77810601e-05 9.99996847e-01 1.60500883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53232058799995 meters 0.022897707291149018 Centerline is valid? [True, True] Translation: X:299.50, Y:-110.83, Z:1.61 [[ 7.44949766e-01 6.67117608e-01 1.98577089e-03 2.99500492e+02] [-6.67115321e-01 7.44952412e-01 -1.74708833e-03 -1.10833170e+02] [-2.64481820e-03 -2.32451356e-05 9.99996502e-01 1.60541492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.562320588 meters 0.02305773378029207 Centerline is valid? [True, True] Translation: X:299.54, Y:-110.86, Z:1.60 [[ 7.42377855e-01 6.69976929e-01 2.45673088e-03 2.99539454e+02] [-6.69973414e-01 7.42381919e-01 -2.17033657e-03 -1.10860667e+02] [-3.27790801e-03 -3.47345664e-05 9.99994627e-01 1.60349310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59232058799995 meters 0.02313517975334375 Centerline is valid? [True, True] Translation: X:299.58, Y:-110.89, Z:1.60 [[ 7.40704359e-01 6.71825268e-01 2.80373780e-03 2.99575416e+02] [-6.71820681e-01 7.40709664e-01 -2.48305745e-03 -1.10889625e+02] [-3.74493642e-03 -4.43975579e-05 9.99992987e-01 1.60338702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.622320588 meters 0.02339946677918396 Centerline is valid? [True, True] Translation: X:299.61, Y:-110.92, Z:1.60 [[ 7.38648005e-01 6.74086510e-01 2.55005315e-03 2.99611667e+02] [-6.74082694e-01 7.38652405e-01 -2.26837569e-03 -1.10919404e+02] [-3.41268434e-03 -4.34155208e-05 9.99994176e-01 1.60431634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65232058799995 meters 0.023256527099724353 Centerline is valid? [True, True] Translation: X:299.70, Y:-110.98, Z:1.60 [[ 7.30328838e-01 6.83090376e-01 2.70675572e-03 2.99696617e+02] [-6.83085675e-01 7.30333854e-01 -2.53428690e-03 -1.10978304e+02] [-3.70798233e-03 1.91675107e-06 9.99993125e-01 1.60465235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.682320588 meters 0.02313350221991167 Centerline is valid? [True, True] Translation: X:299.73, Y:-111.01, Z:1.61 [[ 7.28887237e-01 6.84630635e-01 2.07131913e-03 2.99732223e+02] [-6.84627993e-01 7.28890179e-01 -1.90223487e-03 -1.11007545e+02] [-2.81209244e-03 -3.15683368e-05 9.99996046e-01 1.60507755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71232058799995 meters 0.02285110029997715 Centerline is valid? [True, True] Translation: X:299.78, Y:-111.04, Z:1.61 [[ 7.26699383e-01 6.86954290e-01 1.34562791e-03 2.99777479e+02] [-6.86953133e-01 7.26700629e-01 -1.26071452e-03 -1.11043526e+02] [-1.84392190e-03 -8.22283946e-06 9.99998300e-01 1.60534204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.742320588 meters 0.021915756889276758 Centerline is valid? [True, True] Translation: X:299.81, Y:-111.07, Z:1.61 [[ 7.27600958e-01 6.86000464e-01 -4.57487795e-04 2.99813620e+02] [-6.86000342e-01 7.27601102e-01 4.08603379e-04 -1.11073655e+02] [ 6.13170731e-04 1.65365739e-05 9.99999812e-01 1.60533587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77232058799996 meters 0.02155753276023138 Centerline is valid? [True, True] Translation: X:299.85, Y:-111.10, Z:1.61 [[ 7.27658455e-01 6.85938963e-01 -9.55125448e-04 2.99848222e+02] [-6.85938409e-01 7.27659081e-01 8.72321119e-04 -1.11103788e+02] [ 1.29336475e-03 2.04053925e-05 9.99999163e-01 1.60570324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.802320588 meters 0.02097615612973435 Centerline is valid? [True, True] Translation: X:299.89, Y:-111.14, Z:1.61 [[ 7.28429122e-01 6.85120676e-01 -8.20082915e-04 2.99887211e+02] [-6.85120271e-01 7.28429584e-01 7.45478024e-04 -1.11139736e+02] [ 1.10811506e-03 1.88275263e-05 9.99999386e-01 1.60665221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83232058799996 meters 0.020969380102751414 Centerline is valid? [True, True] Translation: X:299.92, Y:-111.17, Z:1.61 [[ 7.27380613e-01 6.86234195e-01 2.71782656e-04 2.99921873e+02] [-6.86234143e-01 7.27380663e-01 -2.68413498e-04 -1.11170544e+02] [-3.81883969e-04 8.73223658e-06 9.99999927e-01 1.60648898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.862320588 meters 0.021246358983667016 Centerline is valid? [True, True] Translation: X:299.96, Y:-111.20, Z:1.61 [[ 7.24628884e-01 6.89138245e-01 1.20810275e-03 2.99956860e+02] [-6.89137283e-01 7.24629891e-01 -1.15150129e-03 -1.11201282e+02] [-1.66897094e-03 1.86244777e-06 9.99998607e-01 1.60603337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89232058799996 meters 0.021330630392997756 Centerline is valid? [True, True] Translation: X:299.99, Y:-111.23, Z:1.60 [[ 7.22223324e-01 6.91657335e-01 1.89778036e-03 2.99993182e+02] [-6.91654970e-01 7.22225818e-01 -1.80869266e-03 -1.11229481e+02] [-2.62162152e-03 -6.32919407e-06 9.99996564e-01 1.60431139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.922320588 meters 0.02124645218523648 Centerline is valid? [True, True] Translation: X:300.03, Y:-111.26, Z:1.60 [[ 7.20847605e-01 6.93090313e-01 2.13278022e-03 3.00028962e+02] [-6.93087310e-01 7.20850760e-01 -2.04021352e-03 -1.11259366e+02] [-2.95146847e-03 -7.51988224e-06 9.99995644e-01 1.60319459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95232058799996 meters 0.021189163860662434 Centerline is valid? [True, True] Translation: X:300.06, Y:-111.29, Z:1.61 [[ 7.19543873e-01 6.94444533e-01 1.84534703e-03 3.00063322e+02] [-6.94442263e-01 7.19546240e-01 -1.77540027e-03 -1.11291108e+02] [-2.56072953e-03 -4.00857788e-06 9.99996721e-01 1.60500240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98232058799994 meters 0.0209605805116438 Centerline is valid? [True, True] Translation: X:300.10, Y:-111.32, Z:1.61 [[ 7.18189651e-01 6.95847353e-01 2.94152639e-04 3.00099591e+02] [-6.95847290e-01 7.18189711e-01 -2.96918997e-04 -1.11323325e+02] [-4.17867696e-04 8.55883459e-06 9.99999913e-01 1.60757864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01232058799997 meters 0.02082093902757151 Centerline is valid? [True, True] Translation: X:300.14, Y:-111.36, Z:1.61 [[ 7.16513028e-01 6.97573685e-01 -1.85469386e-04 3.00135684e+02] [-6.97573666e-01 7.16513052e-01 1.63846140e-04 -1.11355627e+02] [ 2.47185992e-04 1.19806654e-05 9.99999969e-01 1.60831653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04232058799994 meters 0.02099868828280843 Centerline is valid? [True, True] Translation: X:300.18, Y:-111.39, Z:1.61 [[ 7.13267209e-01 7.00892188e-01 -1.73962882e-04 3.00182708e+02] [-7.00892174e-01 7.13267229e-01 1.42129754e-04 -1.11394792e+02] [ 2.23699658e-04 2.05527297e-05 9.99999975e-01 1.60807256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07232058799997 meters 0.02099868828280843 Centerline is valid? [True, True] Translation: X:300.22, Y:-111.43, Z:1.61 [[ 7.11679423e-01 7.02504356e-01 -1.67198075e-04 3.00217375e+02] [-7.02504340e-01 7.11679443e-01 1.49104691e-04 -1.11425895e+02] [ 2.23738128e-04 1.13426327e-05 9.99999975e-01 1.60829796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10232058799994 meters 0.02101826288789522 Centerline is valid? [True, True] Translation: X:300.25, Y:-111.46, Z:1.61 [[ 7.09924318e-01 7.04277894e-01 3.33013926e-04 3.00253572e+02] [-7.04277811e-01 7.09924396e-01 -3.40839350e-04 -1.11456870e+02] [-4.76460330e-04 7.43582427e-06 9.99999886e-01 1.60679857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13232058799997 meters 0.020966630029831398 Centerline is valid? [True, True] Translation: X:300.29, Y:-111.49, Z:1.61 [[ 7.08198458e-01 7.06011797e-01 1.51228385e-03 3.00289131e+02] [-7.06010194e-01 7.08200073e-01 -1.50439551e-03 -1.11488259e+02] [-2.13312051e-03 -2.27723289e-06 9.99997725e-01 1.60626320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16232058799994 meters 0.021079719667953106 Centerline is valid? [True, True] Translation: X:300.32, Y:-111.52, Z:1.61 [[ 7.05087508e-01 7.09120292e-01 1.33888145e-04 3.00324641e+02] [-7.09120277e-01 7.05087521e-01 -1.46826898e-04 -1.11519581e+02] [-1.98520793e-04 8.58301317e-06 9.99999980e-01 1.60823018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.192320588 meters 0.02151196496767722 Centerline is valid? [True, True] Translation: X:300.36, Y:-111.55, Z:1.61 [[ 7.02322835e-01 7.11858298e-01 -6.31457570e-04 3.00359022e+02] [-7.11858034e-01 7.02323118e-01 6.13558095e-04 -1.11551424e+02] [ 8.80253671e-04 1.85922839e-05 9.99999612e-01 1.60957102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22232058799995 meters 0.021671231894842317 Centerline is valid? [True, True] Translation: X:300.39, Y:-111.58, Z:1.61 [[ 7.00181114e-01 7.13965234e-01 -2.30255131e-04 3.00394848e+02] [-7.13965201e-01 7.00181151e-01 2.15662743e-04 -1.11582412e+02] [ 3.15196004e-04 1.33911709e-05 9.99999950e-01 1.60915996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.252320588 meters 0.021726474998782747 Centerline is valid? [True, True] Translation: X:300.43, Y:-111.62, Z:1.61 [[ 6.97663924e-01 7.16425182e-01 -8.96513705e-05 3.00434671e+02] [-7.16425179e-01 6.97663929e-01 7.12852457e-05 -1.11617032e+02] [ 1.13617073e-04 1.44953549e-05 9.99999993e-01 1.60920554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28232058799995 meters 0.021862246262402962 Centerline is valid? [True, True] Translation: X:301.68, Y:-110.39, Z:3.47 [[ 7.68677457e-01 -6.39609082e-01 5.93202257e-03 3.01677348e+02] [-6.39585280e-01 -7.68700207e-01 -5.53723099e-03 -1.10393296e+02] [ 8.10161021e-03 4.62310322e-04 -9.99967075e-01 3.47075452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.312320588 meters 0.022267483256091392 Centerline is valid? [True, True] Translation: X:300.57, Y:-111.76, Z:1.61 [[ 7.51847120e-01 6.59336751e-01 -9.78349515e-04 3.00571085e+02] [-6.59336227e-01 7.51847756e-01 8.32069233e-04 -1.11755071e+02] [ 1.28418371e-03 1.94724217e-05 9.99999175e-01 1.61305685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34232058799995 meters 0.022688079021835235 Centerline is valid? [True, True] Translation: X:300.61, Y:-111.78, Z:1.61 [[ 7.49453082e-01 6.62055863e-01 -1.45336173e-03 3.00606611e+02] [-6.62054716e-01 7.49454490e-01 1.23324265e-03 -1.11784430e+02] [ 1.90570400e-03 3.79474827e-05 9.99998183e-01 1.61410324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.372320588 meters 0.02337104815369193 Centerline is valid? [True, True] Translation: X:300.64, Y:-111.81, Z:1.61 [[ 7.46892654e-01 6.64943937e-01 -9.61032617e-04 3.00644065e+02] [-6.64943438e-01 7.46893272e-01 8.14898250e-04 -1.11811573e+02] [ 1.25965045e-03 3.03908161e-05 9.99999206e-01 1.61168977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40232058799995 meters 0.023474306959448632 Centerline is valid? [True, True] Translation: X:300.68, Y:-111.84, Z:1.61 [[ 7.45193145e-01 6.66847045e-01 -1.48160947e-03 3.00680242e+02] [-6.66845842e-01 7.45194617e-01 1.26721954e-03 -1.11839137e+02] [ 1.94912901e-03 4.36818038e-05 9.99998099e-01 1.61172543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.432320588 meters 0.023635691169081003 Centerline is valid? [True, True] Translation: X:300.72, Y:-111.87, Z:1.61 [[ 7.43181221e-01 6.69089079e-01 -1.21539486e-03 3.00715991e+02] [-6.69088270e-01 7.43182213e-01 1.04149637e-03 -1.11867233e+02] [ 1.60011369e-03 3.91859045e-05 9.99998719e-01 1.61212353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46232058799995 meters 0.024176045292767533 Centerline is valid? [True, True] Translation: X:300.75, Y:-111.90, Z:1.61 [[ 7.40399567e-01 6.72164472e-01 -1.84506304e-03 3.00751306e+02] [-6.72162587e-01 7.40401863e-01 1.59303716e-03 -1.11896083e+02] [ 2.43687109e-03 6.06983223e-05 9.99997029e-01 1.61456284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.492320588 meters 0.02457450234968915 Centerline is valid? [True, True] Translation: X:300.79, Y:-111.93, Z:1.61 [[ 7.37941520e-01 6.74863090e-01 -1.45697206e-03 3.00790893e+02] [-6.74861921e-01 7.37942956e-01 1.25732495e-03 -1.11927466e+02] [ 1.92368447e-03 5.54226810e-05 9.99998148e-01 1.61483828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52232058799996 meters 0.025022293174147427 Centerline is valid? [True, True] Translation: X:300.83, Y:-111.96, Z:1.62 [[ 7.35463285e-01 6.77561542e-01 -2.02799386e-03 3.00826649e+02] [-6.77559237e-01 7.35466078e-01 1.76880037e-03 -1.11957612e+02] [ 2.68999180e-03 7.31982451e-05 9.99996379e-01 1.61544412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.552320588 meters 0.02538832065670065 Centerline is valid? [True, True] Translation: X:300.86, Y:-111.99, Z:1.62 [[ 7.32741141e-01 6.80492721e-01 -4.48071663e-03 3.00862856e+02] [-6.80481348e-01 7.32754822e-01 3.93763153e-03 -1.11987131e+02] [ 5.96279631e-03 1.63779474e-04 9.99982209e-01 1.61696832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58232058799996 meters 0.025681871792718986 Centerline is valid? [True, True] Translation: X:300.94, Y:-112.04, Z:1.62 [[ 7.25866572e-01 6.87820850e-01 -4.49428750e-03 3.00935978e+02] [-6.87809359e-01 7.25880457e-01 3.98093493e-03 -1.12039262e+02] [ 6.00048551e-03 2.01585413e-04 9.99981977e-01 1.61623865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.612320588 meters 0.025724121461543455 Centerline is valid? [True, True] Translation: X:300.97, Y:-112.07, Z:1.62 [[ 7.24218184e-01 6.89553386e-01 -4.91421778e-03 3.00972346e+02] [-6.89539235e-01 7.24234833e-01 4.42150685e-03 -1.12067889e+02] [ 6.60791271e-03 1.86410303e-04 9.99978150e-01 1.61620570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64232058799996 meters 0.025596864280734204 Centerline is valid? [True, True] Translation: X:301.01, Y:-112.10, Z:1.62 [[ 7.23192814e-01 6.90626376e-01 -5.23088923e-03 3.01007781e+02] [-6.90610235e-01 7.23211705e-01 4.72573113e-03 -1.12097587e+02] [ 7.04675488e-03 1.94890844e-04 9.99975152e-01 1.61657047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.672320588 meters 0.02565628139041321 Centerline is valid? [True, True] Translation: X:301.04, Y:-112.13, Z:1.62 [[ 7.22018209e-01 6.91857871e-01 -4.73197976e-03 3.01043398e+02] [-6.91844588e-01 7.22033694e-01 4.29076611e-03 -1.12128182e+02] [ 6.38524914e-03 1.75783323e-04 9.99979599e-01 1.61758246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70232058799996 meters 0.025548006101010587 Centerline is valid? [True, True] Translation: X:301.08, Y:-112.16, Z:1.62 [[ 7.20158929e-01 6.93796980e-01 -4.10695160e-03 3.01084590e+02] [-6.93786921e-01 7.20170623e-01 3.73920357e-03 -1.12161282e+02] [ 5.55195404e-03 1.56528471e-04 9.99984576e-01 1.61738441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73232058799994 meters 0.025766634614414093 Centerline is valid? [True, True] Translation: X:301.12, Y:-112.19, Z:1.62 [[ 7.18404471e-01 6.95607208e-01 -5.06241018e-03 3.01119948e+02] [-6.95591753e-01 7.18422283e-01 4.64066004e-03 -1.12190474e+02] [ 6.86502486e-03 1.87499850e-04 9.99976418e-01 1.61756342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76232058799997 meters 0.02604749207563514 Centerline is valid? [True, True] Translation: X:301.16, Y:-112.22, Z:1.62 [[ 7.16569496e-01 6.97496646e-01 -5.15619961e-03 3.01155616e+02] [-6.97480520e-01 7.16588021e-01 4.74688639e-03 -1.12220350e+02] [ 7.00580821e-03 1.94874796e-04 9.99975440e-01 1.61753383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79232058799994 meters 0.026531291403692252 Centerline is valid? [True, True] Translation: X:301.19, Y:-112.25, Z:1.62 [[ 7.14231828e-01 6.99899868e-01 -3.61522724e-03 3.01192041e+02] [-6.99891925e-01 7.14240963e-01 3.33779821e-03 -1.12249627e+02] [ 4.91826791e-03 1.46306635e-04 9.99987895e-01 1.61595532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82232058799997 meters 0.02716260848935902 Centerline is valid? [True, True] Translation: X:301.23, Y:-112.28, Z:1.62 [[ 7.11755405e-01 7.02417600e-01 -3.70926762e-03 3.01227191e+02] [-7.02409201e-01 7.11765053e-01 3.43860016e-03 -1.12280118e+02] [ 5.05546034e-03 1.57981451e-04 9.99987209e-01 1.61644421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85232058799994 meters 0.02687619254396575 Centerline is valid? [True, True] Translation: X:301.26, Y:-112.31, Z:1.62 [[ 7.10357003e-01 7.03826313e-01 -4.63126685e-03 3.01262309e+02] [-7.03813112e-01 7.10372074e-01 4.31505926e-03 -1.12310833e+02] [ 6.32697489e-03 1.94313774e-04 9.99979966e-01 1.61835138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88232058799997 meters 0.02712580282724068 Centerline is valid? [True, True] Translation: X:301.30, Y:-112.34, Z:1.62 [[ 7.08776292e-01 7.05417521e-01 -4.72120970e-03 3.01296826e+02] [-7.05403720e-01 7.08791988e-01 4.41704434e-03 -1.12341318e+02] [ 6.46221608e-03 1.99662576e-04 9.99979100e-01 1.61772870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91232058799994 meters 0.027004844366725088 Centerline is valid? [True, True] Translation: X:301.33, Y:-112.37, Z:1.62 [[ 7.07649892e-01 7.06543338e-01 -5.30489265e-03 3.01331185e+02] [-7.06525774e-01 7.07669742e-01 4.98671049e-03 -1.12372233e+02] [ 7.27743909e-03 2.19198242e-04 9.99973495e-01 1.61844947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.942320588 meters 0.027087522500617866 Centerline is valid? [True, True] Translation: X:301.37, Y:-112.40, Z:1.62 [[ 7.06151553e-01 7.08050664e-01 -3.77388055e-03 3.01366775e+02] [-7.08041735e-01 7.06161619e-01 3.55929543e-03 -1.12402448e+02] [ 5.18513109e-03 1.58662941e-04 9.99986545e-01 1.61743633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97232058799995 meters 0.027183354183920087 Centerline is valid? [True, True] Translation: X:301.40, Y:-112.43, Z:1.62 [[ 7.04512216e-01 7.09687407e-01 -2.51448428e-03 3.01403342e+02] [-7.09683433e-01 7.04516695e-01 2.37738239e-03 -1.12432697e+02] [ 3.45869449e-03 1.09592902e-04 9.99994013e-01 1.61641867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.002320588 meters 0.02781031498679318 Centerline is valid? [True, True] Translation: X:301.44, Y:-112.46, Z:1.62 [[ 7.01510438e-01 7.12649147e-01 -3.78152661e-03 3.01438432e+02] [-7.12640081e-01 7.01520609e-01 3.59856613e-03 -1.12463089e+02] [ 5.21733393e-03 1.70435731e-04 9.99986375e-01 1.61672036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03232058799995 meters 0.02807723382473781 Centerline is valid? [True, True] Translation: X:301.47, Y:-112.50, Z:1.62 [[ 6.98879645e-01 7.15222792e-01 -4.85800974e-03 3.01472947e+02] [-7.15207727e-01 6.98896493e-01 4.64758976e-03 -1.12495192e+02] [ 6.71930809e-03 2.26380220e-04 9.99977400e-01 1.61703596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.062320588 meters 0.0283028738191866 Centerline is valid? [True, True] Translation: X:301.51, Y:-112.53, Z:1.62 [[ 6.96909316e-01 7.17141490e-01 -5.04866449e-03 3.01507918e+02] [-7.17125112e-01 6.96927562e-01 4.85260458e-03 -1.12527201e+02] [ 6.99855751e-03 2.38698752e-04 9.99975481e-01 1.61770411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09232058799995 meters 0.028510747941295482 Centerline is valid? [True, True] Translation: X:301.54, Y:-112.56, Z:1.62 [[ 6.95242404e-01 7.18759619e-01 -4.75501963e-03 3.01542326e+02] [-7.18744995e-01 6.95258627e-01 4.59052496e-03 -1.12559204e+02] [ 6.60545240e-03 2.26118954e-04 9.99978158e-01 1.61773900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.122320588 meters 0.028744174361591882 Centerline is valid? [True, True] Translation: X:301.58, Y:-112.59, Z:1.62 [[ 6.94029293e-01 7.19943273e-01 -2.24162741e-03 3.01577414e+02] [-7.19940022e-01 6.94032904e-01 2.16646723e-03 -1.12591126e+02] [ 3.11549669e-03 1.10245568e-04 9.99995141e-01 1.61605309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15232058799995 meters 0.02848592345560565 Centerline is valid? [True, True] Translation: X:301.61, Y:-112.62, Z:1.62 [[ 6.93498103e-01 7.20455122e-01 -2.19064563e-03 3.01612713e+02] [-7.20451991e-01 6.93501555e-01 2.12651755e-03 -1.12622955e+02] [ 3.05127661e-03 1.03519119e-04 9.99995339e-01 1.61592169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.182320588 meters 0.027944266757099812 Centerline is valid? [True, True] Translation: X:301.65, Y:-112.66, Z:1.62 [[ 6.92742307e-01 7.21182397e-01 -2.01174100e-03 3.01648888e+02] [-7.21179739e-01 6.92745222e-01 1.96024581e-03 -1.12656166e+02] [ 2.80731874e-03 9.28816433e-05 9.99996055e-01 1.61671850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21232058799995 meters 0.027672238375603463 Centerline is valid? [True, True] Translation: X:301.68, Y:-112.69, Z:1.62 [[ 6.91705955e-01 7.22178119e-01 -1.27922545e-03 3.01684088e+02] [-7.22177045e-01 6.91707135e-01 1.24705322e-03 -1.12689117e+02] [ 1.78544392e-03 6.12331119e-05 9.99998404e-01 1.61742219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.242320588 meters 0.027551246037276215 Centerline is valid? [True, True] Translation: X:301.72, Y:-112.72, Z:1.62 [[ 6.90915771e-01 7.22933490e-01 -1.60203768e-03 3.01717919e+02] [-7.22931781e-01 6.90917624e-01 1.57348306e-03 -1.12721461e+02] [ 2.24439967e-03 7.10196904e-05 9.99997479e-01 1.61746602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27232058799996 meters 0.02731447113615621 Centerline is valid? [True, True] Translation: X:301.75, Y:-112.75, Z:1.62 [[ 6.89597686e-01 7.24190814e-01 -1.64192277e-03 3.01752877e+02] [-7.24189005e-01 6.89599637e-01 1.62021988e-03 -1.12753963e+02] [ 2.30561770e-03 7.17625359e-05 9.99997339e-01 1.61709831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.302320588 meters 0.027205962129884496 Centerline is valid? [True, True] Translation: X:301.79, Y:-112.79, Z:1.62 [[ 6.88427546e-01 7.25304694e-01 -7.83642496e-04 3.01787609e+02] [-7.25304287e-01 6.88427991e-01 7.69221047e-04 -1.12786762e+02] [ 1.09740107e-03 3.88263041e-05 9.99999397e-01 1.61531505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33232058799996 meters 0.027063573632056897 Centerline is valid? [True, True] Translation: X:303.03, Y:-111.56, Z:3.48 [[ 7.78618344e-01 -6.27481414e-01 4.53312402e-03 3.03026156e+02] [-6.27466727e-01 -7.78631364e-01 -4.32498129e-03 -1.11563165e+02] [ 6.24347792e-03 5.23125280e-04 -9.99980372e-01 3.47947060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.362320588 meters 0.02700054883705801 Centerline is valid? [True, True] Translation: X:301.92, Y:-112.93, Z:1.62 [[ 7.45869567e-01 6.66089212e-01 -1.93668090e-03 3.01922933e+02] [-6.66087192e-01 7.45872078e-01 1.64182070e-03 -1.12928375e+02] [ 2.53811527e-03 6.54142495e-05 9.99996777e-01 1.61838489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39232058799996 meters 0.027714077161221845 Centerline is valid? [True, True] Translation: X:301.96, Y:-112.96, Z:1.62 [[ 7.43377322e-01 6.68870976e-01 -1.33259172e-03 3.01959483e+02] [-6.68870032e-01 7.43378514e-01 1.12480428e-03 -1.12956833e+02] [ 1.74296898e-03 5.51766744e-05 9.99998480e-01 1.61553664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.422320588 meters 0.0273395692919043 Centerline is valid? [True, True] Translation: X:302.00, Y:-112.99, Z:1.62 [[ 7.42539710e-01 6.69800232e-01 -1.55869394e-03 3.01995881e+02] [-6.69798928e-01 7.42541343e-01 1.32264324e-03 -1.12985285e+02] [ 2.04330143e-03 6.18964033e-05 9.99997911e-01 1.61554651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45232058799996 meters 0.027597221347579547 Centerline is valid? [True, True] Translation: X:302.03, Y:-113.01, Z:1.62 [[ 7.41056802e-01 6.71441517e-01 -1.05094830e-03 3.02031091e+02] [-6.71440927e-01 7.41057546e-01 8.91657320e-04 -1.13014908e+02] [ 1.37750891e-03 4.48809767e-05 9.99999050e-01 1.61558019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48232058799994 meters 0.02766509776945623 Centerline is valid? [True, True] Translation: X:302.07, Y:-113.05, Z:1.62 [[ 7.39810077e-01 6.72813589e-01 -1.70994380e-03 3.02067042e+02] [-6.72812001e-01 7.39812050e-01 1.46329476e-03 -1.13045069e+02] [ 2.24956163e-03 6.79105011e-05 9.99997467e-01 1.61684636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51232058799997 meters 0.02825491759249923 Centerline is valid? [True, True] Translation: X:302.11, Y:-113.08, Z:1.62 [[ 7.36572656e-01 6.76356217e-01 -1.72926137e-03 3.02107549e+02] [-6.76354594e-01 7.36574682e-01 1.48337408e-03 -1.13076204e+02] [ 2.27701943e-03 7.69810905e-05 9.99997405e-01 1.61800992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54232058799994 meters 0.028907882559762923 Centerline is valid? [True, True] Translation: X:302.14, Y:-113.10, Z:1.62 [[ 7.34312443e-01 6.78811228e-01 -7.43868104e-04 3.02144014e+02] [-6.78810931e-01 7.34312818e-01 6.36218624e-04 -1.13104325e+02] [ 9.78104230e-04 3.77625484e-05 9.99999521e-01 1.61645097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57232058799997 meters 0.030408040852624555 Centerline is valid? [True, True] Translation: X:302.18, Y:-113.13, Z:1.62 [[ 7.30284207e-01 6.83142424e-01 1.18565416e-03 3.02181077e+02] [-6.83141622e-01 7.30285168e-01 -1.04797232e-03 -1.13131889e+02] [-1.58178000e-03 -4.46520698e-05 9.99998748e-01 1.61560264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60232058799994 meters 0.03083228184171639 Centerline is valid? [True, True] Translation: X:302.22, Y:-113.16, Z:1.62 [[ 7.27402283e-01 6.86211253e-01 1.85903386e-04 3.02217593e+02] [-6.86211231e-01 7.27402307e-01 -1.74707750e-04 -1.13160559e+02] [-2.55112975e-04 -4.86175061e-07 9.99999967e-01 1.61650707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63232058799997 meters 0.032557129772267775 Centerline is valid? [True, True] Translation: X:302.26, Y:-113.19, Z:1.62 [[ 7.21451936e-01 6.92463654e-01 -1.09174848e-03 3.02258290e+02] [-6.92463011e-01 7.21452758e-01 9.46653817e-04 -1.13192231e+02] [ 1.44316831e-03 7.30302082e-05 9.99998956e-01 1.61862600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66232058799994 meters 0.03344176170033693 Centerline is valid? [True, True] Translation: X:302.30, Y:-113.22, Z:1.62 [[ 7.18468093e-01 6.95559648e-01 -6.13478691e-04 3.02295167e+02] [-6.95559446e-01 7.18468353e-01 5.32099915e-04 -1.13220928e+02] [ 8.10872255e-04 4.44140871e-05 9.99999670e-01 1.61798180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.692320588 meters 0.03498869710899739 Centerline is valid? [True, True] Translation: X:302.33, Y:-113.25, Z:1.62 [[ 7.14128114e-01 7.00013301e-01 -1.55396549e-03 3.02332145e+02] [-7.00011967e-01 7.14129797e-01 1.37101451e-03 -1.13250140e+02] [ 2.06946145e-03 1.08714432e-04 9.99997853e-01 1.61948745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72232058799995 meters 0.036987135278155656 Centerline is valid? [True, True] Translation: X:302.37, Y:-113.28, Z:1.62 [[ 7.08304602e-01 7.05906928e-01 1.13820578e-05 3.02371445e+02] [-7.05906927e-01 7.08304602e-01 -2.19074095e-05 -1.13276953e+02] [-2.35265555e-05 7.48244552e-06 1.00000000e+00 1.61917669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.752320588 meters 0.03809517523563571 Centerline is valid? [True, True] Translation: X:302.41, Y:-113.31, Z:1.62 [[ 7.04857201e-01 7.09348369e-01 1.10350190e-03 3.02409498e+02] [-7.09347665e-01 7.04858061e-01 -1.00198724e-03 -1.13305533e+02] [-1.48857022e-03 -7.65085712e-05 9.99998889e-01 1.61826625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78232058799995 meters 0.0394860857823837 Centerline is valid? [True, True] Translation: X:302.45, Y:-113.33, Z:1.62 [[ 6.99357479e-01 7.14771051e-01 -1.20909323e-03 3.02448414e+02] [-7.14770249e-01 6.99358515e-01 1.07622826e-03 -1.13332427e+02] [ 1.61484645e-03 1.11555587e-04 9.99998690e-01 1.61947917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.812320588 meters 0.040497087784933626 Centerline is valid? [True, True] Translation: X:302.49, Y:-113.36, Z:1.62 [[ 6.95447072e-01 7.18572143e-01 -2.72883415e-03 3.02485840e+02] [-7.18567987e-01 6.95452380e-01 2.45693042e-03 -1.13361858e+02] [ 3.66325596e-03 2.52187794e-04 9.99993258e-01 1.62112957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84232058799995 meters 0.04099768034239947 Centerline is valid? [True, True] Translation: X:302.52, Y:-113.39, Z:1.62 [[ 6.91633490e-01 7.22242088e-01 -3.07931085e-03 3.02523603e+02] [-7.22236779e-01 6.91640281e-01 2.78519268e-03 -1.13389379e+02] [ 4.14135880e-03 2.97659022e-04 9.99991380e-01 1.62109628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.872320588 meters 0.042104531417275916 Centerline is valid? [True, True] Translation: X:302.56, Y:-113.42, Z:1.62 [[ 6.88113092e-01 7.25598275e-01 -2.74142760e-03 3.02561820e+02] [-7.25594057e-01 6.88118497e-01 2.48948798e-03 -1.13417985e+02] [ 3.69279523e-03 2.76114305e-04 9.99993143e-01 1.62106645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90232058799995 meters 0.04347687733178378 Centerline is valid? [True, True] Translation: X:302.60, Y:-113.44, Z:1.62 [[ 6.83029714e-01 7.30386300e-01 -2.50260005e-03 3.02601471e+02] [-7.30382790e-01 6.83034245e-01 2.28045743e-03 -1.13444788e+02] [ 3.37497640e-03 2.70235828e-04 9.99994268e-01 1.62295683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.932320588 meters 0.04448997819029453 Centerline is valid? [True, True] Translation: X:302.64, Y:-113.47, Z:1.62 [[ 6.80831952e-01 7.32438887e-01 -1.06300273e-03 3.02638432e+02] [-7.32438260e-01 6.80832771e-01 9.66218839e-04 -1.13474278e+02] [ 1.43142334e-03 1.20751210e-04 9.99998968e-01 1.62366228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96232058799995 meters 0.04410715503049917 Centerline is valid? [True, True] Translation: X:302.68, Y:-113.50, Z:1.62 [[ 6.78871839e-01 7.34255897e-01 -1.14199064e-03 3.02678318e+02] [-7.34255167e-01 6.78872787e-01 1.04343293e-03 -1.13500308e+02] [ 1.54141315e-03 1.30155298e-04 9.99998804e-01 1.62406815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.992320588 meters 0.04410715503049917 Centerline is valid? [True, True] Translation: X:302.72, Y:-113.53, Z:1.62 [[ 6.77126833e-01 7.35865443e-01 -1.14083002e-03 3.02715009e+02] [-7.35864714e-01 6.77127781e-01 1.04470111e-03 -1.13531898e+02] [ 1.54124715e-03 1.32101405e-04 9.99998804e-01 1.62429047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02232058799996 meters 0.04378212815227135 Centerline is valid? [True, True] Translation: X:302.75, Y:-113.56, Z:1.62 [[ 6.75656211e-01 7.37215869e-01 -1.20320516e-03 3.02752584e+02] [-7.37215048e-01 6.75657268e-01 1.10861358e-03 -1.13559181e+02] [ 1.63024184e-03 1.37979293e-04 9.99998662e-01 1.62381651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.052320588 meters 0.043735507228791645 Centerline is valid? [True, True] Translation: X:302.79, Y:-113.59, Z:1.62 [[ 6.74103470e-01 7.38636227e-01 -1.01784327e-03 3.02790069e+02] [-7.38635639e-01 6.74104228e-01 9.39887787e-04 -1.13587159e+02] [ 1.38036762e-03 1.18233695e-04 9.99999040e-01 1.62354201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08232058799996 meters 0.043497482646370905 Centerline is valid? [True, True] Translation: X:302.83, Y:-113.61, Z:1.62 [[ 6.72370859e-01 7.40213267e-01 -1.32183530e-03 3.02830756e+02] [-7.40212260e-01 6.72372142e-01 1.23002959e-03 -1.13612339e+02] [ 1.79924945e-03 1.51402638e-04 9.99998370e-01 1.62398955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.112320588 meters 0.044024813454794906 Centerline is valid? [True, True] Translation: X:302.87, Y:-113.64, Z:1.63 [[ 6.70788607e-01 7.41647806e-01 -1.08498392e-03 3.02867594e+02] [-7.41647126e-01 6.70789473e-01 1.01169064e-03 -1.13640924e+02] [ 1.47811393e-03 1.26044652e-04 9.99998900e-01 1.62553361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14232058799996 meters 0.04340672118045335 Centerline is valid? [True, True] Translation: X:302.91, Y:-113.67, Z:1.63 [[ 6.69696712e-01 7.42634364e-01 -7.17685557e-04 3.02906033e+02] [-7.42634069e-01 6.69697091e-01 6.68163888e-04 -1.13668730e+02] [ 9.76833395e-04 8.55105867e-05 9.99999519e-01 1.62762913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.172320588 meters 0.04371999844838605 Centerline is valid? [True, True] Translation: X:302.95, Y:-113.70, Z:1.63 [[ 6.67802929e-01 7.44337379e-01 -1.05611834e-03 3.02946219e+02] [-7.44336731e-01 6.67803752e-01 9.89865128e-04 -1.13703172e+02] [ 1.44207340e-03 1.25072840e-04 9.99998952e-01 1.62850921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20232058799996 meters 0.04334194753142882 Centerline is valid? [True, True] Translation: X:302.98, Y:-113.73, Z:1.63 [[ 6.66754669e-01 7.45276024e-01 -1.36400217e-03 3.02982455e+02] [-7.45274916e-01 6.66756046e-01 1.29409499e-03 -1.13732322e+02] [ 1.87391466e-03 1.53712730e-04 9.99998232e-01 1.62892110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23232058799994 meters 0.04255392071726012 Centerline is valid? [True, True] Translation: X:303.02, Y:-113.76, Z:1.63 [[ 6.66148940e-01 7.45817539e-01 -1.33739313e-03 3.03022426e+02] [-7.45816466e-01 6.66150265e-01 1.27402131e-03 -1.13758667e+02] [ 1.84109223e-03 1.48761870e-04 9.99998294e-01 1.62792894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26232058799997 meters 0.04240885106011385 Centerline is valid? [True, True] Translation: X:303.06, Y:-113.79, Z:1.63 [[ 6.65231582e-01 7.46635255e-01 -1.65480783e-03 3.03059275e+02] [-7.46633591e-01 6.65233616e-01 1.58670557e-03 -1.13788065e+02] [ 2.28552412e-03 1.80008457e-04 9.99997372e-01 1.62867346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29232058799994 meters 0.042111119645168296 Centerline is valid? [True, True] Translation: X:303.10, Y:-113.82, Z:1.63 [[ 6.64298757e-01 7.47465455e-01 -1.59840972e-03 3.03096057e+02] [-7.47463890e-01 6.64300657e-01 1.53928585e-03 -1.13817465e+02] [ 2.21238763e-03 1.72207871e-04 9.99997538e-01 1.62890346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32232058799997 meters 0.04145988577901062 Centerline is valid? [True, True] Translation: X:303.13, Y:-113.85, Z:1.63 [[ 6.63477680e-01 7.48193003e-01 -2.14429465e-03 3.03134635e+02] [-7.48190148e-01 6.63481107e-01 2.07929475e-03 -1.13845449e+02] [ 2.97841278e-03 2.24774473e-04 9.99995539e-01 1.63057547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35232058799994 meters 0.041526684386536394 Centerline is valid? [True, True] Translation: X:303.17, Y:-113.87, Z:1.63 [[ 6.61847343e-01 7.49637158e-01 -1.49166371e-03 3.03172535e+02] [-7.49635778e-01 6.61849005e-01 1.44752137e-03 -1.13874822e+02] [ 2.07237195e-03 1.60166308e-04 9.99997840e-01 1.62976494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38232058799997 meters 0.041348790231917606 Centerline is valid? [True, True] Translation: X:303.21, Y:-113.91, Z:1.63 [[ 6.60996541e-01 7.50387630e-01 -1.40630396e-03 3.03209364e+02] [-7.50386395e-01 6.60998020e-01 1.36984428e-03 -1.13906047e+02] [ 1.95747833e-03 1.49809023e-04 9.99998073e-01 1.62970654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41232058799994 meters 0.04119169701636131 Centerline is valid? [True, True] Translation: X:303.26, Y:-113.95, Z:1.63 [[ 6.58182590e-01 7.52857970e-01 -7.45112874e-04 3.03259853e+02] [-7.52857642e-01 6.58183005e-01 7.09256895e-04 -1.13947544e+02] [ 1.02439034e-03 9.41433816e-05 9.99999471e-01 1.62913322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.442320588 meters 0.03962191110288837 Centerline is valid? [True, True] Translation: X:303.30, Y:-113.98, Z:1.63 [[ 6.60039409e-01 7.51230945e-01 2.14199140e-04 3.03297270e+02] [-7.51230911e-01 6.60039444e-01 -2.27066521e-04 -1.13976084e+02] [-3.11959277e-04 -1.10401627e-05 9.99999951e-01 1.62924804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47232058799995 meters 0.0383896409668737 Centerline is valid? [True, True] Translation: X:303.33, Y:-114.01, Z:1.63 [[ 6.60289080e-01 7.51011537e-01 -4.68120527e-05 3.03332870e+02] [-7.51011536e-01 6.60289082e-01 3.44736103e-05 -1.14007208e+02] [ 5.67995669e-05 1.23938432e-05 9.99999998e-01 1.63089992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.502320588 meters 0.03777244551357263 Centerline is valid? [True, True] Translation: X:304.44, Y:-112.93, Z:3.48 [[ 7.99215616e-01 -6.01011495e-01 6.29135005e-03 3.04443175e+02] [-6.00983862e-01 -7.99239896e-01 -5.82981044e-03 -1.12930480e+02] [ 8.53208105e-03 8.78275700e-04 -9.99963215e-01 3.48191814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53232058799995 meters 0.03630835341740885 Centerline is valid? [True, True] Translation: X:303.47, Y:-114.14, Z:1.63 [[ 7.24394015e-01 6.89385926e-01 5.96455453e-04 3.03468769e+02] [-6.89385739e-01 7.24394259e-01 -5.10572070e-04 -1.14138565e+02] [-7.84050105e-04 -4.13325314e-05 9.99999692e-01 1.63061621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.562320588 meters 0.03565276097855102 Centerline is valid? [True, True] Translation: X:303.50, Y:-114.16, Z:1.63 [[ 7.24569408e-01 6.89200844e-01 1.17041967e-03 3.03504937e+02] [-6.89200106e-01 7.24570349e-01 -1.01113593e-03 -1.14164545e+02] [-1.54492713e-03 -7.40151985e-05 9.99998804e-01 1.62938556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59232058799995 meters 0.0348320969155516 Centerline is valid? [True, True] Translation: X:303.54, Y:-114.19, Z:1.63 [[ 7.24766047e-01 6.88995048e-01 3.58632600e-05 3.03541334e+02] [-6.88995046e-01 7.24766048e-01 -4.18661641e-05 -1.14192100e+02] [-5.48380524e-05 5.63356573e-06 9.99999998e-01 1.63047944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.622320588 meters 0.03341255995104096 Centerline is valid? [True, True] Translation: X:303.58, Y:-114.22, Z:1.63 [[ 7.26096993e-01 6.87591983e-01 6.50024769e-04 3.03578265e+02] [-6.87591746e-01 7.26097283e-01 -5.70936301e-04 -1.14219139e+02] [-8.64552441e-04 -3.23965351e-05 9.99999626e-01 1.63252012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65232058799995 meters 0.033097736702489756 Centerline is valid? [True, True] Translation: X:303.62, Y:-114.25, Z:1.63 [[ 7.24929593e-01 6.88822512e-01 7.95326726e-04 3.03617892e+02] [-6.88822153e-01 7.24930028e-01 -7.04722842e-04 -1.14249114e+02] [-1.06198518e-03 -3.69642249e-05 9.99999435e-01 1.63288038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.682320588 meters 0.03157230306725939 Centerline is valid? [True, True] Translation: X:303.66, Y:-114.28, Z:1.63 [[ 7.26514457e-01 6.87151082e-01 3.67235972e-04 3.03656023e+02] [-6.87151001e-01 7.26514550e-01 -3.32894748e-04 -1.14277447e+02] [-4.95551263e-04 -1.04937185e-05 9.99999877e-01 1.63328314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71232058799995 meters 0.030748824364725896 Centerline is valid? [True, True] Translation: X:303.69, Y:-114.31, Z:1.63 [[ 7.26883145e-01 6.86760820e-01 6.85256480e-04 3.03691104e+02] [-6.86760550e-01 7.26883468e-01 -6.09067618e-04 -1.14305654e+02] [-9.16385382e-04 -2.78861316e-05 9.99999580e-01 1.63361349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.742320588 meters 0.02992855904488032 Centerline is valid? [True, True] Translation: X:303.73, Y:-114.34, Z:1.63 [[ 7.26441055e-01 6.87228273e-01 8.32915640e-04 3.03733239e+02] [-6.87227866e-01 7.26441532e-01 -7.49218414e-04 -1.14337991e+02] [-1.11994859e-03 -2.81398228e-05 9.99999372e-01 1.63405006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77232058799996 meters 0.02871690268978946 Centerline is valid? [True, True] Translation: X:303.77, Y:-114.37, Z:1.63 [[ 7.27347185e-01 6.86268582e-01 1.22687024e-03 3.03771047e+02] [-6.86267711e-01 7.27348219e-01 -1.09436587e-03 -1.14365539e+02] [-1.64339080e-03 -4.59774999e-05 9.99998649e-01 1.63306912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.802320588 meters 0.02826359961206109 Centerline is valid? [True, True] Translation: X:303.81, Y:-114.40, Z:1.63 [[ 7.26795797e-01 6.86849476e-01 2.38046198e-03 3.03809107e+02] [-6.86846196e-01 7.26799690e-01 -2.12449222e-03 -1.14395899e+02] [-3.18932540e-03 -9.09392394e-05 9.99994910e-01 1.63233608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83232058799996 meters 0.027145531910811312 Centerline is valid? [True, True] Translation: X:303.84, Y:-114.43, Z:1.63 [[ 7.27651142e-01 6.85945740e-01 1.50244256e-03 3.03842827e+02] [-6.85944418e-01 7.27652691e-01 -1.34746563e-03 -1.14425427e+02] [-2.01754468e-03 -5.01071865e-05 9.99997963e-01 1.63398808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.862320588 meters 0.026452832743957166 Centerline is valid? [True, True] Translation: X:303.88, Y:-114.45, Z:1.64 [[ 7.27727144e-01 6.85866697e-01 2.77884657e-04 3.03877519e+02] [-6.85866649e-01 7.27727197e-01 -2.58663845e-04 -1.14453603e+02] [-3.79633139e-04 -2.35511721e-06 9.99999928e-01 1.63503910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89232058799996 meters 0.02577569332018145 Centerline is valid? [True, True] Translation: X:303.91, Y:-114.48, Z:1.63 [[ 7.27686898e-01 6.85909164e-01 6.31089067e-04 3.03912783e+02] [-6.85908922e-01 7.27687171e-01 -5.76026369e-04 -1.14480782e+02] [-8.54337183e-04 -1.37027802e-05 9.99999635e-01 1.63425611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.922320588 meters 0.025427308824203593 Centerline is valid? [True, True] Translation: X:303.95, Y:-114.51, Z:1.63 [[ 7.27036342e-01 6.86598539e-01 7.76385537e-04 3.03948417e+02] [-6.86598170e-01 7.27036757e-01 -7.11955558e-04 -1.14510736e+02] [-1.05328847e-03 -1.54473244e-05 9.99999445e-01 1.63480414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95232058799996 meters 0.025065442075708665 Centerline is valid? [True, True] Translation: X:303.98, Y:-114.54, Z:1.64 [[ 7.26849246e-01 6.86796898e-01 4.42061425e-04 3.03981342e+02] [-6.86796776e-01 7.26849380e-01 -4.09963014e-04 -1.14540333e+02] [-6.02873399e-04 -5.62505353e-06 9.99999818e-01 1.63698272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98232058799994 meters 0.023955569116349898 Centerline is valid? [True, True] Translation: X:304.01, Y:-114.57, Z:1.64 [[ 7.27697736e-01 6.85897818e-01 -4.34106434e-04 3.04014975e+02] [-6.85897711e-01 7.27697865e-01 3.82955673e-04 -1.14569066e+02] [ 5.78566787e-04 1.90766331e-05 9.99999832e-01 1.63649858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01232058799997 meters 0.023744849493694712 Centerline is valid? [True, True] Translation: X:304.05, Y:-114.60, Z:1.63 [[ 7.27031159e-01 6.86604462e-01 7.92676019e-05 3.04050159e+02] [-6.86604457e-01 7.27031163e-01 -8.35456824e-05 -1.14598087e+02] [-1.14992855e-04 6.31482550e-06 9.99999993e-01 1.63460591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04232058799994 meters 0.023128035988747058 Centerline is valid? [True, True] Translation: X:304.09, Y:-114.63, Z:1.63 [[ 7.26812396e-01 6.86835088e-01 1.14138728e-03 3.04088340e+02] [-6.86834269e-01 7.26813292e-01 -1.06060424e-03 -1.14629598e+02] [-1.55803565e-03 -1.30835871e-05 9.99998786e-01 1.63467235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07232058799997 meters 0.02291790572085008 Centerline is valid? [True, True] Translation: X:304.12, Y:-114.66, Z:1.64 [[ 7.26195754e-01 6.87486301e-01 1.52102555e-03 3.04123893e+02] [-6.87484853e-01 7.26197346e-01 -1.41118625e-03 -1.14659791e+02] [-2.07473593e-03 -2.08845638e-05 9.99997848e-01 1.63526238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10232058799994 meters 0.02241173077511254 Centerline is valid? [True, True] Translation: X:304.16, Y:-114.69, Z:1.64 [[ 7.25739773e-01 6.87969208e-01 3.88022675e-04 3.04158691e+02] [-6.87969109e-01 7.25739877e-01 -3.69440468e-04 -1.14689578e+02] [-5.35767194e-04 1.17002740e-06 9.99999856e-01 1.63606562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13232058799997 meters 0.021739291982897643 Centerline is valid? [True, True] Translation: X:304.19, Y:-114.72, Z:1.64 [[ 7.26769204e-01 6.86880858e-01 -1.10031994e-03 3.04191863e+02] [-6.86880119e-01 7.26770037e-01 1.00783430e-03 -1.14719355e+02] [ 1.49194165e-03 2.33249536e-05 9.99998887e-01 1.63597659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16232058799994 meters 0.021280216855233368 Centerline is valid? [True, True] Translation: X:304.22, Y:-114.75, Z:1.64 [[ 7.26442510e-01 6.87226547e-01 -9.76046514e-04 3.04224947e+02] [-6.87225963e-01 7.26443166e-01 8.96009631e-04 -1.14749820e+02] [ 1.32480393e-03 1.98650196e-05 9.99999122e-01 1.63591881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.192320588 meters 0.021066982413187565 Centerline is valid? [True, True] Translation: X:304.26, Y:-114.78, Z:1.64 [[ 7.26375677e-01 6.87297880e-01 -1.03565141e-05 3.04258014e+02] [-6.87297880e-01 7.26375677e-01 -1.49786423e-06 -1.14780871e+02] [ 6.49324166e-06 8.20602235e-06 1.00000000e+00 1.63659908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22232058799995 meters 0.02047809330700273 Centerline is valid? [True, True] Translation: X:304.29, Y:-114.81, Z:1.64 [[ 7.27979052e-01 6.85599275e-01 3.65633164e-04 3.04293583e+02] [-6.85599182e-01 7.27979144e-01 -3.56379349e-04 -1.14811573e+02] [-5.10506741e-04 8.75890248e-06 9.99999870e-01 1.63593384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.252320588 meters 0.020407196848533607 Centerline is valid? [True, True] Translation: X:304.33, Y:-114.84, Z:1.64 [[ 7.28137358e-01 6.85431234e-01 1.09872489e-04 3.04326402e+02] [-6.85431224e-01 7.28137366e-01 -1.14133784e-04 -1.14841713e+02] [-1.58233124e-04 7.79503777e-06 9.99999987e-01 1.63688000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28232058799995 meters 0.020573118652267828 Centerline is valid? [True, True] Translation: X:304.36, Y:-114.88, Z:1.64 [[ 7.29221168e-01 6.84277872e-01 5.31213527e-04 3.04361370e+02] [-6.84277676e-01 7.29221361e-01 -5.18682759e-04 -1.14877139e+02] [-7.42295386e-04 1.47368894e-05 9.99999724e-01 1.63720273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.312320588 meters 0.02062745648122703 Centerline is valid? [True, True] Translation: X:304.39, Y:-114.91, Z:1.64 [[ 7.29526109e-01 6.83952946e-01 -1.52739073e-04 3.04393735e+02] [-6.83952933e-01 7.29526125e-01 1.33875537e-04 -1.14908470e+02] [ 2.02991712e-04 6.80063719e-06 9.99999979e-01 1.63803528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34232058799995 meters 0.020712044599519232 Centerline is valid? [True, True] Translation: X:304.43, Y:-114.94, Z:1.64 [[ 7.29632921e-01 6.83839000e-01 -1.52925885e-04 3.04426022e+02] [-6.83838987e-01 7.29632937e-01 1.34910740e-04 -1.14939363e+02] [ 2.03836988e-04 6.14136483e-06 9.99999979e-01 1.63796036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.372320588 meters 0.020784103738315685 Centerline is valid? [True, True] Translation: X:304.46, Y:-114.97, Z:1.64 [[ 7.29327563e-01 6.84162482e-01 -1.73311442e-03 3.04457091e+02] [-6.84160504e-01 7.29329622e-01 1.64521273e-03 -1.14972066e+02] [ 2.38960451e-03 -1.41705502e-05 9.99997145e-01 1.63846833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40232058799995 meters 0.020785557884373227 Centerline is valid? [True, True] Translation: X:304.49, Y:-115.00, Z:1.64 [[ 7.27498347e-01 6.86106407e-01 -2.03788693e-03 3.04488420e+02] [-6.86103655e-01 7.27501202e-01 1.94344145e-03 -1.15004554e+02] [ 2.81597283e-03 -1.56487740e-05 9.99996035e-01 1.63982312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.432320588 meters 0.02096053156821223 Centerline is valid? [True, True] Translation: X:304.53, Y:-115.04, Z:1.64 [[ 7.24741775e-01 6.89020040e-01 -8.62822395e-04 3.04526303e+02] [-6.89019561e-01 7.24742288e-01 8.12290507e-04 -1.15044557e+02] [ 1.18500832e-03 5.80064505e-06 9.99999298e-01 1.63958405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46232058799995 meters 0.0206124105018323 Centerline is valid? [True, True] Translation: X:304.56, Y:-115.08, Z:1.64 [[ 7.22750050e-01 6.91108532e-01 -1.16701868e-03 3.04558455e+02] [-6.91107625e-01 7.22750993e-01 1.11966179e-03 -1.15077896e+02] [ 1.61727172e-03 -2.70010665e-06 9.99998692e-01 1.64000911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.492320588 meters 0.02064208494258668 Centerline is valid? [True, True] Translation: X:304.59, Y:-115.11, Z:1.64 [[ 7.20790291e-01 6.93151961e-01 -1.30924918e-03 3.04590879e+02] [-6.93150812e-01 7.20791481e-01 1.26226832e-03 -1.15110711e+02] [ 1.81863941e-03 -2.32361568e-06 9.99998346e-01 1.63966059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52232058799996 meters 0.020562086018896763 Centerline is valid? [True, True] Translation: X:304.62, Y:-115.15, Z:1.64 [[ 7.17753524e-01 6.96296311e-01 -1.15185847e-03 3.04619852e+02] [-6.96295421e-01 7.17754448e-01 1.11335358e-03 -1.15146365e+02] [ 1.60197554e-03 2.92032254e-06 9.99998717e-01 1.63931171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.552320588 meters 0.020330362541851086 Centerline is valid? [True, True] Translation: X:304.65, Y:-115.18, Z:1.64 [[ 7.15272270e-01 6.98842617e-01 -2.13933817e-03 3.04650596e+02] [-6.98839505e-01 7.15275469e-01 2.08570752e-03 -1.15180229e+02] [ 2.98779741e-03 3.20527395e-06 9.99995537e-01 1.64143836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58232058799996 meters 0.020203897772699615 Centerline is valid? [True, True] Translation: X:304.68, Y:-115.21, Z:1.64 [[ 7.11568085e-01 7.02608802e-01 -3.42527388e-03 3.04681934e+02] [-7.02600772e-01 7.11576329e-01 3.35924506e-03 -1.15214842e+02] [ 4.79757896e-03 1.62684989e-05 9.99988491e-01 1.64234261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.612320588 meters 0.020569480200386934 Centerline is valid? [True, True] Translation: X:304.72, Y:-115.25, Z:1.64 [[ 7.09121480e-01 7.05074452e-01 -4.09195776e-03 3.04715489e+02] [-7.05062928e-01 7.09133286e-01 4.03121450e-03 -1.15247362e+02] [ 5.74404980e-03 2.64669244e-05 9.99983502e-01 1.64189016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64232058799996 meters 0.020528941046464366 Centerline is valid? [True, True] Translation: X:304.75, Y:-115.28, Z:1.64 [[ 7.06034830e-01 7.08168443e-01 -3.50356504e-03 3.04748139e+02] [-7.08159975e-01 7.06043522e-01 3.46336516e-03 -1.15280607e+02] [ 4.92631531e-03 3.58281005e-05 9.99987865e-01 1.64059555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.672320588 meters 0.021365378476665378 Centerline is valid? [True, True] Translation: X:304.79, Y:-115.33, Z:1.64 [[ 7.00012117e-01 7.14125162e-01 -2.87909041e-03 3.04787980e+02] [-7.14119462e-01 7.00018035e-01 2.85387793e-03 -1.15326871e+02] [ 4.05344125e-03 5.82653661e-05 9.99991783e-01 1.64272436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70232058799996 meters 0.02173646303000005 Centerline is valid? [True, True] Translation: X:305.95, Y:-114.19, Z:3.49 [[ 7.70224693e-01 -6.37766132e-01 2.87790118e-03 3.05951895e+02] [-6.37759591e-01 -7.70229960e-01 -2.91764077e-03 -1.14187040e+02] [ 4.07741818e-03 4.11829887e-04 -9.99991602e-01 3.48705326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73232058799994 meters 0.02296885311930236 Centerline is valid? [True, True] Translation: X:304.92, Y:-115.47, Z:1.64 [[ 7.50846099e-01 6.60459943e-01 -4.77483887e-03 3.04918734e+02] [-6.60447506e-01 7.50861273e-01 4.05474111e-03 -1.15467532e+02] [ 6.26323568e-03 1.09043878e-04 9.99980380e-01 1.64414881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76232058799997 meters 0.023262777431751442 Centerline is valid? [True, True] Translation: X:304.97, Y:-115.50, Z:1.64 [[ 7.46659997e-01 6.65181777e-01 -5.66153684e-03 3.04966219e+02] [-6.65164283e-01 7.46681443e-01 4.82693181e-03 -1.15504910e+02] [ 7.43815157e-03 1.61775204e-04 9.99972323e-01 1.64467680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79232058799994 meters 0.023846040737553025 Centerline is valid? [True, True] Translation: X:305.00, Y:-115.53, Z:1.64 [[ 7.44198755e-01 6.67940715e-01 -4.83882807e-03 3.04999984e+02] [-6.67927833e-01 7.44214473e-01 4.15073235e-03 -1.15534312e+02] [ 6.37356902e-03 1.43018099e-04 9.99979678e-01 1.64396924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82232058799997 meters 0.024700141821213207 Centerline is valid? [True, True] Translation: X:305.03, Y:-115.57, Z:1.65 [[ 7.40945917e-01 6.71548930e-01 -4.60252151e-03 3.05031710e+02] [-6.71537259e-01 7.40960195e-01 3.96212162e-03 -1.15566006e+02] [ 6.07104377e-03 1.55046849e-04 9.99981559e-01 1.64614005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85232058799994 meters 0.02508874745666657 Centerline is valid? [True, True] Translation: X:305.07, Y:-115.60, Z:1.65 [[ 7.38749119e-01 6.73964091e-01 -4.70575848e-03 3.05065751e+02] [-6.73951843e-01 7.38764087e-01 4.06647976e-03 -1.15596075e+02] [ 6.21710670e-03 1.67346262e-04 9.99980660e-01 1.64649901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88232058799997 meters 0.02508874745666657 Centerline is valid? [True, True] Translation: X:305.10, Y:-115.62, Z:1.65 [[ 7.37456331e-01 6.75378479e-01 -4.69799036e-03 3.05100891e+02] [-6.75366203e-01 7.37471276e-01 4.07543951e-03 -1.15624624e+02] [ 6.21709708e-03 1.67405239e-04 9.99980660e-01 1.64670584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91232058799994 meters 0.025755177734888092 Centerline is valid? [True, True] Translation: X:305.13, Y:-115.66, Z:1.65 [[ 7.34749357e-01 6.78309997e-01 -6.23939655e-03 3.05133848e+02] [-6.78288246e-01 7.34775811e-01 5.43726985e-03 -1.15655981e+02] [ 8.27271215e-03 2.37078814e-04 9.99965752e-01 1.64795050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.942320588 meters 0.0258924251714428 Centerline is valid? [True, True] Translation: X:305.17, Y:-115.68, Z:1.65 [[ 7.33285392e-01 6.79894435e-01 -6.00749724e-03 3.05169372e+02] [-6.79874166e-01 7.33309964e-01 5.25496286e-03 -1.15684779e+02] [ 7.97817759e-03 2.30954675e-04 9.99968147e-01 1.64714901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97232058799995 meters 0.026226623762874397 Centerline is valid? [True, True] Translation: X:305.20, Y:-115.71, Z:1.65 [[ 7.31615277e-01 6.81690446e-01 -6.10090307e-03 3.05204504e+02] [-6.81669437e-01 7.31640675e-01 5.35729564e-03 -1.15714249e+02] [ 8.11568609e-03 2.39319825e-04 9.99967039e-01 1.64767696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.002320588 meters 0.02613877805303399 Centerline is valid? [True, True] Translation: X:305.24, Y:-115.75, Z:1.65 [[ 7.30077373e-01 6.83331881e-01 -6.67602665e-03 3.05237874e+02] [-6.83306581e-01 7.30107848e-01 5.88613488e-03 -1.15746393e+02] [ 8.89640308e-03 2.64439056e-04 9.99960391e-01 1.64928396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03232058799995 meters 0.026240576005591872 Centerline is valid? [True, True] Translation: X:305.27, Y:-115.78, Z:1.65 [[ 7.28453474e-01 6.85055904e-01 -7.34472964e-03 3.05271531e+02] [-6.85025107e-01 7.28490440e-01 6.50238004e-03 -1.15778139e+02] [ 9.80505917e-03 2.94642884e-04 9.99951886e-01 1.65046555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.062320588 meters 0.026336236508076698 Centerline is valid? [True, True] Translation: X:305.31, Y:-115.81, Z:1.65 [[ 7.27054940e-01 6.86532446e-01 -8.01964867e-03 3.05305080e+02] [-6.86495514e-01 7.27099096e-01 7.12838189e-03 -1.15809040e+02] [ 1.07249448e-02 3.22727569e-04 9.99942434e-01 1.65099611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09232058799995 meters 0.026750905700514683 Centerline is valid? [True, True] Translation: X:305.34, Y:-115.84, Z:1.65 [[ 7.24820220e-01 6.88889888e-01 -8.14686909e-03 3.05338510e+02] [-6.88851619e-01 7.24865922e-01 7.26922811e-03 -1.15839899e+02] [ 1.09130855e-02 3.43100447e-04 9.99940392e-01 1.64982501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.122320588 meters 0.02654804101446016 Centerline is valid? [True, True] Translation: X:305.38, Y:-115.87, Z:1.65 [[ 7.23827135e-01 6.89944516e-01 -7.13046921e-03 3.05375349e+02] [-6.89915001e-01 7.23862196e-01 6.38855320e-03 -1.15871348e+02] [ 9.56922434e-03 2.95209505e-04 9.99954170e-01 1.64934469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15232058799995 meters 0.026664126482442003 Centerline is valid? [True, True] Translation: X:305.41, Y:-115.91, Z:1.65 [[ 7.22363891e-01 6.91481255e-01 -6.63951322e-03 3.05407312e+02] [-6.91455506e-01 7.22394351e-01 5.97365837e-03 -1.15905187e+02] [ 8.92701963e-03 2.75772869e-04 9.99960115e-01 1.65189301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.182320588 meters 0.02652646084206623 Centerline is valid? [True, True] Translation: X:305.47, Y:-115.96, Z:1.65 [[ 7.16813503e-01 6.97235542e-01 -6.40320305e-03 3.05471731e+02] [-6.97211313e-01 7.16842043e-01 5.81983580e-03 -1.15956444e+02] [ 8.64788151e-03 2.92648721e-04 9.99962564e-01 1.65352580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21232058799995 meters 0.026561090386514486 Centerline is valid? [True, True] Translation: X:305.51, Y:-115.99, Z:1.65 [[ 7.14894442e-01 6.99205048e-01 -6.18367341e-03 3.05510668e+02] [-6.99181991e-01 7.14921138e-01 5.68416375e-03 -1.15990349e+02] [ 8.39523482e-03 2.59936019e-04 9.99964726e-01 1.65247502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.242320588 meters 0.025980944036612996 Centerline is valid? [True, True] Translation: X:305.55, Y:-116.02, Z:1.65 [[ 7.13762628e-01 7.00338029e-01 -8.33998487e-03 3.05546066e+02] [-7.00295652e-01 7.13811272e-01 7.71154243e-03 -1.16022693e+02] [ 1.13538616e-02 3.36244350e-04 9.99935486e-01 1.65309148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27232058799996 meters 0.026487980426736463 Centerline is valid? [True, True] Translation: X:305.58, Y:-116.05, Z:1.65 [[ 7.12162095e-01 7.01979389e-01 -7.07726505e-03 3.05579970e+02] [-7.01948705e-01 7.12197201e-01 6.56978053e-03 -1.16054390e+02] [ 9.65225888e-03 2.89128372e-04 9.99953374e-01 1.65146663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.302320588 meters 0.026467264696498564 Centerline is valid? [True, True] Translation: X:305.62, Y:-116.09, Z:1.65 [[ 7.10611852e-01 7.03545475e-01 -7.38646901e-03 3.05615096e+02] [-7.03511830e-01 7.10650176e-01 6.88710835e-03 -1.16087555e+02] [ 1.00945894e-02 3.02407508e-04 9.99949003e-01 1.65228791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33232058799996 meters 0.026598912833857444 Centerline is valid? [True, True] Translation: X:305.65, Y:-116.12, Z:1.65 [[ 7.09047550e-01 7.05127799e-01 -6.80874628e-03 3.05650082e+02] [-7.05099041e-01 7.09080185e-01 6.37445366e-03 -1.16118556e+02] [ 9.32275155e-03 2.81049728e-04 9.99956503e-01 1.65171078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.362320588 meters 0.026746163131772145 Centerline is valid? [True, True] Translation: X:305.68, Y:-116.15, Z:1.65 [[ 7.07185982e-01 7.06990416e-01 -7.24834306e-03 3.05684478e+02] [-7.06957651e-01 7.07223061e-01 6.81333706e-03 -1.16149627e+02] [ 9.94315937e-03 3.05975120e-04 9.99950519e-01 1.65147757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39232058799996 meters 0.02669692966188649 Centerline is valid? [True, True] Translation: X:305.72, Y:-116.18, Z:1.65 [[ 7.05264398e-01 7.08905423e-01 -7.43169060e-03 3.05722993e+02] [-7.08870721e-01 7.05303482e-01 7.02129817e-03 -1.16184835e+02] [ 1.02190336e-02 3.16236249e-04 9.99947734e-01 1.65212164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.422320588 meters 0.026451508843161203 Centerline is valid? [True, True] Translation: X:305.76, Y:-116.22, Z:1.65 [[ 7.03927504e-01 7.10238472e-01 -6.88342172e-03 3.05756457e+02] [-7.10208459e-01 7.03961099e-01 6.53572830e-03 -1.16218326e+02] [ 9.48758681e-03 2.87985424e-04 9.99954950e-01 1.65374801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45232058799996 meters 0.026745281614348342 Centerline is valid? [True, True] Translation: X:305.79, Y:-116.25, Z:1.65 [[ 7.02367415e-01 7.11788955e-01 -6.04135063e-03 3.05791283e+02] [-7.11765692e-01 7.02393350e-01 5.76027785e-03 -1.16249538e+02] [ 8.34350667e-03 2.54194654e-04 9.99965160e-01 1.65374376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48232058799994 meters 0.02659965179189279 Centerline is valid? [True, True] Translation: X:305.83, Y:-116.28, Z:1.65 [[ 7.01343614e-01 7.12803711e-01 -5.29196106e-03 3.05827857e+02] [-7.12785737e-01 7.01363545e-01 5.06664253e-03 -1.16279236e+02] [ 7.32311017e-03 2.18576982e-04 9.99973162e-01 1.65171203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51232058799997 meters 0.026457402051460355 Centerline is valid? [True, True] Translation: X:305.86, Y:-116.31, Z:1.65 [[ 7.00072038e-01 7.14055534e-01 -4.88219633e-03 3.05862380e+02] [-7.14040132e-01 7.00089033e-01 4.69423744e-03 -1.16310106e+02] [ 6.76991833e-03 1.99779735e-04 9.99977064e-01 1.65159528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54232058799994 meters 0.025990257464642657 Centerline is valid? [True, True] Translation: X:305.90, Y:-116.34, Z:1.65 [[ 6.99916893e-01 7.14205870e-01 -5.13006554e-03 3.05897346e+02] [-7.14188707e-01 6.99935666e-01 4.95527012e-03 -1.16341560e+02] [ 7.12979885e-03 1.95557603e-04 9.99974564e-01 1.65314743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57232058799997 meters 0.026127666250430174 Centerline is valid? [True, True] Translation: X:305.94, Y:-116.38, Z:1.65 [[ 6.97861691e-01 7.16213365e-01 -5.24166949e-03 3.05936552e+02] [-7.16195313e-01 6.97881347e-01 5.08915732e-03 -1.16376617e+02] [ 7.30298585e-03 2.02531185e-04 9.99973312e-01 1.65357292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60232058799994 meters 0.025732107517183005 Centerline is valid? [True, True] Translation: X:305.97, Y:-116.41, Z:1.65 [[ 6.97245154e-01 7.16816086e-01 -4.88816357e-03 3.05974203e+02] [-7.16800226e-01 6.97262266e-01 4.77160552e-03 -1.16409358e+02] [ 6.82869561e-03 1.76857929e-04 9.99976669e-01 1.65332278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63232058799997 meters 0.024973195859634666 Centerline is valid? [True, True] Translation: X:306.01, Y:-116.44, Z:1.66 [[ 6.97857833e-01 7.16215584e-01 -5.44819485e-03 3.06008704e+02] [-7.16195650e-01 6.97879078e-01 5.34624907e-03 -1.16441140e+02] [ 7.63124810e-03 1.71051662e-04 9.99970867e-01 1.65507552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66232058799994 meters 0.024336860494950496 Centerline is valid? [True, True] Translation: X:306.04, Y:-116.47, Z:1.65 [[ 6.98240657e-01 7.15847114e-01 -4.78483872e-03 3.06043699e+02] [-7.15831599e-01 6.98257038e-01 4.71490812e-03 -1.16472862e+02] [ 6.71620069e-03 1.32998210e-04 9.99977437e-01 1.65486025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.692320588 meters 0.023709064296773913 Centerline is valid? [True, True] Translation: X:306.08, Y:-116.50, Z:1.65 [[ 6.99802715e-01 7.14330731e-01 -2.78699400e-03 3.06079089e+02] [-7.14325429e-01 6.99808262e-01 2.75284229e-03 -1.16504188e+02] [ 3.91680128e-03 6.43741746e-05 9.99992327e-01 1.65277621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72232058799995 meters 0.02350996776902805 Centerline is valid? [True, True] Translation: X:306.11, Y:-116.54, Z:1.65 [[ 6.99492349e-01 7.14634764e-01 -2.75841748e-03 3.06113901e+02] [-7.14629525e-01 6.99497785e-01 2.73692549e-03 -1.16535663e+02] [ 3.88540902e-03 5.67881389e-05 9.99992450e-01 1.65266851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.752320588 meters 0.023146880524954748 Centerline is valid? [True, True] Translation: X:306.15, Y:-116.57, Z:1.65 [[ 6.99367455e-01 7.14760543e-01 -1.59040079e-03 3.06149908e+02] [-7.14758800e-01 6.99369262e-01 1.57880924e-03 -1.16568158e+02] [ 2.24074798e-03 3.25851615e-05 9.99997489e-01 1.65224256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78232058799995 meters 0.022978277655593432 Centerline is valid? [True, True] Translation: X:307.37, Y:-115.36, Z:3.50 [[ 7.67152542e-01 -6.41444552e-01 5.08563798e-03 3.07371773e+02] [-6.41426750e-01 -7.67169285e-01 -4.79718619e-03 -1.15356922e+02] [ 6.97867420e-03 4.18109342e-04 -9.99975561e-01 3.49551548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.812320588 meters 0.022458505822151652 Centerline is valid? [True, True] Translation: X:306.28, Y:-116.70, Z:1.65 [[ 7.58440897e-01 6.51734240e-01 -3.14428359e-03 3.06282250e+02] [-6.51728760e-01 7.58447414e-01 2.67258064e-03 -1.16702176e+02] [ 4.12658607e-03 2.22255916e-05 9.99991485e-01 1.65341466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84232058799995 meters 0.02222579712475493 Centerline is valid? [True, True] Translation: X:306.32, Y:-116.73, Z:1.65 [[ 7.60954207e-01 6.48801687e-01 -2.25044958e-03 3.06318545e+02] [-6.48798873e-01 7.60957535e-01 1.91093755e-03 -1.16730685e+02] [ 2.95231608e-03 5.95318179e-06 9.99995642e-01 1.65229551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.872320588 meters 0.02239424240561648 Centerline is valid? [True, True] Translation: X:306.35, Y:-116.76, Z:1.65 [[ 7.61225674e-01 6.48484044e-01 -1.97940470e-03 3.06354518e+02] [-6.48481852e-01 7.61228248e-01 1.68584421e-03 -1.16760708e+02] [ 2.60002185e-03 3.00128960e-07 9.99996620e-01 1.65317573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90232058799995 meters 0.022512686069505565 Centerline is valid? [True, True] Translation: X:306.39, Y:-116.79, Z:1.65 [[ 7.61959169e-01 6.47624724e-01 -6.63888464e-04 3.06389359e+02] [-6.47624482e-01 7.61959459e-01 5.60698191e-04 -1.16789642e+02] [ 8.68978106e-04 2.72129425e-06 9.99999622e-01 1.65267404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.932320588 meters 0.023119861546004563 Centerline is valid? [True, True] Translation: X:306.42, Y:-116.82, Z:1.65 [[ 7.64186672e-01 6.44994751e-01 -7.08289724e-04 3.06424286e+02] [-6.44994471e-01 7.64187000e-01 6.01267758e-04 -1.16818455e+02] [ 9.29080348e-04 -2.63785073e-06 9.99999568e-01 1.65237074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96232058799995 meters 0.023580222517321746 Centerline is valid? [True, True] Translation: X:306.46, Y:-116.85, Z:1.65 [[ 7.64476807e-01 6.44648893e-01 -1.73649158e-03 3.06459004e+02] [-6.44647160e-01 7.64478779e-01 1.49486531e-03 -1.16846649e+02] [ 2.29117423e-03 -2.33654970e-05 9.99997375e-01 1.65218796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.992320588 meters 0.02434424963104983 Centerline is valid? [True, True] Translation: X:306.49, Y:-116.88, Z:1.65 [[ 7.66672484e-01 6.42037315e-01 -1.17850342e-03 3.06493184e+02] [-6.42036513e-01 7.66673389e-01 1.01458243e-03 -1.16877427e+02] [ 1.55492699e-03 -2.12102052e-05 9.99998791e-01 1.65230632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02232058799996 meters 0.02400404312452417 Centerline is valid? [True, True] Translation: X:306.53, Y:-116.91, Z:1.65 [[ 7.63388378e-01 6.45939718e-01 2.57259085e-04 3.06525847e+02] [-6.45939675e-01 7.63388421e-01 -2.34999992e-04 -1.16907617e+02] [-3.48184435e-04 1.32224132e-05 9.99999939e-01 1.65212871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.052320588 meters 0.023413432381011838 Centerline is valid? [True, True] Translation: X:306.56, Y:-116.94, Z:1.65 [[ 7.59628249e-01 6.50356526e-01 1.14598092e-03 3.06562823e+02] [-6.50355727e-01 7.59629112e-01 -1.01977264e-03 -1.16940056e+02] [-1.53373626e-03 2.93528473e-05 9.99998823e-01 1.65209440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08232058799996 meters 0.02298635698476871 Centerline is valid? [True, True] Translation: X:306.59, Y:-116.97, Z:1.65 [[ 7.55189627e-01 6.55506377e-01 -1.32835368e-04 3.06594042e+02] [-6.55506368e-01 7.55189638e-01 1.06013137e-04 -1.16973121e+02] [ 1.69808181e-04 7.01440841e-06 9.99999986e-01 1.65346163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.112320588 meters 0.022955339063624965 Centerline is valid? [True, True] Translation: X:306.64, Y:-117.01, Z:1.65 [[ 7.50218933e-01 6.61188836e-01 -9.35345297e-04 3.06637698e+02] [-6.61188343e-01 7.50219516e-01 8.07495203e-04 -1.17010798e+02] [ 1.23562111e-03 1.26412169e-05 9.99999237e-01 1.65422983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14232058799996 meters 0.02316131081315402 Centerline is valid? [True, True] Translation: X:306.67, Y:-117.04, Z:1.66 [[ 7.44264667e-01 6.67884090e-01 -9.73633696e-04 3.06672208e+02] [-6.67883544e-01 7.44265303e-01 8.54484697e-04 -1.17044791e+02] [ 1.29533851e-03 1.43111551e-05 9.99999161e-01 1.65608589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.172320588 meters 0.023486696771799778 Centerline is valid? [True, True] Translation: X:306.71, Y:-117.08, Z:1.66 [[ 7.40971124e-01 6.71536849e-01 -2.30807186e-04 3.06707075e+02] [-6.71536821e-01 7.40971160e-01 1.95170050e-04 -1.17076049e+02] [ 3.02085349e-04 1.03801519e-05 9.99999954e-01 1.65564228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20232058799996 meters 0.023845477845097916 Centerline is valid? [True, True] Translation: X:306.74, Y:-117.11, Z:1.66 [[ 7.37249180e-01 6.75620842e-01 -3.52924069e-04 3.06744054e+02] [-6.75620774e-01 7.37249265e-01 3.03090935e-04 -1.17108591e+02] [ 4.64967564e-04 1.49892893e-05 9.99999892e-01 1.65707322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23232058799994 meters 0.024575433823778647 Centerline is valid? [True, True] Translation: X:306.78, Y:-117.14, Z:1.66 [[ 7.33037835e-01 6.80184499e-01 -2.13984745e-03 3.06778442e+02] [-6.80181787e-01 7.33040957e-01 1.92153555e-03 -1.17138719e+02] [ 2.87559452e-03 4.69269987e-05 9.99995864e-01 1.65749630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26232058799997 meters 0.02483619147489959 Centerline is valid? [True, True] Translation: X:306.81, Y:-117.17, Z:1.66 [[ 7.30933737e-01 6.82447675e-01 -1.02106046e-03 3.06813156e+02] [-6.82447064e-01 7.30934450e-01 9.14115612e-04 -1.17168564e+02] [ 1.37016434e-03 2.86617735e-05 9.99999061e-01 1.65657946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29232058799994 meters 0.025324582116930033 Centerline is valid? [True, True] Translation: X:306.87, Y:-117.21, Z:1.66 [[ 7.25542937e-01 6.88176385e-01 -8.42213934e-04 3.06868461e+02] [-6.88175992e-01 7.25543425e-01 7.36825534e-04 -1.17213701e+02] [ 1.11812872e-03 4.49928480e-05 9.99999374e-01 1.65685179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32232058799997 meters 0.02593781892752615 Centerline is valid? [True, True] Translation: X:306.90, Y:-117.24, Z:1.66 [[ 7.22768177e-01 6.91090463e-01 3.67529450e-04 3.06901986e+02] [-6.91090373e-01 7.22768270e-01 -3.52454822e-04 -1.17244833e+02] [-5.09216790e-04 7.47064025e-07 9.99999870e-01 1.65802135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35232058799994 meters 0.02591540224174093 Centerline is valid? [True, True] Translation: X:306.94, Y:-117.28, Z:1.66 [[ 7.21001792e-01 6.92933145e-01 2.68515955e-04 3.06939266e+02] [-6.92933095e-01 7.21001842e-01 -2.63510002e-04 -1.17275559e+02] [-3.76195312e-04 3.92759225e-06 9.99999929e-01 1.65700877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38232058799997 meters 0.02625308857147383 Centerline is valid? [True, True] Translation: X:306.97, Y:-117.31, Z:1.66 [[ 7.18196987e-01 6.95836393e-01 -2.19135426e-03 3.06974487e+02] [-6.95833437e-01 7.18200327e-01 2.02933084e-03 -1.17305874e+02] [ 2.98591360e-03 6.73582731e-05 9.99995540e-01 1.65667698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41232058799994 meters 0.02657789393593767 Centerline is valid? [True, True] Translation: X:307.01, Y:-117.34, Z:1.66 [[ 7.15580657e-01 6.98523832e-01 -2.96323304e-03 3.07011576e+02] [-6.98518382e-01 7.15586786e-01 2.76089029e-03 -1.17339047e+02] [ 4.04899807e-03 9.42330634e-05 9.99991798e-01 1.65708826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.442320588 meters 0.02673184355188459 Centerline is valid? [True, True] Translation: X:307.07, Y:-117.39, Z:1.66 [[ 7.10365656e-01 7.03830097e-01 -1.95680109e-03 3.07072062e+02] [-7.03827761e-01 7.10368346e-01 1.81542893e-03 -1.17388163e+02] [ 2.66780307e-03 8.76325715e-05 9.99996438e-01 1.65799955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47232058799995 meters 0.026769293645665614 Centerline is valid? [True, True] Translation: X:307.11, Y:-117.42, Z:1.66 [[ 7.08578851e-01 7.05630957e-01 -9.82364664e-04 3.07108357e+02] [-7.05630352e-01 7.08579531e-01 9.24420037e-04 -1.17417542e+02] [ 1.34838289e-03 3.81618365e-05 9.99999090e-01 1.65814784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.502320588 meters 0.026929104380098958 Centerline is valid? [True, True] Translation: X:307.15, Y:-117.45, Z:1.66 [[ 7.06533586e-01 7.07679398e-01 -4.02365604e-04 3.07146373e+02] [-7.07679302e-01 7.06533700e-01 3.69483614e-04 -1.17450102e+02] [ 5.45760801e-04 2.36932271e-05 9.99999851e-01 1.65778191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53232058799995 meters 0.026722664841799578 Centerline is valid? [True, True] Translation: X:307.18, Y:-117.48, Z:1.66 [[ 7.05802261e-01 7.08408773e-01 4.23386569e-04 3.07181395e+02] [-7.08408647e-01 7.05802388e-01 -4.22342930e-04 -1.17481234e+02] [-5.98018688e-04 -1.84011184e-06 9.99999821e-01 1.65651668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.562320588 meters 0.02663613117846056 Centerline is valid? [True, True] Translation: X:307.22, Y:-117.51, Z:1.66 [[ 7.03826388e-01 7.10372010e-01 1.53298293e-04 3.07216546e+02] [-7.10371991e-01 7.03826405e-01 -1.62796649e-04 -1.17513012e+02] [-2.23541568e-04 5.68176363e-06 9.99999975e-01 1.65815651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59232058799995 meters 0.026969681179403297 Centerline is valid? [True, True] Translation: X:307.25, Y:-117.54, Z:1.66 [[ 7.01771902e-01 7.12401287e-01 7.77309945e-04 3.07252635e+02] [-7.12400870e-01 7.01772332e-01 -7.71210746e-04 -1.17544409e+02] [-1.09490614e-03 -1.25422492e-05 9.99999401e-01 1.65782303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.622320588 meters 0.027280729437817713 Centerline is valid? [True, True] Translation: X:307.29, Y:-117.58, Z:1.66 [[ 6.99258693e-01 7.14866318e-01 1.85155374e-03 3.07289788e+02] [-7.14863986e-01 6.99261143e-01 -1.82648753e-03 -1.17576433e+02] [-2.60041400e-03 -4.64218069e-05 9.99996618e-01 1.65830232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65232058799995 meters 0.02718431887203332 Centerline is valid? [True, True] Translation: X:307.33, Y:-117.61, Z:1.66 [[ 6.97792710e-01 7.16298420e-01 1.38107750e-03 3.07325225e+02] [-7.16297107e-01 6.97794076e-01 -1.37194750e-03 -1.17608856e+02] [-1.94643152e-03 -3.19268518e-05 9.99998105e-01 1.65951492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.682320588 meters 0.026775936033410212 Centerline is valid? [True, True] Translation: X:307.36, Y:-117.64, Z:1.66 [[ 6.96601010e-01 7.17458413e-01 6.77114818e-04 3.07359924e+02] [-7.17458087e-01 6.96601339e-01 -6.83184694e-04 -1.17641116e+02] [-9.61835695e-04 -9.89435442e-06 9.99999537e-01 1.66071805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71232058799995 meters 0.026593612615542116 Centerline is valid? [True, True] Translation: X:307.40, Y:-117.67, Z:1.66 [[ 6.94959780e-01 7.19047545e-01 -1.23828560e-03 3.07395499e+02] [-7.19046521e-01 6.94960881e-01 1.21387999e-03 -1.17673865e+02] [ 1.73339748e-03 4.67871800e-05 9.99998497e-01 1.66145622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.742320588 meters 0.02640868981289284 Centerline is valid? [True, True] Translation: X:307.43, Y:-117.71, Z:1.66 [[ 6.93177798e-01 7.20765793e-01 -1.10083078e-03 3.07431271e+02] [-7.20764981e-01 6.93178670e-01 1.08310708e-03 -1.17705987e+02] [ 1.54373895e-03 4.26544915e-05 9.99998808e-01 1.66110483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77232058799996 meters 0.026545430022486594 Centerline is valid? [True, True] Translation: X:307.47, Y:-117.74, Z:1.66 [[ 6.91180112e-01 7.22682526e-01 1.37422906e-04 3.07466186e+02] [-7.22682510e-01 6.91180126e-01 -1.52261404e-04 -1.17739023e+02] [-2.05020636e-04 5.92692366e-06 9.99999979e-01 1.66131128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.802320588 meters 0.026545430022486594 Centerline is valid? [True, True] Translation: X:308.73, Y:-116.49, Z:3.50 [[ 7.75798644e-01 -6.30945854e-01 6.61771061e-03 3.08731217e+02] [-6.30916658e-01 -7.75826671e-01 -6.09480794e-03 -1.16488563e+02] [ 8.97969019e-03 5.53119871e-04 -9.99959529e-01 3.50185216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83232058799996 meters 0.026353273657843967 Centerline is valid? [True, True] Translation: X:307.60, Y:-117.88, Z:1.66 [[ 7.48259894e-01 6.63405059e-01 9.26875835e-04 3.07604230e+02] [-6.63404588e-01 7.48260468e-01 -7.90771743e-04 -1.17878707e+02] [-1.21814652e-03 -2.31909010e-05 9.99999258e-01 1.66230384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.862320588 meters 0.02652484236784215 Centerline is valid? [True, True] Translation: X:307.64, Y:-117.91, Z:1.66 [[ 7.46547900e-01 6.65331176e-01 8.11419306e-04 3.07639541e+02] [-6.65330804e-01 7.46548341e-01 -7.03984985e-04 -1.17908263e+02] [-1.07414689e-03 -1.43037472e-05 9.99999423e-01 1.66328052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89232058799996 meters 0.02634064786543514 Centerline is valid? [True, True] Translation: X:307.68, Y:-117.94, Z:1.66 [[ 7.44641939e-01 6.67463927e-01 -5.37075386e-04 3.07676348e+02] [-6.67463776e-01 7.44642133e-01 4.48976472e-04 -1.17936880e+02] [ 6.99604560e-04 2.41516544e-05 9.99999755e-01 1.66361727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.922320588 meters 0.026559104205783654 Centerline is valid? [True, True] Translation: X:307.71, Y:-117.97, Z:1.66 [[ 7.42896678e-01 6.69405677e-01 -7.52498749e-04 3.07712145e+02] [-6.69405375e-01 7.42897058e-01 6.36118056e-04 -1.17965942e+02] [ 9.84850146e-04 3.11567173e-05 9.99999515e-01 1.66386843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95232058799996 meters 0.02695762110238062 Centerline is valid? [True, True] Translation: X:307.75, Y:-117.99, Z:1.66 [[ 7.40651990e-01 6.71888756e-01 3.59139154e-04 3.07749391e+02] [-6.71888679e-01 7.40652077e-01 -3.21574257e-04 -1.17993840e+02] [-4.82059287e-04 -3.12691833e-06 9.99999884e-01 1.66337959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98232058799994 meters 0.027125172138633833 Centerline is valid? [True, True] Translation: X:307.79, Y:-118.02, Z:1.66 [[ 7.39173661e-01 6.73512503e-01 1.79108293e-03 3.07786569e+02] [-6.73510687e-01 7.39175829e-01 -1.56483698e-03 -1.18022483e+02] [-2.37786248e-03 -4.96272126e-05 9.99997172e-01 1.66228197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01232058799997 meters 0.02734383625813927 Centerline is valid? [True, True] Translation: X:307.82, Y:-118.05, Z:1.66 [[ 7.37404707e-01 6.75448554e-01 1.88407506e-03 3.07822427e+02] [-6.75446536e-01 7.37407112e-01 -1.65193208e-03 -1.18051678e+02] [-2.50512548e-03 -5.44494757e-05 9.99996861e-01 1.66288984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04232058799994 meters 0.0275126436913308 Centerline is valid? [True, True] Translation: X:307.86, Y:-118.08, Z:1.67 [[ 7.34932134e-01 6.78140220e-01 7.74965693e-04 3.07858939e+02] [-6.78139869e-01 7.34932542e-01 -6.91045568e-04 -1.18081523e+02] [-1.03817330e-03 -1.76635396e-05 9.99999461e-01 1.66552587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07232058799997 meters 0.027526050049407197 Centerline is valid? [True, True] Translation: X:307.90, Y:-118.11, Z:1.67 [[ 7.32953029e-01 6.80279243e-01 -9.19822116e-05 3.07896805e+02] [-6.80279240e-01 7.32953035e-01 6.67997276e-05 -1.18111675e+02] [ 1.12861110e-04 1.36125263e-05 9.99999994e-01 1.66633041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10232058799994 meters 0.027854549021208954 Centerline is valid? [True, True] Translation: X:307.94, Y:-118.14, Z:1.67 [[ 7.30190619e-01 6.83243370e-01 -3.97048764e-04 3.07936134e+02] [-6.83243288e-01 7.30190726e-01 3.36588357e-04 -1.18141270e+02] [ 5.19893089e-04 2.55072419e-05 9.99999865e-01 1.66559508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13232058799997 meters 0.027572826645476264 Centerline is valid? [True, True] Translation: X:307.97, Y:-118.17, Z:1.67 [[ 7.28612794e-01 6.84925816e-01 -1.50951049e-04 3.07972963e+02] [-6.84925806e-01 7.28612809e-01 1.21024537e-04 -1.18169788e+02] [ 1.92877698e-04 1.52102430e-05 9.99999981e-01 1.66616344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16232058799994 meters 0.02799341682059836 Centerline is valid? [True, True] Translation: X:308.01, Y:-118.20, Z:1.67 [[ 7.26736960e-01 6.86915853e-01 2.82127633e-05 3.08008984e+02] [-6.86915852e-01 7.26736961e-01 -3.81138061e-05 -1.18199073e+02] [-4.66842349e-05 8.31891718e-06 9.99999999e-01 1.66629384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.192320588 meters 0.028009752404076067 Centerline is valid? [True, True] Translation: X:308.05, Y:-118.23, Z:1.67 [[ 7.25362722e-01 6.88366088e-01 1.02430974e-03 3.08045145e+02] [-6.88365461e-01 7.25363445e-01 -9.29817264e-04 -1.18228516e+02] [-1.38305151e-03 -3.06446616e-05 9.99999043e-01 1.66746830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22232058799995 meters 0.027940150291541645 Centerline is valid? [True, True] Translation: X:308.09, Y:-118.26, Z:1.67 [[ 7.22650578e-01 6.91212635e-01 1.11147072e-03 3.08090173e+02] [-6.91211874e-01 7.22651432e-01 -1.02593582e-03 -1.18263688e+02] [-1.51234571e-03 -2.68686404e-05 9.99998856e-01 1.66693885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.252320588 meters 0.02739790319047403 Centerline is valid? [True, True] Translation: X:308.13, Y:-118.29, Z:1.67 [[ 7.21623306e-01 6.92285702e-01 5.57627608e-04 3.08126252e+02] [-6.92285508e-01 7.21623521e-01 -5.18330121e-04 -1.18292033e+02] [-7.61229730e-04 -1.19984167e-05 9.99999710e-01 1.66724469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28232058799995 meters 0.027686055597692216 Centerline is valid? [True, True] Translation: X:308.16, Y:-118.32, Z:1.67 [[ 7.19619753e-01 6.94368318e-01 2.22400983e-04 3.08160866e+02] [-6.94368285e-01 7.19619788e-01 -2.15547940e-04 -1.18322290e+02] [-3.09713808e-04 6.84365824e-07 9.99999952e-01 1.66891083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.312320588 meters 0.027513476731360086 Centerline is valid? [True, True] Translation: X:308.20, Y:-118.35, Z:1.67 [[ 7.18240822e-01 6.95794282e-01 -6.62579071e-04 3.08195758e+02] [-6.95794030e-01 7.18241127e-01 5.92697980e-04 -1.18352304e+02] [ 8.88287404e-04 3.53186775e-05 9.99999605e-01 1.66996953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34232058799995 meters 0.02684870593454236 Centerline is valid? [True, True] Translation: X:308.23, Y:-118.38, Z:1.67 [[ 7.17184664e-01 6.96882661e-01 -8.44613412e-04 3.08230680e+02] [-6.96882246e-01 7.17185161e-01 7.62525640e-04 -1.18381966e+02] [ 1.13713510e-03 4.17243958e-05 9.99999353e-01 1.67169509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.372320588 meters 0.026507436034756554 Centerline is valid? [True, True] Translation: X:308.27, Y:-118.41, Z:1.67 [[ 7.16283541e-01 6.97809350e-01 3.31199756e-05 3.08265782e+02] [-6.97809348e-01 7.16283541e-01 -4.36808458e-05 -1.18411594e+02] [-5.42041954e-05 8.17644234e-06 9.99999998e-01 1.67138425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40232058799995 meters 0.02631365668315165 Centerline is valid? [True, True] Translation: X:308.30, Y:-118.44, Z:1.67 [[ 7.15100196e-01 6.99021717e-01 -5.90373729e-04 3.08300528e+02] [-6.99021514e-01 7.15100439e-01 5.33437723e-04 -1.18442679e+02] [ 7.95061067e-04 3.12225178e-05 9.99999683e-01 1.67201227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.432320588 meters 0.026326907381691633 Centerline is valid? [True, True] Translation: X:308.34, Y:-118.47, Z:1.67 [[ 7.13788101e-01 7.00361438e-01 -6.35143598e-04 3.08335053e+02] [-7.00361200e-01 7.13788382e-01 5.77954409e-04 -1.18473190e+02] [ 8.58135103e-04 3.22929527e-05 9.99999631e-01 1.67187614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46232058799995 meters 0.025742240168058796 Centerline is valid? [True, True] Translation: X:308.37, Y:-118.50, Z:1.67 [[ 7.13255828e-01 7.00903718e-01 3.18661716e-04 3.08369833e+02] [-7.00903649e-01 7.13255899e-01 -3.11128995e-04 -1.18504037e+02] [-4.45358818e-04 -1.43659062e-06 9.99999901e-01 1.67171772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.492320588 meters 0.02507577886671769 Centerline is valid? [True, True] Translation: X:308.40, Y:-118.54, Z:1.67 [[ 7.13500947e-01 7.00653083e-01 1.28703682e-03 3.08404058e+02] [-7.00652017e-01 7.13502107e-01 -1.22233329e-03 -1.18535726e+02] [-1.77473507e-03 -2.96289874e-05 9.99998425e-01 1.67087712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52232058799996 meters 0.024595269739991123 Centerline is valid? [True, True] Translation: X:308.44, Y:-118.57, Z:1.67 [[ 7.12675265e-01 7.01494096e-01 -2.27397688e-05 3.08438160e+02] [-7.01494096e-01 7.12675265e-01 7.75091641e-06 -1.18567929e+02] [ 2.16432934e-05 1.04279271e-05 1.00000000e+00 1.67223349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.552320588 meters 0.024217875172090078 Centerline is valid? [True, True] Translation: X:308.47, Y:-118.60, Z:1.67 [[ 7.11856364e-01 7.02324789e-01 -6.38539261e-04 3.08473819e+02] [-7.02324541e-01 7.11856650e-01 5.90749287e-04 -1.18600452e+02] [ 8.69446288e-04 2.79331536e-05 9.99999622e-01 1.67246005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58232058799996 meters 0.023522489006644377 Centerline is valid? [True, True] Translation: X:308.51, Y:-118.63, Z:1.67 [[ 7.11356447e-01 7.02827579e-01 -2.32362848e-03 3.08509134e+02] [-7.02824142e-01 7.11360239e-01 2.19894168e-03 -1.18631639e+02] [ 3.19841377e-03 6.88708520e-05 9.99994883e-01 1.67355268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.612320588 meters 0.023039041584904534 Centerline is valid? [True, True] Translation: X:308.54, Y:-118.66, Z:1.67 [[ 7.11700025e-01 7.02482151e-01 -1.37890558e-03 3.08544497e+02] [-7.02480940e-01 7.11701360e-01 1.30526963e-03 -1.18663000e+02] [ 1.89829759e-03 3.96944564e-05 9.99998197e-01 1.67280193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64232058799996 meters 0.022152187101508878 Centerline is valid? [True, True] Translation: X:308.58, Y:-118.69, Z:1.67 [[ 7.12937099e-01 7.01227942e-01 2.56384219e-04 3.08580068e+02] [-7.01227894e-01 7.12937145e-01 -2.60161331e-04 -1.18694243e+02] [-3.65218227e-04 5.69489836e-06 9.99999933e-01 1.67222615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.672320588 meters 0.021759311219625526 Centerline is valid? [True, True] Translation: X:308.62, Y:-118.73, Z:1.67 [[ 7.12788762e-01 7.01378623e-01 4.55066974e-04 3.08616511e+02] [-7.01378476e-01 7.12788908e-01 -4.54070414e-04 -1.18726552e+02] [-6.42841973e-04 4.48210724e-06 9.99999793e-01 1.67303981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70232058799996 meters 0.021161703678559032 Centerline is valid? [True, True] Translation: X:308.67, Y:-118.77, Z:1.67 [[ 7.11497093e-01 7.02688149e-01 1.11865702e-03 3.08666184e+02] [-7.02687256e-01 7.11497972e-01 -1.12074907e-03 -1.18768363e+02] [-1.58345929e-03 1.13436689e-05 9.99998746e-01 1.67284295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73232058799994 meters 0.02125189032694487 Centerline is valid? [True, True] Translation: X:308.70, Y:-118.80, Z:1.67 [[ 7.09827816e-01 7.04375149e-01 3.47591191e-04 3.08701892e+02] [-7.04375060e-01 7.09827901e-01 -3.54781332e-04 -1.18799669e+02] [-4.96629079e-04 6.99909246e-06 9.99999877e-01 1.67316610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76232058799997 meters 0.020995070272626478 Centerline is valid? [True, True] Translation: X:308.74, Y:-118.83, Z:1.67 [[ 7.08495880e-01 7.05714584e-01 7.17192975e-04 3.08739277e+02] [-7.05714216e-01 7.08496243e-01 -7.20777316e-04 -1.18830792e+02] [-1.01679159e-03 4.53448052e-06 9.99999483e-01 1.67219184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79232058799994 meters 0.02090844979199766 Centerline is valid? [True, True] Translation: X:308.77, Y:-118.86, Z:1.67 [[ 7.07417744e-01 7.06792862e-01 1.99656481e-03 3.08774506e+02] [-7.06790065e-01 7.07420562e-01 -1.98822405e-03 -1.18862226e+02] [-2.81767357e-03 -4.64719826e-06 9.99996030e-01 1.67233653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82232058799997 meters 0.021010052560942998 Centerline is valid? [True, True] Translation: X:308.81, Y:-118.90, Z:1.67 [[ 7.06210324e-01 7.07995219e-01 3.12213804e-03 3.08808322e+02] [-7.07988361e-01 7.06217226e-01 -3.11620907e-03 -1.18896521e+02] [-4.41116879e-03 -9.73837638e-06 9.99990271e-01 1.67404703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85232058799994 meters 0.020889751266811595 Centerline is valid? [True, True] Translation: X:308.84, Y:-118.93, Z:1.67 [[ 7.05257045e-01 7.08949869e-01 1.60719067e-03 3.08844034e+02] [-7.08948022e-01 7.05258877e-01 -1.61859113e-03 -1.18928397e+02] [-2.28098546e-03 2.10814614e-06 9.99997399e-01 1.67443064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88232058799997 meters 0.02047245774790489 Centerline is valid? [True, True] Translation: X:308.88, Y:-118.96, Z:1.67 [[ 7.04534618e-01 7.09669120e-01 8.43496527e-04 3.08878850e+02] [-7.09668599e-01 7.04535123e-01 -8.60309960e-04 -1.18960577e+02] [-1.20480834e-03 7.51515150e-06 9.99999274e-01 1.67430945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91232058799994 meters 0.020601003244230767 Centerline is valid? [True, True] Translation: X:310.14, Y:-117.71, Z:3.50 [[ 7.63157240e-01 -6.46170860e-01 7.36522391e-03 3.10142332e+02] [-6.46135871e-01 -7.63192685e-01 -6.73513142e-03 -1.17707527e+02] [ 9.97313068e-03 3.81028939e-04 -9.99950194e-01 3.50445385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.942320588 meters 0.020615520136017047 Centerline is valid? [True, True] Translation: X:309.01, Y:-119.10, Z:1.67 [[ 7.60945928e-01 6.48811102e-01 2.33410002e-03 3.09014834e+02] [-6.48808054e-01 7.60949508e-01 -1.98896948e-03 -1.19095570e+02] [-3.06659774e-03 -8.84661459e-07 9.99995298e-01 1.67448308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97232058799995 meters 0.020453147551625993 Centerline is valid? [True, True] Translation: X:309.05, Y:-119.12, Z:1.67 [[ 7.60210973e-01 6.49674673e-01 1.44760423e-03 3.09051110e+02] [-6.49673475e-01 7.60212352e-01 -1.24772677e-03 -1.19122705e+02] [-1.91110310e-03 8.06551605e-06 9.99998174e-01 1.67397897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.002320588 meters 0.020385224389225066 Centerline is valid? [True, True] Translation: X:309.09, Y:-119.15, Z:1.67 [[ 7.59388839e-01 6.50636344e-01 9.68862928e-04 3.09087830e+02] [-6.50635796e-01 7.59389457e-01 -8.44338954e-04 -1.19150129e+02] [-1.28510190e-03 1.08046753e-05 9.99999174e-01 1.67287863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03232058799995 meters 0.020244599477873423 Centerline is valid? [True, True] Translation: X:309.12, Y:-119.18, Z:1.68 [[ 7.58993459e-01 6.51098180e-01 2.98788584e-04 3.09123918e+02] [-6.51098125e-01 7.58993518e-01 -2.68325100e-04 -1.19178301e+02] [-4.01484582e-04 9.11630927e-06 9.99999919e-01 1.67513051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.062320588 meters 0.020418328210281497 Centerline is valid? [True, True] Translation: X:309.16, Y:-119.21, Z:1.68 [[ 7.58144224e-01 6.52085545e-01 1.33326881e-03 3.09159120e+02] [-6.52084506e-01 7.58145396e-01 -1.16412142e-03 -1.19206663e+02] [-1.76991836e-03 1.31679983e-05 9.99998434e-01 1.67582013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09232058799995 meters 0.020308892794206213 Centerline is valid? [True, True] Translation: X:309.20, Y:-119.24, Z:1.68 [[ 7.56940363e-01 6.53483085e-01 1.06965620e-03 3.09197769e+02] [-6.53482404e-01 7.56941118e-01 -9.44153429e-04 -1.19237702e+02] [-1.42665505e-03 1.56663373e-05 9.99998982e-01 1.67726623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.122320588 meters 0.020598475504556995 Centerline is valid? [True, True] Translation: X:309.24, Y:-119.27, Z:1.68 [[ 7.56181549e-01 6.54361098e-01 1.00911268e-03 3.09237773e+02] [-6.54360485e-01 7.56182222e-01 -8.95797868e-04 -1.19267282e+02] [-1.34924834e-03 1.70623577e-05 9.99999090e-01 1.67594980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15232058799995 meters 0.020733091588195036 Centerline is valid? [True, True] Translation: X:309.28, Y:-119.30, Z:1.68 [[ 7.55192182e-01 6.55502401e-01 1.17037678e-03 3.09275070e+02] [-6.55501577e-01 7.55193089e-01 -1.03962072e-03 -1.19295608e+02] [-1.56533433e-03 1.79296114e-05 9.99998775e-01 1.67513430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.182320588 meters 0.02039292235933495 Centerline is valid? [True, True] Translation: X:309.31, Y:-119.32, Z:1.68 [[ 7.53919555e-01 6.56964651e-01 1.65901755e-03 3.09310520e+02] [-6.56963002e-01 7.53921380e-01 -1.47222795e-03 -1.19324102e+02] [-2.21797052e-03 2.00282945e-05 9.99997540e-01 1.67514356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21232058799995 meters 0.020803720648554958 Centerline is valid? [True, True] Translation: X:309.35, Y:-119.35, Z:1.68 [[ 7.53449471e-01 6.57498127e-01 3.17924290e-03 3.09346665e+02] [-6.57492072e-01 7.53456178e-01 -2.82201063e-03 -1.19352673e+02] [-4.25088691e-03 3.59154182e-05 9.99990964e-01 1.67523830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.242320588 meters 0.020701702886661365 Centerline is valid? [True, True] Translation: X:309.38, Y:-119.38, Z:1.68 [[ 7.52537106e-01 6.58536862e-01 4.13594590e-03 3.09381929e+02] [-6.58526572e-01 7.52548470e-01 -3.68165907e-03 -1.19381086e+02] [-5.53700797e-03 4.69547859e-05 9.99984670e-01 1.67530521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27232058799996 meters 0.0211146214957564 Centerline is valid? [True, True] Translation: X:309.42, Y:-119.41, Z:1.67 [[ 7.52469564e-01 6.58618152e-01 3.41834012e-03 3.09421337e+02] [-6.58611032e-01 7.52477326e-01 -3.06297338e-03 -1.19410917e+02] [-4.58955331e-03 5.34377274e-05 9.99989467e-01 1.67447324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.302320588 meters 0.02121694451645259 Centerline is valid? [True, True] Translation: X:309.46, Y:-119.44, Z:1.68 [[ 7.51669410e-01 6.59537642e-01 1.78790919e-03 3.09457040e+02] [-6.59535674e-01 7.51671535e-01 -1.61164715e-03 -1.19439519e+02] [-2.40686240e-03 3.22359697e-05 9.99997103e-01 1.67529059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33232058799996 meters 0.021344937923237394 Centerline is valid? [True, True] Translation: X:309.49, Y:-119.47, Z:1.68 [[ 7.50514370e-01 6.60853923e-01 5.23070364e-04 3.09492074e+02] [-6.60853748e-01 7.50514552e-01 -4.81015508e-04 -1.19468473e+02] [-7.10452905e-04 1.53360406e-05 9.99999748e-01 1.67639774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.362320588 meters 0.021582181025583444 Centerline is valid? [True, True] Translation: X:309.53, Y:-119.50, Z:1.67 [[ 7.49815640e-01 6.61639209e-01 3.17232035e-03 3.09528102e+02] [-6.61632976e-01 7.49822348e-01 -2.87251200e-03 -1.19496679e+02] [-4.27924326e-03 5.49426661e-05 9.99990842e-01 1.67450024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39232058799996 meters 0.02146030890781632 Centerline is valid? [True, True] Translation: X:309.56, Y:-119.53, Z:1.67 [[ 7.48451687e-01 6.63177049e-01 4.03396781e-03 3.09563058e+02] [-6.63166934e-01 7.48462555e-01 -3.66348914e-03 -1.19525884e+02] [-5.44881577e-03 6.67505608e-05 9.99985153e-01 1.67474737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.422320588 meters 0.02150388890551355 Centerline is valid? [True, True] Translation: X:309.60, Y:-119.55, Z:1.67 [[ 7.47619777e-01 6.64112098e-01 4.44863658e-03 3.09599258e+02] [-6.64099728e-01 7.47633008e-01 -4.05411883e-03 -1.19554372e+02] [-6.01833691e-03 7.66010760e-05 9.99981887e-01 1.67452037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45232058799996 meters 0.02153801746249462 Centerline is valid? [True, True] Translation: X:309.64, Y:-119.59, Z:1.68 [[ 7.45647850e-01 6.66333406e-01 3.01262155e-03 3.09638902e+02] [-6.66327650e-01 7.45653933e-01 -2.77027230e-03 -1.19586795e+02] [-4.09229809e-03 5.82545453e-05 9.99991625e-01 1.67525970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48232058799994 meters 0.02154109176429968 Centerline is valid? [True, True] Translation: X:309.67, Y:-119.62, Z:1.68 [[ 7.43981540e-01 6.68198558e-01 1.46815471e-03 3.09674245e+02] [-6.68197177e-01 7.43982988e-01 -1.35855403e-03 -1.19617646e+02] [-2.00006597e-03 2.97222849e-05 9.99997999e-01 1.67611018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51232058799997 meters 0.02157469502323229 Centerline is valid? [True, True] Translation: X:309.71, Y:-119.65, Z:1.68 [[ 7.42040943e-01 6.70347104e-01 3.16213050e-03 3.09709398e+02] [-6.70340729e-01 7.42047679e-01 -2.92409240e-03 -1.19648326e+02] [-4.30660847e-03 5.00914178e-05 9.99990725e-01 1.67589806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54232058799994 meters 0.021418927840575794 Centerline is valid? [True, True] Translation: X:309.74, Y:-119.68, Z:1.68 [[ 7.40076223e-01 6.72510345e-01 4.12546834e-03 3.09744349e+02] [-6.72499463e-01 7.40087719e-01 -3.82628328e-03 -1.19678643e+02] [-5.62642354e-03 5.73660386e-05 9.99984170e-01 1.67562153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57232058799997 meters 0.02139797472463875 Centerline is valid? [True, True] Translation: X:309.78, Y:-119.71, Z:1.67 [[ 7.37073891e-01 6.75801209e-01 3.84785313e-03 3.09778823e+02] [-6.75791709e-01 7.37083933e-01 -3.58346300e-03 -1.19709219e+02] [-5.25789934e-03 4.09297701e-05 9.99986176e-01 1.67476311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60232058799994 meters 0.021202002998251267 Centerline is valid? [True, True] Translation: X:309.81, Y:-119.74, Z:1.67 [[ 7.34039822e-01 6.79095908e-01 3.78001056e-03 3.09813239e+02] [-6.79086694e-01 7.34049554e-01 -3.53757694e-03 -1.19740028e+02] [-5.17706909e-03 2.97674704e-05 9.99986598e-01 1.67417347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63232058799997 meters 0.021351621344086885 Centerline is valid? [True, True] Translation: X:309.85, Y:-119.77, Z:1.68 [[ 7.31017170e-01 6.82346912e-01 4.07289362e-03 3.09849957e+02] [-6.82336140e-01 7.31028516e-01 -3.83422163e-03 -1.19772890e+02] [-5.59367067e-03 2.37993359e-05 9.99984355e-01 1.67522039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66232058799994 meters 0.021661918625952452 Centerline is valid? [True, True] Translation: X:309.89, Y:-119.81, Z:1.68 [[ 7.28327651e-01 6.85203440e-01 5.92273395e-03 3.09886035e+02] [-6.85180611e-01 7.28351732e-01 -5.59330021e-03 -1.19805089e+02] [-8.14638208e-03 1.56127361e-05 9.99966818e-01 1.67621692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.692320588 meters 0.021661918625952452 Centerline is valid? [True, True] Translation: X:309.92, Y:-119.84, Z:1.68 [[ 7.26813167e-01 6.86809785e-01 5.91094385e-03 3.09920593e+02] [-6.86786908e-01 7.26837202e-01 -5.60577243e-03 -1.19835112e+02] [-8.14639325e-03 1.47903649e-05 9.99966817e-01 1.67642603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72232058799995 meters 0.021481200648549765 Centerline is valid? [True, True] Translation: X:309.96, Y:-119.87, Z:1.68 [[ 7.24559011e-01 6.89183157e-01 6.38876857e-03 3.09960959e+02] [-6.89156174e-01 7.24587177e-01 -6.09851320e-03 -1.19868718e+02] [-8.83221236e-03 1.58733859e-05 9.99960995e-01 1.67652713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.752320588 meters 0.021618927092398627 Centerline is valid? [True, True] Translation: X:310.00, Y:-119.90, Z:1.68 [[ 7.22724232e-01 6.91109236e-01 6.14077136e-03 3.09996261e+02] [-6.91084189e-01 7.22750320e-01 -5.88378159e-03 -1.19899302e+02] [-8.50458027e-03 8.56153370e-06 9.99963835e-01 1.67555134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78232058799995 meters 0.021695494206832113 Centerline is valid? [True, True] Translation: X:310.03, Y:-119.93, Z:1.67 [[ 7.20141282e-01 6.93807357e-01 5.28067807e-03 3.10029175e+02] [-6.93788731e-01 7.20160643e-01 -5.08387662e-03 -1.19931533e+02] [-7.33016752e-03 -2.56550729e-06 9.99973134e-01 1.67484633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.812320588 meters 0.02178136848965518 Centerline is valid? [True, True] Translation: X:310.06, Y:-119.96, Z:1.68 [[ 7.18239671e-01 6.95776757e-01 5.14592499e-03 3.10062721e+02] [-6.95758960e-01 7.18258105e-01 -4.97636576e-03 -1.19963271e+02] [-7.15854196e-03 -6.10012226e-06 9.99974377e-01 1.67699280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84232058799995 meters 0.022161732706646262 Centerline is valid? [True, True] Translation: X:310.10, Y:-119.99, Z:1.68 [[ 7.14932419e-01 6.99169552e-01 5.79422562e-03 3.10097536e+02] [-6.99146906e-01 7.14955898e-01 -5.62734969e-03 -1.19994463e+02] [-8.07708734e-03 -2.78401886e-05 9.99967379e-01 1.67587040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.872320588 meters 0.022264498782546435 Centerline is valid? [True, True] Translation: X:310.13, Y:-120.03, Z:1.67 [[ 7.12447368e-01 7.01705486e-01 5.30648801e-03 3.10132775e+02] [-7.01686381e-01 7.12467129e-01 -5.17813605e-03 -1.20025228e+02] [-7.41422475e-03 -3.43409678e-05 9.99972514e-01 1.67489275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90232058799995 meters 0.02233856911518067 Centerline is valid? [True, True] Translation: X:310.17, Y:-120.06, Z:1.67 [[ 7.10074689e-01 7.04110242e-01 4.76479640e-03 3.10167961e+02] [-7.04094742e-01 7.10090674e-01 -4.67211214e-03 -1.20056930e+02] [-6.67311949e-03 -3.73195228e-05 9.99977734e-01 1.67390483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.932320588 meters 0.022390183957435895 Centerline is valid? [True, True] Translation: X:310.20, Y:-120.09, Z:1.68 [[ 7.07618363e-01 7.06584438e-01 3.83195175e-03 3.10201512e+02] [-7.06574344e-01 7.07628738e-01 -3.77712345e-03 -1.20090431e+02] [-5.38045583e-03 -3.47968798e-05 9.99985525e-01 1.67538227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96232058799995 meters 0.022319972036339248 Centerline is valid? [True, True] Translation: X:310.24, Y:-120.12, Z:1.68 [[ 7.06389387e-01 7.07806315e-01 4.92497357e-03 3.10237278e+02] [-7.07789529e-01 7.06406554e-01 -4.87476574e-03 -1.20123449e+02] [-6.92942358e-03 -4.23619393e-05 9.99975990e-01 1.67592047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.992320588 meters 0.0225282523057454 Centerline is valid? [True, True] Translation: X:310.29, Y:-120.17, Z:1.68 [[ 7.02309425e-01 7.11838653e-01 6.87046249e-03 3.10288904e+02] [-7.11805274e-01 7.02343029e-01 -6.89359933e-03 -1.20168520e+02] [-9.73255190e-03 -4.89916512e-05 9.99952636e-01 1.67604406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02232058799996 meters 0.022711022984541897 Centerline is valid? [True, True] Translation: X:310.32, Y:-120.20, Z:1.68 [[ 7.00797173e-01 7.13329439e-01 6.66587891e-03 3.10324333e+02] [-7.13297963e-01 7.00828872e-01 -6.70128279e-03 -1.20202483e+02] [-9.45186269e-03 -5.85178189e-05 9.99955328e-01 1.67619463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.052320588 meters 0.02275048651714219 Centerline is valid? [True, True] Translation: X:311.58, Y:-118.96, Z:3.52 [[ 7.66181946e-01 -6.42472519e-01 1.39387155e-02 3.11582315e+02] [-6.42354463e-01 -7.66308569e-01 -1.23256764e-02 -1.18957512e+02] [ 1.86002655e-02 4.90114613e-04 -9.99826880e-01 3.52167891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08232058799996 meters 0.022570155058881686 Centerline is valid? [True, True] Translation: X:310.46, Y:-120.34, Z:1.67 [[ 7.57326270e-01 6.52999695e-01 6.95124313e-03 3.10460847e+02] [-6.52972858e-01 7.57358169e-01 -5.92040954e-03 -1.20339825e+02] [-9.13060639e-03 -5.52914222e-05 9.99958314e-01 1.67468996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.112320588 meters 0.022590483394692152 Centerline is valid? [True, True] Translation: X:310.51, Y:-120.38, Z:1.67 [[ 7.55058502e-01 6.55609364e-01 7.93855054e-03 3.10509847e+02] [-6.55573678e-01 7.55100232e-01 -6.84045214e-03 -1.20376220e+02] [-1.04790658e-02 -3.93632295e-05 9.99945092e-01 1.67382947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14232058799996 meters 0.022649156281041298 Centerline is valid? [True, True] Translation: X:310.55, Y:-120.41, Z:1.68 [[ 7.53931478e-01 6.56901077e-01 8.26449063e-03 3.10545854e+02] [-6.56862261e-01 7.53976773e-01 -7.14118082e-03 -1.20405727e+02] [-1.09222833e-02 -4.46709905e-05 9.99940349e-01 1.67511375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.172320588 meters 0.022235575139977502 Centerline is valid? [True, True] Translation: X:310.58, Y:-120.44, Z:1.68 [[ 7.53265677e-01 6.57671232e-01 7.70522188e-03 3.10582704e+02] [-6.57637171e-01 7.53305084e-01 -6.69340616e-03 -1.20438904e+02] [-1.02064435e-02 -2.53271928e-05 9.99947913e-01 1.67827998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20232058799996 meters 0.022072579964401363 Centerline is valid? [True, True] Translation: X:310.62, Y:-120.47, Z:1.68 [[ 7.53268174e-01 6.57667825e-01 7.75180498e-03 3.10618942e+02] [-6.57633107e-01 7.53308059e-01 -6.75753272e-03 -1.20467828e+02] [-1.02837090e-02 -7.60926478e-06 9.99947121e-01 1.67762215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23232058799994 meters 0.022241548350399445 Centerline is valid? [True, True] Translation: X:310.66, Y:-120.50, Z:1.68 [[ 7.50730400e-01 6.60566283e-01 7.48682661e-03 3.10657803e+02] [-6.60533687e-01 7.50767731e-01 -6.56228012e-03 -1.20498557e+02] [-9.95568882e-03 -1.87980034e-05 9.99950441e-01 1.67693248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26232058799997 meters 0.022997440835955864 Centerline is valid? [True, True] Translation: X:310.69, Y:-120.53, Z:1.67 [[ 7.46406705e-01 6.65443091e-01 7.90715247e-03 3.10692960e+02] [-6.65406755e-01 7.46448583e-01 -6.95435453e-03 -1.20528383e+02] [-1.05300099e-02 -7.06958065e-05 9.99944555e-01 1.67483632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29232058799994 meters 0.023210287170683963 Centerline is valid? [True, True] Translation: X:310.73, Y:-120.56, Z:1.67 [[ 7.43541682e-01 6.68634170e-01 8.60894344e-03 3.10733948e+02] [-6.68590710e-01 7.43591514e-01 -7.62382355e-03 -1.20562428e+02] [-1.14990862e-02 -8.72290204e-05 9.99933880e-01 1.67484280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32232058799997 meters 0.023756237917846222 Centerline is valid? [True, True] Translation: X:310.77, Y:-120.59, Z:1.68 [[ 7.40511116e-01 6.71998359e-01 7.84174900e-03 3.10768174e+02] [-6.71962253e-01 7.40552627e-01 -6.96691738e-03 -1.20593674e+02] [-1.04889849e-02 -1.10279563e-04 9.99944983e-01 1.67655413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35232058799994 meters 0.024047408236322353 Centerline is valid? [True, True] Translation: X:310.80, Y:-120.62, Z:1.68 [[ 7.37912725e-01 6.74853723e-01 7.56719969e-03 3.10803825e+02] [-6.74819977e-01 7.37951514e-01 -6.74990971e-03 -1.20624070e+02] [-1.01394282e-02 -1.25653249e-04 9.99948587e-01 1.67671363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38232058799997 meters 0.024424003303255632 Centerline is valid? [True, True] Translation: X:310.84, Y:-120.65, Z:1.68 [[ 7.35510519e-01 6.77473725e-01 7.32314757e-03 3.10840480e+02] [-6.77441925e-01 7.35546963e-01 -6.56532953e-03 -1.20654509e+02] [-9.83435721e-03 -1.32138255e-04 9.99951633e-01 1.67643635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41232058799994 meters 0.024772425045287427 Centerline is valid? [True, True] Translation: X:310.88, Y:-120.69, Z:1.68 [[ 7.32654609e-01 6.80562201e-01 7.23294767e-03 3.10881492e+02] [-6.80530877e-01 7.32690298e-01 -6.53094698e-03 -1.20687892e+02] [-9.74422623e-03 -1.37315823e-04 9.99952514e-01 1.67629842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.442320588 meters 0.024925473702267498 Centerline is valid? [True, True] Translation: X:310.92, Y:-120.72, Z:1.68 [[ 7.30846123e-01 6.82504631e-01 7.16743602e-03 3.10916245e+02] [-6.82473742e-01 7.30881254e-01 -6.49498136e-03 -1.20718093e+02] [-9.67139948e-03 -1.44754927e-04 9.99953220e-01 1.67755312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47232058799995 meters 0.024793593240088656 Centerline is valid? [True, True] Translation: X:310.95, Y:-120.75, Z:1.68 [[ 7.30475765e-01 6.82890970e-01 8.06723694e-03 3.10952386e+02] [-6.82851525e-01 7.30520296e-01 -7.34118239e-03 -1.20747152e+02] [-1.09065075e-02 -1.46169219e-04 9.99940512e-01 1.67746425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.502320588 meters 0.02455218718003103 Centerline is valid? [True, True] Translation: X:311.01, Y:-120.79, Z:1.68 [[ 7.26939406e-01 6.86651359e-01 8.30733299e-03 3.11009351e+02] [-6.86608414e-01 7.26986862e-01 -7.68038355e-03 -1.20790588e+02] [-1.13130677e-02 -1.20711281e-04 9.99935998e-01 1.67664466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53232058799995 meters 0.024649291168388186 Centerline is valid? [True, True] Translation: X:311.05, Y:-120.82, Z:1.68 [[ 7.25793115e-01 6.87865521e-01 8.08575943e-03 3.11045053e+02] [-6.87824806e-01 7.25838142e-01 -7.48513698e-03 -1.20820715e+02] [-1.10177203e-02 -1.28925032e-04 9.99939295e-01 1.67672231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.562320588 meters 0.024067649887668737 Centerline is valid? [True, True] Translation: X:311.08, Y:-120.85, Z:1.68 [[ 7.26036734e-01 6.87593561e-01 9.26043484e-03 3.11080561e+02] [-6.87539662e-01 7.26095779e-01 -8.61001361e-03 -1.20850888e+02] [-1.26441526e-02 -1.15730085e-04 9.99920053e-01 1.67607438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59232058799995 meters 0.023887248121073536 Centerline is valid? [True, True] Translation: X:311.11, Y:-120.88, Z:1.68 [[ 7.25401664e-01 6.88273233e-01 8.50783223e-03 3.11114958e+02] [-6.88227370e-01 7.25451548e-01 -7.94599171e-03 -1.20881210e+02] [-1.16410335e-02 -9.12873925e-05 9.99932237e-01 1.67790421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.622320588 meters 0.02343666122063209 Centerline is valid? [True, True] Translation: X:311.15, Y:-120.91, Z:1.68 [[ 7.26419740e-01 6.87191360e-01 9.07721427e-03 3.11150791e+02] [-6.87138612e-01 7.26476450e-01 -8.51446901e-03 -1.20910485e+02] [-1.24454519e-02 -5.22260503e-05 9.99922551e-01 1.67840408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65232058799995 meters 0.023758810231954447 Centerline is valid? [True, True] Translation: X:311.19, Y:-120.94, Z:1.68 [[ 7.24215175e-01 6.89489254e-01 1.08142677e-02 3.11186608e+02] [-6.89413987e-01 7.24295908e-01 -1.01878534e-02 -1.20941316e+02] [-1.48571453e-02 -7.73094226e-05 9.99889624e-01 1.67699393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.682320588 meters 0.023900594047586893 Centerline is valid? [True, True] Translation: X:311.22, Y:-120.97, Z:1.68 [[ 7.22472062e-01 6.91312299e-01 1.10192999e-02 3.11222177e+02] [-6.91233651e-01 7.22556087e-01 -1.04278762e-02 -1.20972796e+02] [-1.51709813e-02 -8.30616156e-05 9.99884911e-01 1.67674280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71232058799995 meters 0.02395868083123404 Centerline is valid? [True, True] Translation: X:311.26, Y:-121.00, Z:1.68 [[ 7.20463704e-01 6.93407450e-01 1.08700863e-02 3.11258131e+02] [-6.93330428e-01 7.20545696e-01 -1.03352937e-02 -1.21004647e+02] [-1.49989635e-02 -9.03575881e-05 9.99887505e-01 1.67668420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.742320588 meters 0.024165022703239048 Centerline is valid? [True, True] Translation: X:311.30, Y:-121.04, Z:1.68 [[ 7.16856946e-01 6.97145594e-01 1.02048858e-02 3.11301977e+02] [-6.97076998e-01 7.16929571e-01 -9.77998277e-03 -1.21040595e+02] [-1.41342563e-02 -1.02742612e-04 9.99900101e-01 1.67572745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77232058799996 meters 0.024252883399342038 Centerline is valid? [True, True] Translation: X:311.34, Y:-121.07, Z:1.68 [[ 7.14494364e-01 6.99565791e-01 1.02717394e-02 3.11338116e+02] [-6.99495970e-01 7.14568184e-01 -9.88429627e-03 -1.21073068e+02] [-1.42545737e-02 -1.22766332e-04 9.99898391e-01 1.67686372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.802320588 meters 0.024530198282635828 Centerline is valid? [True, True] Translation: X:311.37, Y:-121.11, Z:1.68 [[ 7.11474902e-01 7.02644319e-01 9.71726203e-03 3.11372561e+02] [-7.02581525e-01 7.11541243e-01 -9.39469577e-03 -1.21106109e+02] [-1.35153623e-02 -1.43078531e-04 9.99908653e-01 1.68146215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83232058799996 meters 0.024444507201778935 Centerline is valid? [True, True] Translation: X:311.41, Y:-121.14, Z:1.68 [[ 7.10086033e-01 7.04047478e-01 9.74553582e-03 3.11408879e+02] [-7.03983854e-01 7.10152892e-01 -9.46592061e-03 -1.21137944e+02] [-1.35852780e-02 -1.39081849e-04 9.99907706e-01 1.68149565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.862320588 meters 0.02476262533433333 Centerline is valid? [True, True] Translation: X:311.45, Y:-121.17, Z:1.68 [[ 7.07201743e-01 7.06949330e-01 9.39891178e-03 3.11445770e+02] [-7.06889795e-01 7.07264180e-01 -9.17589469e-03 -1.21170969e+02] [-1.31344062e-02 -1.54786111e-04 9.99913728e-01 1.68089188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89232058799996 meters 0.025053955008708675 Centerline is valid? [True, True] Translation: X:311.48, Y:-121.20, Z:1.68 [[ 7.05081858e-01 7.09066497e-01 9.18025874e-03 3.11482289e+02] [-7.09009349e-01 7.05141601e-01 -9.00361243e-03 -1.21201316e+02] [-1.28575423e-02 -1.60605497e-04 9.99917325e-01 1.67747094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.922320588 meters 0.025197310794449822 Centerline is valid? [True, True] Translation: X:311.52, Y:-121.23, Z:1.68 [[ 7.02740463e-01 7.11383215e-01 9.47435559e-03 3.11518346e+02] [-7.11321890e-01 7.02804305e-01 -9.34225165e-03 -1.21234156e+02] [-1.33045389e-02 -1.74138270e-04 9.99911476e-01 1.67831061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95232058799996 meters 0.025398825977114427 Centerline is valid? [True, True] Translation: X:311.55, Y:-121.27, Z:1.68 [[ 7.00845059e-01 7.13244327e-01 9.93649540e-03 3.11553481e+02] [-7.13176454e-01 7.00915469e-01 -9.84128208e-03 -1.21266729e+02] [-1.39838819e-02 -1.89260643e-04 9.99902203e-01 1.67891429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98232058799994 meters 0.025343554598127496 Centerline is valid? [True, True] Translation: X:311.59, Y:-121.30, Z:1.68 [[ 6.99256725e-01 7.14806412e-01 9.58254286e-03 3.11589268e+02] [-7.14742808e-01 6.99322358e-01 -9.53714143e-03 -1.21299969e+02] [-1.35184963e-02 -1.80143311e-04 9.99908605e-01 1.68025703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01232058799997 meters 0.025194662300232096 Centerline is valid? [True, True] Translation: X:311.63, Y:-121.33, Z:1.68 [[ 6.97908845e-01 7.16124533e-01 9.42850196e-03 3.11625620e+02] [-7.16062475e-01 6.97972509e-01 -9.42910052e-03 -1.21332414e+02] [-1.33332454e-02 -1.70743793e-04 9.99911094e-01 1.68035118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04232058799994 meters 0.025190193682741523 Centerline is valid? [True, True] Translation: X:311.66, Y:-121.36, Z:1.68 [[ 6.95674146e-01 7.18302214e-01 8.91135023e-03 3.11662271e+02] [-7.18246409e-01 6.95731198e-01 -8.95525655e-03 -1.21364835e+02] [-1.26324850e-02 -1.70604849e-04 9.99920192e-01 1.68004950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07232058799997 meters 0.0255810436576074 Centerline is valid? [True, True] Translation: X:312.93, Y:-120.11, Z:3.53 [[ 7.71195394e-01 -6.36389003e-01 1.63309856e-02 3.12928375e+02] [-6.36227296e-01 -7.71367984e-01 -1.43618198e-02 -1.20112535e+02] [ 2.17369036e-02 6.85550485e-04 -9.99763491e-01 3.53208621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10232058799994 meters 0.025175800843436322 Centerline is valid? [True, True] Translation: X:311.80, Y:-121.50, Z:1.68 [[ 7.51773390e-01 6.59348352e-01 9.82451370e-03 3.11799515e+02] [-6.59295271e-01 7.51837560e-01 -8.36834069e-03 -1.21503264e+02] [-1.29040900e-02 -1.86159567e-04 9.99916721e-01 1.68151930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13232058799997 meters 0.025993999288675945 Centerline is valid? [True, True] Translation: X:311.83, Y:-121.53, Z:1.68 [[ 7.49224662e-01 6.62229424e-01 1.07049019e-02 3.11834711e+02] [-6.62166064e-01 7.49301101e-01 -9.16320109e-03 -1.21533221e+02] [-1.40893361e-02 -2.23126483e-04 9.99900715e-01 1.68202438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16232058799994 meters 0.026146420478560483 Centerline is valid? [True, True] Translation: X:311.87, Y:-121.56, Z:1.68 [[ 7.47286116e-01 6.64419359e-01 1.05060765e-02 3.11871005e+02] [-6.64358041e-01 7.47359928e-01 -9.02948335e-03 -1.21561423e+02] [-1.38511841e-02 -2.32188882e-04 9.99904041e-01 1.68247614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.192320588 meters 0.026430868768476553 Centerline is valid? [True, True] Translation: X:311.91, Y:-121.59, Z:1.68 [[ 7.45404904e-01 6.66539409e-01 9.83594741e-03 3.11906527e+02] [-6.66485401e-01 7.45469761e-01 -8.48797704e-03 -1.21590726e+02] [-1.29899726e-02 -2.28535646e-04 9.99915601e-01 1.68334350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22232058799995 meters 0.026214577846223473 Centerline is valid? [True, True] Translation: X:311.94, Y:-121.62, Z:1.68 [[ 7.44167436e-01 6.67916239e-01 1.01353341e-02 3.11943363e+02] [-6.67858466e-01 7.44236418e-01 -8.78771695e-03 -1.21619701e+02] [-1.34125436e-02 -2.29435862e-04 9.99910021e-01 1.68362916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.252320588 meters 0.026716584699079386 Centerline is valid? [True, True] Translation: X:311.98, Y:-121.65, Z:1.68 [[ 7.41701449e-01 6.70660787e-01 9.64722815e-03 3.11979190e+02] [-6.70608192e-01 7.41764149e-01 -8.40238538e-03 -1.21648886e+02] [-1.27911184e-02 -2.37448814e-04 9.99918162e-01 1.68359935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28232058799995 meters 0.027186507350509974 Centerline is valid? [True, True] Translation: X:312.02, Y:-121.68, Z:1.68 [[ 7.39669509e-01 6.72905867e-01 9.31191407e-03 3.12015983e+02] [-6.72856657e-01 7.39728082e-01 -8.14151290e-03 -1.21677173e+02] [-1.23667561e-02 -2.43554522e-04 9.99923499e-01 1.68247635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.312320588 meters 0.0272606534201954 Centerline is valid? [True, True] Translation: X:312.05, Y:-121.71, Z:1.68 [[ 7.37995505e-01 6.74742014e-01 9.26552691e-03 3.12052406e+02] [-6.74693042e-01 7.38053624e-01 -8.13302206e-03 -1.21706671e+02] [-1.23261474e-02 -2.49252820e-04 9.99923999e-01 1.68285967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34232058799995 meters 0.02737496538322998 Centerline is valid? [True, True] Translation: X:312.09, Y:-121.74, Z:1.68 [[ 7.35966588e-01 6.76947733e-01 9.74414958e-03 3.12092382e+02] [-6.76893049e-01 7.36031045e-01 -8.60815627e-03 -1.21738543e+02] [-1.29992685e-02 -2.60431720e-04 9.99915472e-01 1.68355811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.372320588 meters 0.02736672601522607 Centerline is valid? [True, True] Translation: X:312.13, Y:-121.77, Z:1.68 [[ 7.34544040e-01 6.78497986e-01 9.24863354e-03 3.12129920e+02] [-6.78448380e-01 7.34602221e-01 -8.20806192e-03 -1.21768704e+02] [-1.23632202e-02 -2.45537484e-04 9.99923542e-01 1.68386944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40232058799995 meters 0.027529239454466805 Centerline is valid? [True, True] Translation: X:312.17, Y:-121.80, Z:1.68 [[ 7.32530185e-01 6.80686293e-01 8.10542075e-03 3.12167328e+02] [-6.80647930e-01 7.32574994e-01 -7.23008948e-03 -1.21800231e+02] [-1.08592514e-02 -2.20679066e-04 9.99941012e-01 1.68438018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.432320588 meters 0.02725318631208537 Centerline is valid? [True, True] Translation: X:312.20, Y:-121.83, Z:1.68 [[ 7.31615491e-01 6.81666372e-01 8.35050810e-03 3.12203371e+02] [-6.81625365e-01 7.31663112e-01 -7.48018534e-03 -1.21829642e+02] [-1.12087495e-02 -2.19298662e-04 9.99937156e-01 1.68419376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46232058799995 meters 0.026764045483698727 Centerline is valid? [True, True] Translation: X:312.25, Y:-121.87, Z:1.69 [[ 7.29120088e-01 6.84355663e-01 6.42060943e-03 3.12253625e+02] [-6.84330844e-01 7.29148343e-01 -5.83013889e-03 -1.21869019e+02] [-8.67146529e-03 -1.42949688e-04 9.99962392e-01 1.68579394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.492320588 meters 0.02654144934467316 Centerline is valid? [True, True] Translation: X:312.30, Y:-121.91, Z:1.69 [[ 7.26669397e-01 6.86956903e-01 6.46540162e-03 3.12301825e+02] [-6.86931401e-01 7.26698145e-01 -5.92086468e-03 -1.21906469e+02] [-8.76577423e-03 -1.38776232e-04 9.99961570e-01 1.68552447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52232058799996 meters 0.026397288376718665 Centerline is valid? [True, True] Translation: X:312.35, Y:-121.94, Z:1.68 [[ 7.25671408e-01 6.87986787e-01 8.67113110e-03 3.12346007e+02] [-6.87940497e-01 7.25723192e-01 -7.98251692e-03 -1.21940982e+02] [-1.17847071e-02 -1.72537938e-04 9.99930543e-01 1.68362019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.552320588 meters 0.02600921652893298 Centerline is valid? [True, True] Translation: X:312.38, Y:-121.97, Z:1.69 [[ 7.24845218e-01 6.88859207e-01 8.50897082e-03 3.12383409e+02] [-6.88814311e-01 7.24895143e-01 -7.86625124e-03 -1.21973666e+02] [-1.15868512e-02 -1.59286266e-04 9.99932857e-01 1.68503670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58232058799996 meters 0.025998081848084904 Centerline is valid? [True, True] Translation: X:312.42, Y:-122.01, Z:1.69 [[ 7.23007222e-01 6.90791875e-01 8.19406647e-03 3.12422865e+02] [-6.90749818e-01 7.23053638e-01 -7.62397149e-03 -1.22008525e+02] [-1.11913271e-02 -1.47863484e-04 9.99937364e-01 1.68625715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.612320588 meters 0.025998081848084904 Centerline is valid? [True, True] Translation: X:312.46, Y:-122.04, Z:1.69 [[ 7.21482939e-01 6.92383899e-01 8.17953610e-03 3.12457601e+02] [-6.92341768e-01 7.21529288e-01 -7.63956912e-03 -1.22038310e+02] [-1.11912895e-02 -1.51215697e-04 9.99937364e-01 1.68646711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64232058799996 meters 0.025339579117324734 Centerline is valid? [True, True] Translation: X:312.49, Y:-122.07, Z:1.69 [[ 7.21703877e-01 6.92164832e-01 7.16649873e-03 3.12492386e+02] [-6.92132161e-01 7.21739450e-01 -6.72592387e-03 -1.22070385e+02] [-9.82779282e-03 -1.06038923e-04 9.99951700e-01 1.68847352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.672320588 meters 0.02524303444732765 Centerline is valid? [True, True] Translation: X:312.53, Y:-122.10, Z:1.69 [[ 7.21097773e-01 6.92800839e-01 6.70817478e-03 3.12528242e+02] [-6.92771969e-01 7.21128969e-01 -6.32519671e-03 -1.22101327e+02] [-9.21956075e-03 -8.61501945e-05 9.99957495e-01 1.68920243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70232058799996 meters 0.024718677527261868 Centerline is valid? [True, True] Translation: X:312.65, Y:-122.18, Z:1.69 [[ 7.04591264e-01 7.09590087e-01 5.74963559e-03 3.12648751e+02] [-7.09565845e-01 7.04614721e-01 -5.86568461e-03 -1.22176689e+02] [-8.21350954e-03 5.31650999e-05 9.99966267e-01 1.68858302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73232058799994 meters 0.024437954742901176 Centerline is valid? [True, True] Translation: X:312.68, Y:-122.21, Z:1.69 [[ 7.04050797e-01 7.10129936e-01 5.28673682e-03 3.12684590e+02] [-7.10110277e-01 7.04070645e-01 -5.28406114e-03 -1.22209087e+02] [-7.47460620e-03 -3.39186946e-05 9.99972064e-01 1.68825821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76232058799997 meters 0.024172696796424725 Centerline is valid? [True, True] Translation: X:312.72, Y:-122.24, Z:1.69 [[ 7.04003985e-01 7.10177304e-01 5.15619835e-03 3.12719775e+02] [-7.10158429e-01 7.04022867e-01 -5.17776821e-03 -1.22241451e+02] [-7.30721501e-03 -1.65482662e-05 9.99973302e-01 1.68746300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79232058799994 meters 0.023904064872980135 Centerline is valid? [True, True] Translation: X:313.98, Y:-120.98, Z:3.54 [[ 7.63378157e-01 -6.45832633e-01 1.24096342e-02 3.13982676e+02] [-6.45738981e-01 -7.63478919e-01 -1.10049107e-02 -1.20984962e+02] [ 1.65818246e-02 3.87523938e-04 -9.99862437e-01 3.53599794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82232058799997 meters 0.024269056125221268 Centerline is valid? [True, True] Translation: X:312.85, Y:-122.38, Z:1.69 [[ 7.59628239e-01 6.50316463e-01 7.31002240e-03 3.12852514e+02] [-6.50286762e-01 7.59663411e-01 -6.21532857e-03 -1.22378091e+02] [-9.59508704e-03 -3.22716957e-05 9.99953966e-01 1.68939007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85232058799994 meters 0.02398133970580157 Centerline is valid? [True, True] Translation: X:312.89, Y:-122.41, Z:1.69 [[ 7.58637866e-01 6.51482198e-01 6.28760675e-03 3.12887488e+02] [-6.51460022e-01 7.58663921e-01 -5.37535686e-03 -1.22407098e+02] [-8.27212970e-03 -1.81751741e-05 9.99965785e-01 1.69219364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88232058799997 meters 0.024030387298721343 Centerline is valid? [True, True] Translation: X:312.92, Y:-122.44, Z:1.69 [[ 7.55665117e-01 6.54942386e-01 4.54992616e-03 3.12922311e+02] [-6.54930728e-01 7.55678814e-01 -3.90773206e-03 -1.22436620e+02] [-5.99762217e-03 -2.69496531e-05 9.99982014e-01 1.69300934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91232058799994 meters 0.024188287314638256 Centerline is valid? [True, True] Translation: X:312.96, Y:-122.47, Z:1.69 [[ 7.53010173e-01 6.58003282e-01 2.71290963e-03 3.12960915e+02] [-6.57999091e-01 7.53015060e-01 -2.34855836e-03 -1.22465944e+02] [-3.58822092e-03 -1.66037343e-05 9.99993562e-01 1.69204883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.942320588 meters 0.024199048124679608 Centerline is valid? [True, True] Translation: X:313.00, Y:-122.49, Z:1.69 [[ 7.51504153e-01 6.59721476e-01 3.01372264e-03 3.12997597e+02] [-6.59716293e-01 7.51510195e-01 -2.61523150e-03 -1.22494778e+02] [-3.99016768e-03 -2.28445969e-05 9.99992039e-01 1.69191214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97232058799995 meters 0.024312982300180468 Centerline is valid? [True, True] Translation: X:313.03, Y:-122.52, Z:1.69 [[ 7.50038877e-01 6.61381932e-01 3.95263357e-03 3.13033128e+02] [-6.61372986e-01 7.50049291e-01 -3.44013505e-03 -1.22524215e+02] [-5.23991317e-03 -3.39300410e-05 9.99986271e-01 1.69403558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.002320588 meters 0.024182956378780228 Centerline is valid? [True, True] Translation: X:313.07, Y:-122.55, Z:1.69 [[ 7.48979316e-01 6.62577228e-01 4.62604441e-03 3.13069261e+02] [-6.62564911e-01 7.48993602e-01 -4.04027664e-03 -1.22553833e+02] [-6.14187296e-03 -3.89710634e-05 9.99981138e-01 1.69455340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03232058799995 meters 0.024262365307267764 Centerline is valid? [True, True] Translation: X:313.11, Y:-122.58, Z:1.69 [[ 7.47851577e-01 6.63844060e-01 5.39281964e-03 3.13105618e+02] [-6.63827234e-01 7.47871020e-01 -4.72671028e-03 -1.22583358e+02] [-7.17093207e-03 -4.50228068e-05 9.99974288e-01 1.69394621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.062320588 meters 0.02434253275339542 Centerline is valid? [True, True] Translation: X:313.14, Y:-122.61, Z:1.69 [[ 7.47064021e-01 6.64735616e-01 4.68077755e-03 3.13142061e+02] [-6.64722846e-01 7.47078684e-01 -4.12039262e-03 -1.22612854e+02] [-6.23588086e-03 -3.32226994e-05 9.99980556e-01 1.69390008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09232058799995 meters 0.024411805426998643 Centerline is valid? [True, True] Translation: X:313.18, Y:-122.64, Z:1.69 [[ 7.45327132e-01 6.66682038e-01 4.74629638e-03 3.13184215e+02] [-6.66668725e-01 7.45342244e-01 -4.21319719e-03 -1.22644639e+02] [-6.34647808e-03 -2.39971800e-05 9.99979861e-01 1.69331786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.122320588 meters 0.024309769497931694 Centerline is valid? [True, True] Translation: X:313.22, Y:-122.67, Z:1.69 [[ 7.43638482e-01 6.68563810e-01 4.92340381e-03 3.13220465e+02] [-6.68549438e-01 7.43654780e-01 -4.38376380e-03 -1.22674605e+02] [-6.59213861e-03 -3.16033935e-05 9.99978271e-01 1.69371230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15232058799995 meters 0.023998047474858297 Centerline is valid? [True, True] Translation: X:313.26, Y:-122.70, Z:1.70 [[ 7.43829371e-01 6.68342876e-01 5.97220044e-03 3.13256855e+02] [-6.68321558e-01 7.43853345e-01 -5.33810555e-03 -1.22703909e+02] [-8.01012610e-03 -2.07106108e-05 9.99967918e-01 1.69635883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.182320588 meters 0.02426264182386377 Centerline is valid? [True, True] Translation: X:313.30, Y:-122.74, Z:1.69 [[ 7.42143260e-01 6.70215702e-01 5.85605954e-03 3.13300766e+02] [-6.70194911e-01 7.42166364e-01 -5.27907507e-03 -1.22737247e+02] [-7.88428942e-03 -6.87132146e-06 9.99968918e-01 1.69480391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21232058799995 meters 0.023705008639886383 Centerline is valid? [True, True] Translation: X:313.34, Y:-122.77, Z:1.69 [[ 7.42725572e-01 6.69574082e-01 5.41040795e-03 3.13338744e+02] [-6.69556228e-01 7.42745278e-01 -4.88973445e-03 -1.22765133e+02] [-7.29259441e-03 9.15848303e-06 9.99973409e-01 1.69244120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.242320588 meters 0.023680780229922514 Centerline is valid? [True, True] Translation: X:313.37, Y:-122.80, Z:1.69 [[ 7.41952932e-01 6.70435748e-01 4.66414651e-03 3.13374122e+02] [-6.70422383e-01 7.41967592e-01 -4.23329437e-03 -1.22795060e+02] [-6.29879743e-03 1.39569519e-05 9.99980162e-01 1.69343755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27232058799996 meters 0.0237304503243727 Centerline is valid? [True, True] Translation: X:313.41, Y:-122.83, Z:1.70 [[ 7.41620129e-01 6.70799994e-01 5.19158729e-03 3.13409102e+02] [-6.70783323e-01 7.41638300e-01 -4.72925068e-03 -1.22825841e+02] [-7.02266130e-03 2.48773256e-05 9.99975340e-01 1.69515641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.302320588 meters 0.023634921727445767 Centerline is valid? [True, True] Translation: X:313.45, Y:-122.86, Z:1.70 [[ 7.40048785e-01 6.72530776e-01 5.49093704e-03 3.13449731e+02] [-6.72511922e-01 7.40069155e-01 -5.03595489e-03 -1.22857651e+02] [-7.45050779e-03 3.41316700e-05 9.99972244e-01 1.69615459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33232058799996 meters 0.023640881062291768 Centerline is valid? [True, True] Translation: X:313.49, Y:-122.89, Z:1.70 [[ 7.39086391e-01 6.73594006e-01 4.73513278e-03 3.13485714e+02] [-6.73579918e-01 7.39101559e-01 -4.35662567e-03 -1.22886989e+02] [-6.43434096e-03 3.04323961e-05 9.99979299e-01 1.69710984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.362320588 meters 0.023643717891083358 Centerline is valid? [True, True] Translation: X:313.52, Y:-122.92, Z:1.70 [[ 7.40338806e-01 6.72209434e-01 5.73841069e-03 3.13522764e+02] [-6.72188559e-01 7.40361042e-01 -5.29791482e-03 -1.22915966e+02] [-7.80980404e-03 6.49579180e-05 9.99969501e-01 1.69648193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39232058799996 meters 0.023779820796726414 Centerline is valid? [True, True] Translation: X:313.56, Y:-122.95, Z:1.70 [[ 7.39354057e-01 6.73299092e-01 4.88982345e-03 3.13557668e+02] [-6.73283829e-01 7.39370225e-01 -4.53386465e-03 -1.22946239e+02] [-6.66803681e-03 5.98921717e-05 9.99977767e-01 1.69694403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.422320588 meters 0.023723349932049016 Centerline is valid? [True, True] Translation: X:313.61, Y:-122.99, Z:1.70 [[ 7.35832679e-01 6.77132142e-01 6.50619995e-03 3.13605435e+02] [-6.77104728e-01 7.35861438e-01 -6.09353978e-03 -1.22985357e+02] [-8.91379329e-03 7.84469581e-05 9.99960268e-01 1.69533112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45232058799996 meters 0.02352900399363061 Centerline is valid? [True, True] Translation: X:313.64, Y:-123.02, Z:1.70 [[ 7.33198659e-01 6.79990189e-01 5.75057119e-03 3.13640113e+02] [-6.79968780e-01 7.33221208e-01 -5.39614782e-03 -1.23016582e+02] [-7.88576834e-03 4.62394719e-05 9.99968906e-01 1.69715003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48232058799994 meters 0.023702660426539155 Centerline is valid? [True, True] Translation: X:313.68, Y:-123.05, Z:1.70 [[ 7.31985564e-01 6.81293288e-01 6.04891143e-03 3.13676658e+02] [-6.81269413e-01 7.32010555e-01 -5.70393805e-03 -1.23047947e+02] [-8.31392172e-03 5.42619731e-05 9.99965437e-01 1.69838501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51232058799997 meters 0.023701025161672117 Centerline is valid? [True, True] Translation: X:313.71, Y:-123.08, Z:1.70 [[ 7.30912086e-01 6.82448330e-01 5.63910735e-03 3.13713414e+02] [-6.82427416e-01 7.30933836e-01 -5.34306316e-03 -1.23078807e+02] [-7.76817890e-03 5.70279741e-05 9.99969826e-01 1.69856048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54232058799994 meters 0.023505429688464377 Centerline is valid? [True, True] Translation: X:313.75, Y:-123.11, Z:1.70 [[ 7.30825825e-01 6.82539084e-01 5.83210199e-03 3.13749178e+02] [-6.82516566e-01 7.30849091e-01 -5.54468221e-03 -1.23108195e+02] [-8.04684875e-03 7.16907276e-05 9.99967621e-01 1.69815245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57232058799997 meters 0.02388646716014949 Centerline is valid? [True, True] Translation: X:313.78, Y:-123.14, Z:1.70 [[ 7.30645838e-01 6.82723578e-01 6.72125076e-03 3.13784145e+02] [-6.82693444e-01 7.30676746e-01 -6.41516165e-03 -1.23138062e+02] [-9.29084375e-03 9.86573315e-05 9.99956834e-01 1.69716520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60232058799994 meters 0.02390163858773598 Centerline is valid? [True, True] Translation: X:313.82, Y:-123.17, Z:1.70 [[ 7.27936750e-01 6.85604633e-01 7.37388093e-03 3.13817933e+02] [-6.85568201e-01 7.27974092e-01 -7.06843944e-03 -1.23169209e+02] [-1.02141491e-02 9.00785485e-05 9.99947830e-01 1.69693371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63232058799997 meters 0.02355079262856235 Centerline is valid? [True, True] Translation: X:313.85, Y:-123.20, Z:1.70 [[ 7.26721705e-01 6.86895001e-01 7.12889852e-03 3.13851924e+02] [-6.86860759e-01 7.26756665e-01 -6.85919391e-03 -1.23200434e+02] [-9.89252052e-03 8.81644465e-05 9.99951064e-01 1.69828424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66232058799994 meters 0.023576018153725335 Centerline is valid? [True, True] Translation: X:313.89, Y:-123.23, Z:1.70 [[ 7.24265739e-01 6.89491960e-01 6.32266899e-03 3.13886547e+02] [-6.89464867e-01 7.24293333e-01 -6.11271398e-03 -1.23231294e+02] [-8.79413414e-03 6.79711780e-05 9.99961329e-01 1.69878669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.692320588 meters 0.023668402397414395 Centerline is valid? [True, True] Translation: X:313.92, Y:-123.26, Z:1.70 [[ 7.22120826e-01 6.91741113e-01 5.97878554e-03 3.13922639e+02] [-6.91716738e-01 7.22145574e-01 -5.80734870e-03 -1.23261581e+02] [-8.33473536e-03 5.79814083e-05 9.99965264e-01 1.69724126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72232058799995 meters 0.023378728405744755 Centerline is valid? [True, True] Translation: X:313.96, Y:-123.29, Z:1.70 [[ 7.20944822e-01 6.92963563e-01 6.32959070e-03 3.13957261e+02] [-6.92936064e-01 7.20972604e-01 -6.17382784e-03 -1.23292926e+02] [-8.84169923e-03 6.49875505e-05 9.99960909e-01 1.69725619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.752320588 meters 0.02338782384231145 Centerline is valid? [True, True] Translation: X:313.99, Y:-123.33, Z:1.70 [[ 7.18930596e-01 6.95046664e-01 6.99520124e-03 3.13992812e+02] [-6.95012862e-01 7.18964624e-01 -6.85509557e-03 -1.23326075e+02] [-9.79391353e-03 6.65831106e-05 9.99952036e-01 1.69783820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78232058799995 meters 0.023307320259766205 Centerline is valid? [True, True] Translation: X:314.03, Y:-123.36, Z:1.70 [[ 7.17365405e-01 6.96659922e-01 7.19928522e-03 3.14027075e+02] [-6.96623891e-01 7.17401526e-01 -7.08561549e-03 -1.23358877e+02] [-1.01010425e-02 6.77813403e-05 9.99948981e-01 1.69891362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.812320588 meters 0.0233132121734652 Centerline is valid? [True, True] Translation: X:314.06, Y:-123.39, Z:1.70 [[ 7.16116972e-01 6.97941848e-01 7.32521887e-03 3.14062773e+02] [-6.97904280e-01 7.16154432e-01 -7.24189007e-03 -1.23389900e+02] [-1.03004061e-02 7.37387863e-05 9.99946947e-01 1.69931234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84232058799995 meters 0.02334281362281486 Centerline is valid? [True, True] Translation: X:314.10, Y:-123.42, Z:1.70 [[ 7.14429314e-01 6.99667046e-01 7.53522891e-03 3.14098784e+02] [-6.99627024e-01 7.14469047e-01 -7.48390385e-03 -1.23422195e+02] [-1.06199287e-02 7.48705213e-05 9.99943604e-01 1.69824654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.872320588 meters 0.023307243700774218 Centerline is valid? [True, True] Translation: X:314.13, Y:-123.46, Z:1.70 [[ 7.11389784e-01 7.02751772e-01 8.03254689e-03 3.14134530e+02] [-7.02706044e-01 7.11435130e-01 -8.01698491e-03 -1.23456278e+02] [-1.13485864e-02 5.86819146e-05 9.99935601e-01 1.69779757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90232058799995 meters 0.02329220967865316 Centerline is valid? [True, True] Translation: X:314.17, Y:-123.49, Z:1.70 [[ 7.08067891e-01 7.06099239e-01 7.98289176e-03 3.14172869e+02] [-7.06053624e-01 7.08112889e-01 -8.02598479e-03 -1.23493693e+02] [-1.13199303e-02 4.65924688e-05 9.99935926e-01 1.69859345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.932320588 meters 0.02320663184272289 Centerline is valid? [True, True] Translation: X:315.43, Y:-122.24, Z:3.54 [[ 7.59550717e-01 -6.50265319e-01 1.54182808e-02 3.15432465e+02] [-6.50123610e-01 -7.59707135e-01 -1.35779796e-02 -1.22243511e+02] [ 2.05426672e-02 2.89375782e-04 -9.99788935e-01 3.54124301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96232058799995 meters 0.023230614608353715 Centerline is valid? [True, True] Translation: X:314.31, Y:-123.63, Z:1.70 [[ 7.62660034e-01 6.46748445e-01 8.13154687e-03 3.14306885e+02] [-6.46711382e-01 7.62703382e-01 -6.92387376e-03 -1.23629394e+02] [-1.06799629e-02 2.17978845e-05 9.99942967e-01 1.69936976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.992320588 meters 0.02324759510497592 Centerline is valid? [True, True] Translation: X:314.34, Y:-123.66, Z:1.70 [[ 7.59705369e-01 6.50215606e-01 8.21090934e-03 3.14342866e+02] [-6.50177636e-01 7.59749739e-01 -7.02674996e-03 -1.23657758e+02] [-1.08071387e-02 -2.89954889e-07 9.99941601e-01 1.69871830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02232058799996 meters 0.023458186877587373 Centerline is valid? [True, True] Translation: X:314.38, Y:-123.69, Z:1.70 [[ 7.57828122e-01 6.52382122e-01 9.70075084e-03 3.14377894e+02] [-6.52328918e-01 7.57890208e-01 -8.33163897e-03 -1.23686778e+02] [-1.27875164e-02 -1.41299797e-05 9.99918236e-01 1.69886818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.052320588 meters 0.02348387231880558 Centerline is valid? [True, True] Translation: X:314.41, Y:-123.72, Z:1.70 [[ 7.56183399e-01 6.54273037e-01 1.06517844e-02 3.14412772e+02] [-6.54208596e-01 7.56258416e-01 -9.18259916e-03 -1.23716148e+02] [-1.40634286e-02 -2.47598716e-05 9.99901105e-01 1.69889461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08232058799996 meters 0.023622360551556344 Centerline is valid? [True, True] Translation: X:314.45, Y:-123.75, Z:1.70 [[ 7.53853459e-01 6.56972662e-01 9.58560940e-03 3.14448532e+02] [-6.56920260e-01 7.53914398e-01 -8.29770750e-03 -1.23745541e+02] [-1.26780959e-02 -4.17255186e-05 9.99919629e-01 1.69895501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.112320588 meters 0.023292247192115915 Centerline is valid? [True, True] Translation: X:314.49, Y:-123.78, Z:1.70 [[ 7.51864522e-01 6.59261334e-01 8.61591237e-03 3.14492766e+02] [-6.59218436e-01 7.51913887e-01 -7.52066308e-03 -1.23779563e+02] [-1.14365065e-02 -2.52485243e-05 9.99934601e-01 1.69855469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14232058799996 meters 0.023322625488135136 Centerline is valid? [True, True] Translation: X:314.53, Y:-123.81, Z:1.70 [[ 7.50276079e-01 6.61058153e-01 9.37675184e-03 3.14528048e+02] [-6.61007211e-01 7.50334669e-01 -8.20678024e-03 -1.23809150e+02] [-1.24608610e-02 -4.07496765e-05 9.99922360e-01 1.69793534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.172320588 meters 0.02328519672698835 Centerline is valid? [True, True] Translation: X:314.57, Y:-123.84, Z:1.70 [[ 7.48465975e-01 6.63102574e-01 9.67781836e-03 3.14566279e+02] [-6.63047831e-01 7.48528540e-01 -8.52052467e-03 -1.23840619e+02] [-1.28941051e-02 -3.95336617e-05 9.99916867e-01 1.69946937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20232058799996 meters 0.02324863033912918 Centerline is valid? [True, True] Translation: X:314.60, Y:-123.87, Z:1.70 [[ 7.46904272e-01 6.64876311e-01 8.57317510e-03 3.14602285e+02] [-6.64833156e-01 7.46953472e-01 -7.57526059e-03 -1.23870097e+02] [-1.14403742e-02 -4.17365636e-05 9.99934556e-01 1.70088198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23232058799994 meters 0.023133092386471966 Centerline is valid? [True, True] Translation: X:314.64, Y:-123.90, Z:1.70 [[ 7.45828326e-01 6.66085472e-01 8.38161157e-03 3.14639071e+02] [-6.66043971e-01 7.45875420e-01 -7.43552124e-03 -1.23899012e+02] [-1.12043307e-02 -3.68994878e-05 9.99937229e-01 1.70054665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26232058799997 meters 0.02343486457256158 Centerline is valid? [True, True] Translation: X:314.68, Y:-123.93, Z:1.70 [[ 7.43131745e-01 6.69096512e-01 8.06642250e-03 3.14675009e+02] [-6.69057887e-01 7.43175521e-01 -7.18952598e-03 -1.23928428e+02] [-1.08052545e-02 -5.41386060e-05 9.99941620e-01 1.69925862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29232058799994 meters 0.023488066511218833 Centerline is valid? [True, True] Translation: X:314.71, Y:-123.96, Z:1.70 [[ 7.41180672e-01 6.71253666e-01 8.35026897e-03 3.14709369e+02] [-6.71212103e-01 7.41227705e-01 -7.47001958e-03 -1.23959081e+02] [-1.12037287e-02 -6.81674678e-05 9.99937234e-01 1.70019258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32232058799997 meters 0.02369061870647649 Centerline is valid? [True, True] Translation: X:314.75, Y:-123.99, Z:1.70 [[ 7.39542731e-01 6.73049490e-01 8.99633856e-03 3.14747238e+02] [-6.73000808e-01 7.39597444e-01 -8.09524765e-03 -1.23990544e+02] [-1.21021713e-02 -6.77615699e-05 9.99926764e-01 1.70088847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35232058799994 meters 0.023664767116304698 Centerline is valid? [True, True] Translation: X:314.79, Y:-124.02, Z:1.70 [[ 7.38089228e-01 6.74629989e-01 9.93326150e-03 3.14785006e+02] [-6.74570273e-01 7.38156062e-01 -8.97636459e-03 -1.24020214e+02] [-1.33880219e-02 -7.53249068e-05 9.99910374e-01 1.69985309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38232058799997 meters 0.023796218844774734 Centerline is valid? [True, True] Translation: X:314.82, Y:-124.05, Z:1.70 [[ 7.36042103e-01 6.76863168e-01 9.91334087e-03 3.14821274e+02] [-6.76803370e-01 7.36108854e-01 -8.99740914e-03 -1.24049739e+02] [-1.33873128e-02 -8.69105604e-05 9.99910382e-01 1.69981145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41232058799994 meters 0.0238030931111293 Centerline is valid? [True, True] Translation: X:314.86, Y:-124.08, Z:1.70 [[ 7.34026205e-01 6.79056242e-01 9.38883249e-03 3.14857230e+02] [-6.79002294e-01 7.34086243e-01 -8.55992195e-03 -1.24079428e+02] [-1.27048812e-02 -9.18317688e-05 9.99919286e-01 1.69995055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.442320588 meters 0.023335899035699725 Centerline is valid? [True, True] Translation: X:314.89, Y:-124.11, Z:1.70 [[ 7.33235330e-01 6.79922543e-01 8.44315070e-03 3.14892573e+02] [-6.79878569e-01 7.33283936e-01 -7.73313208e-03 -1.24109502e+02] [-1.14491576e-02 -7.01115646e-05 9.99934454e-01 1.70205225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47232058799995 meters 0.02368607839976964 Centerline is valid? [True, True] Translation: X:314.93, Y:-124.14, Z:1.70 [[ 7.30798551e-01 6.82541044e-01 8.43804185e-03 3.14926891e+02] [-6.82496903e-01 7.30847259e-01 -7.76280092e-03 -1.24140485e+02] [-1.14653500e-02 -8.58937658e-05 9.99934267e-01 1.70273729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.502320588 meters 0.02368607839976964 Centerline is valid? [True, True] Translation: X:314.96, Y:-124.17, Z:1.70 [[ 7.29247294e-01 6.84198424e-01 8.42022579e-03 3.14962395e+02] [-6.84154171e-01 7.29295900e-01 -7.78213890e-03 -1.24170572e+02] [-1.14653633e-02 -8.56288558e-05 9.99934267e-01 1.70294614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53232058799995 meters 0.023812862158166748 Centerline is valid? [True, True] Translation: X:315.00, Y:-124.21, Z:1.70 [[ 7.26885721e-01 6.86711576e-01 8.02246192e-03 3.15001980e+02] [-6.86671021e-01 7.26929986e-01 -7.46350875e-03 -1.24205194e+02] [-1.09570460e-02 -8.36741795e-05 9.99939966e-01 1.70415741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.562320588 meters 0.023742133118046578 Centerline is valid? [True, True] Translation: X:315.04, Y:-124.23, Z:1.70 [[ 7.25332542e-01 6.88363695e-01 6.93736986e-03 3.15037031e+02] [-6.88333194e-01 7.25365713e-01 -6.48041469e-03 -1.24234663e+02] [-9.49301244e-03 -7.47663003e-05 9.99954938e-01 1.70435366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59232058799995 meters 0.023572467831660296 Centerline is valid? [True, True] Translation: X:315.07, Y:-124.26, Z:1.70 [[ 7.24084482e-01 6.89677509e-01 6.82618481e-03 3.15072371e+02] [-6.89647770e-01 7.24116654e-01 -6.40504113e-03 -1.24264320e+02] [-9.36036692e-03 -6.98722406e-05 9.99956188e-01 1.70379310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.622320588 meters 0.023738376974786948 Centerline is valid? [True, True] Translation: X:315.11, Y:-124.29, Z:1.70 [[ 7.22279954e-01 6.91562093e-01 7.31704403e-03 3.15107064e+02] [-6.91527725e-01 7.22317011e-01 -6.89498164e-03 -1.24294231e+02] [-1.00535333e-02 -7.98317893e-05 9.99949459e-01 1.70270362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65232058799995 meters 0.02325191920708233 Centerline is valid? [True, True] Translation: X:315.15, Y:-124.33, Z:1.70 [[ 7.20489970e-01 6.93414872e-01 8.36771295e-03 3.15152282e+02] [-6.93369215e-01 7.20538556e-01 -7.95738236e-03 -1.24331199e+02] [-1.15470271e-02 -6.87003849e-05 9.99933328e-01 1.70294606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.682320588 meters 0.024028290736637654 Centerline is valid? [True, True] Translation: X:315.19, Y:-124.36, Z:1.70 [[ 7.17099539e-01 6.96919306e-01 8.46945259e-03 3.15186941e+02] [-6.96872457e-01 7.17149545e-01 -8.08141366e-03 -1.24364341e+02] [-1.17059573e-02 -1.06950227e-04 9.99931477e-01 1.70271746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71232058799995 meters 0.02391435187621966 Centerline is valid? [True, True] Translation: X:315.22, Y:-124.40, Z:1.70 [[ 7.15468157e-01 6.98593573e-01 8.50506513e-03 3.15224115e+02] [-6.98545983e-01 7.15518699e-01 -8.15479988e-03 -1.24396173e+02] [-1.17824239e-02 -1.06679449e-04 9.99930579e-01 1.70331893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.742320588 meters 0.023825891702355724 Centerline is valid? [True, True] Translation: X:315.26, Y:-124.43, Z:1.70 [[ 7.14136242e-01 6.99953621e-01 8.62300832e-03 3.15259622e+02] [-6.99904365e-01 7.14188293e-01 -8.30437211e-03 -1.24427534e+02] [-1.19711269e-02 -1.04828062e-04 9.99928338e-01 1.70373599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77232058799996 meters 0.023727839671080456 Centerline is valid? [True, True] Translation: X:315.30, Y:-124.46, Z:1.71 [[ 7.12849041e-01 7.01263783e-01 8.68055814e-03 3.15295483e+02] [-7.01213449e-01 7.12901885e-01 -8.40251117e-03 -1.24461249e+02] [-1.20807630e-02 -9.72020883e-05 9.99927020e-01 1.70537480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.802320588 meters 0.02387301680461451 Centerline is valid? [True, True] Translation: X:315.33, Y:-124.49, Z:1.70 [[ 7.11942936e-01 7.02172860e-01 9.51476948e-03 3.15330952e+02] [-7.02111943e-01 7.12006507e-01 -9.24954476e-03 -1.24492163e+02] [-1.32693571e-02 -9.52852390e-05 9.99911954e-01 1.70457573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83232058799996 meters 0.023515087681378142 Centerline is valid? [True, True] Translation: X:315.37, Y:-124.52, Z:1.70 [[ 7.10737561e-01 7.03398578e-01 9.08627480e-03 3.15368115e+02] [-7.03342564e-01 7.10795635e-01 -8.87713029e-03 -1.24523897e+02] [-1.27026453e-02 -8.14538802e-05 9.99919315e-01 1.70392066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.862320588 meters 0.022978340128865717 Centerline is valid? [True, True] Translation: X:315.41, Y:-124.55, Z:1.70 [[ 7.10889240e-01 7.03255079e-01 8.29349425e-03 3.15405058e+02] [-7.03207964e-01 7.10937615e-01 -8.14044704e-03 -1.24554053e+02] [-1.16209677e-02 -4.50949960e-05 9.99932473e-01 1.70428447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89232058799996 meters 0.022909468423535195 Centerline is valid? [True, True] Translation: X:315.44, Y:-124.59, Z:1.71 [[ 7.09620177e-01 7.04540324e-01 7.88260783e-03 3.15440180e+02] [-7.04497431e-01 7.09663956e-01 -7.77429553e-03 -1.24586815e+02] [-1.10713073e-02 -3.64800001e-05 9.99938711e-01 1.70589949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.922320588 meters 0.022736805768794225 Centerline is valid? [True, True] Translation: X:315.48, Y:-124.62, Z:1.71 [[ 7.10585353e-01 7.03550504e-01 9.22741403e-03 3.15475736e+02] [-7.03491123e-01 7.10645262e-01 -9.14059646e-03 -1.24618470e+02] [-1.29882893e-02 3.77009941e-06 9.99915649e-01 1.70725222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95232058799996 meters 0.02258023245162196 Centerline is valid? [True, True] Translation: X:315.51, Y:-124.65, Z:1.71 [[ 7.09953871e-01 7.04197096e-01 8.48242601e-03 3.15511799e+02] [-7.04146481e-01 7.10004542e-01 -8.44292733e-03 -1.24649355e+02] [-1.19680459e-02 2.12185150e-05 9.99928380e-01 1.70781651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98232058799994 meters 0.02266909849982782 Centerline is valid? [True, True] Translation: X:315.55, Y:-124.68, Z:1.71 [[ 7.09170303e-01 7.04992135e-01 7.97315050e-03 3.15548775e+02] [-7.04947027e-01 7.09215121e-01 -7.97504619e-03 -1.24681254e+02] [-1.12770237e-02 3.50171820e-05 9.99936412e-01 1.70707212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01232058799997 meters 0.02262001217668746 Centerline is valid? [True, True] Translation: X:315.58, Y:-124.71, Z:1.71 [[ 7.08280856e-01 7.05897385e-01 6.86378561e-03 3.15584479e+02] [-7.05863671e-01 7.08314112e-01 -6.89909539e-03 -1.24713114e+02] [-9.73176959e-03 4.16002831e-05 9.99952644e-01 1.70846894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04232058799994 meters 0.022615427045346807 Centerline is valid? [True, True] Translation: X:316.85, Y:-123.47, Z:3.55 [[ 7.57818881e-01 -6.52324173e-01 1.35542015e-02 3.16850537e+02] [-6.52213972e-01 -7.57940045e-01 -1.19926387e-02 -1.23472331e+02] [ 1.80963602e-02 2.48008427e-04 -9.99836217e-01 3.54757491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07232058799997 meters 0.022722290148701394 Centerline is valid? [True, True] Translation: X:315.73, Y:-124.85, Z:1.71 [[ 7.66805495e-01 6.41830444e-01 7.93810259e-03 3.15728972e+02] [-6.41794851e-01 7.66846577e-01 -6.75989015e-03 -1.24853720e+02] [-1.04260101e-02 8.88875414e-05 9.99945644e-01 1.70932949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10232058799994 meters 0.023096811115788533 Centerline is valid? [True, True] Translation: X:315.77, Y:-124.88, Z:1.71 [[ 7.67532768e-01 6.40965574e-01 7.52220121e-03 3.15766239e+02] [-6.40933246e-01 7.67569618e-01 -6.43856410e-03 -1.24880986e+02] [-9.90071104e-03 1.20580081e-04 9.99950979e-01 1.70841067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13232058799997 meters 0.02335011627302555 Centerline is valid? [True, True] Translation: X:315.80, Y:-124.91, Z:1.71 [[ 7.68387899e-01 6.39944533e-01 7.14363865e-03 3.15802578e+02] [-6.39915110e-01 7.68421091e-01 -6.13828647e-03 -1.24908697e+02] [-9.41748548e-03 1.45262728e-04 9.99955644e-01 1.70890499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16232058799994 meters 0.02349431410448783 Centerline is valid? [True, True] Translation: X:315.84, Y:-124.94, Z:1.71 [[ 7.67477794e-01 6.41027753e-01 7.82659935e-03 3.15837191e+02] [-6.40992250e-01 7.67517683e-01 -6.74845106e-03 -1.24936752e+02] [-1.03329978e-02 1.62496807e-04 9.99946600e-01 1.70961037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.192320588 meters 0.02401734642575511 Centerline is valid? [True, True] Translation: X:315.87, Y:-124.96, Z:1.71 [[ 7.67578429e-01 6.40879618e-01 9.83207522e-03 3.15873067e+02] [-6.40823198e-01 7.67641363e-01 -8.50688034e-03 -1.24964521e+02] [-1.29993939e-02 2.29075965e-04 9.99915478e-01 1.70982413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22232058799995 meters 0.02425817276019303 Centerline is valid? [True, True] Translation: X:315.91, Y:-124.99, Z:1.71 [[ 7.66660298e-01 6.41964320e-01 1.06676942e-02 3.15908954e+02] [-6.41897509e-01 7.66734469e-01 -9.26504376e-03 -1.24993495e+02] [-1.41271163e-02 2.55574897e-04 9.99900175e-01 1.70822021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.252320588 meters 0.02403870719013419 Centerline is valid? [True, True] Translation: X:315.94, Y:-125.02, Z:1.71 [[ 7.65165623e-01 6.43770527e-01 9.00434817e-03 3.15944654e+02] [-6.43722687e-01 7.65218572e-01 -7.85103875e-03 -1.25022030e+02] [-1.19445618e-02 2.11041753e-04 9.99928639e-01 1.70912487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28232058799995 meters 0.023949080891571065 Centerline is valid? [True, True] Translation: X:315.98, Y:-125.05, Z:1.71 [[ 7.63555181e-01 6.45682426e-01 8.81416029e-03 3.15980295e+02] [-6.45636373e-01 7.63606027e-01 -7.71422111e-03 -1.25051003e+02] [-1.17114829e-02 1.99491021e-04 9.99931398e-01 1.70934555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.312320588 meters 0.02376678900788204 Centerline is valid? [True, True] Translation: X:316.02, Y:-125.08, Z:1.71 [[ 7.62200976e-01 6.47292291e-01 7.89698889e-03 3.16015044e+02] [-6.47255128e-01 7.62241864e-01 -6.93834336e-03 -1.25081120e+02] [-1.05105517e-02 1.77045523e-04 9.99944747e-01 1.71172713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34232058799995 meters 0.02369385117727735 Centerline is valid? [True, True] Translation: X:316.05, Y:-125.11, Z:1.71 [[ 7.61274868e-01 6.48382693e-01 7.77551454e-03 3.16049557e+02] [-6.48346454e-01 7.61314555e-01 -6.85741325e-03 -1.25110843e+02] [-1.03658405e-02 1.79149084e-04 9.99946257e-01 1.71321081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.372320588 meters 0.02354556992444026 Centerline is valid? [True, True] Translation: X:316.08, Y:-125.14, Z:1.71 [[ 7.60215804e-01 6.49626592e-01 7.56452559e-03 3.16084936e+02] [-6.49592100e-01 7.60253418e-01 -6.69661266e-03 -1.25139594e+02] [-1.01012541e-02 1.77014716e-04 9.99948965e-01 1.71324417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40232058799995 meters 0.023581963493947602 Centerline is valid? [True, True] Translation: X:316.12, Y:-125.17, Z:1.71 [[ 7.59624346e-01 6.50328089e-01 6.65046107e-03 3.16120568e+02] [-6.50301250e-01 7.59653440e-01 -5.91065368e-03 -1.25168210e+02] [-8.89590975e-03 1.65073291e-04 9.99960417e-01 1.71419134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.432320588 meters 0.02332421984761231 Centerline is valid? [True, True] Translation: X:316.16, Y:-125.20, Z:1.71 [[ 7.56552703e-01 6.53884904e-01 7.90818362e-03 3.16155271e+02] [-6.53846875e-01 7.56594016e-01 -7.05403288e-03 -1.25199260e+02] [-1.05958100e-02 1.66006489e-04 9.99943849e-01 1.71261495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46232058799995 meters 0.023201124765907185 Centerline is valid? [True, True] Translation: X:316.19, Y:-125.23, Z:1.71 [[ 7.54352792e-01 6.56430010e-01 7.17686066e-03 3.16188760e+02] [-6.56398568e-01 7.54386919e-01 -6.42621449e-03 -1.25229743e+02] [-9.63248984e-03 1.36751786e-04 9.99953597e-01 1.71356255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.492320588 meters 0.022986116839674425 Centerline is valid? [True, True] Translation: X:316.22, Y:-125.26, Z:1.71 [[ 7.52249208e-01 6.58830331e-01 7.98267580e-03 3.16222078e+02] [-6.58791292e-01 7.52291550e-01 -7.17339957e-03 -1.25260349e+02] [-1.07313528e-02 1.37266836e-04 9.99942408e-01 1.71427947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52232058799996 meters 0.02273812198973664 Centerline is valid? [True, True] Translation: X:316.26, Y:-125.29, Z:1.72 [[ 7.50820393e-01 6.60460659e-01 7.77531235e-03 3.16257708e+02] [-6.60423418e-01 7.50860640e-01 -7.01488588e-03 -1.25290824e+02] [-1.04712322e-02 1.31921017e-04 9.99945166e-01 1.71524650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.552320588 meters 0.022896114810827706 Centerline is valid? [True, True] Translation: X:316.29, Y:-125.32, Z:1.71 [[ 7.49352182e-01 6.62131774e-01 7.26789965e-03 3.16292863e+02] [-6.62099057e-01 7.49387416e-01 -6.58325254e-03 -1.25320506e+02] [-9.80545322e-03 1.21105148e-04 9.99951918e-01 1.71483835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58232058799996 meters 0.022618918793998813 Centerline is valid? [True, True] Translation: X:316.33, Y:-125.35, Z:1.71 [[ 7.45823208e-01 6.66105654e-01 7.14141908e-03 3.16326729e+02] [-6.66074003e-01 7.45857393e-01 -6.49402442e-03 -1.25352412e+02] [-9.65218660e-03 8.66805295e-05 9.99953413e-01 1.71442237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.612320588 meters 0.022492530887709264 Centerline is valid? [True, True] Translation: X:316.37, Y:-125.39, Z:1.72 [[ 7.41667998e-01 6.70733290e-01 6.74048909e-03 3.16372955e+02] [-6.70704674e-01 7.41698623e-01 -6.19617845e-03 -1.25392942e+02] [-9.15539464e-03 7.46297312e-05 9.99958086e-01 1.71635461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64232058799996 meters 0.022169807488914388 Centerline is valid? [True, True] Translation: X:316.41, Y:-125.42, Z:1.72 [[ 7.40129595e-01 6.72427204e-01 7.05962440e-03 3.16407682e+02] [-6.72395782e-01 7.40163260e-01 -6.50087523e-03 -1.25424138e+02] [-9.59663996e-03 6.46284809e-05 9.99953949e-01 1.71708358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.672320588 meters 0.0225950907052784 Centerline is valid? [True, True] Translation: X:316.44, Y:-125.46, Z:1.72 [[ 7.36537215e-01 6.76363641e-01 6.71985828e-03 3.16441920e+02] [-6.76335097e-01 7.36567868e-01 -6.21380230e-03 -1.25455505e+02] [-9.15242163e-03 3.18206345e-05 9.99958115e-01 1.71604189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70232058799996 meters 0.022683822831347733 Centerline is valid? [True, True] Translation: X:316.48, Y:-125.49, Z:1.72 [[ 7.34625629e-01 6.78436423e-01 7.01458368e-03 3.16476993e+02] [-6.78405170e-01 7.34659117e-01 -6.51199287e-03 -1.25485482e+02] [-9.57130101e-03 2.51470206e-05 9.99954194e-01 1.71510577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73232058799994 meters 0.02290742532029442 Centerline is valid? [True, True] Translation: X:316.51, Y:-125.52, Z:1.71 [[ 7.33060976e-01 6.80121498e-01 7.50685750e-03 3.16511436e+02] [-6.80085458e-01 7.33099412e-01 -7.00157019e-03 -1.25516290e+02] [-1.02651912e-02 2.72732583e-05 9.99947311e-01 1.71458324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76232058799997 meters 0.022916164367262314 Centerline is valid? [True, True] Translation: X:316.55, Y:-125.55, Z:1.72 [[ 7.30769183e-01 6.82591570e-01 6.71941857e-03 3.16547331e+02] [-6.82562504e-01 7.30800074e-01 -6.29914407e-03 -1.25548973e+02] [-9.21029423e-03 1.67971935e-05 9.99957584e-01 1.71612059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79232058799994 meters 0.023212230609955566 Centerline is valid? [True, True] Translation: X:316.58, Y:-125.58, Z:1.72 [[ 7.28461377e-01 6.85049028e-01 7.20078445e-03 3.16582079e+02] [-6.85015483e-01 7.28496966e-01 -6.77931668e-03 -1.25580485e+02] [-9.88991392e-03 5.82153305e-06 9.99951094e-01 1.71636110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82232058799997 meters 0.023188298899338742 Centerline is valid? [True, True] Translation: X:316.62, Y:-125.61, Z:1.72 [[ 7.26595067e-01 6.87027343e-01 7.28272427e-03 3.16616914e+02] [-6.86992831e-01 7.26631564e-01 -6.88624791e-03 -1.25610416e+02] [-1.00228979e-02 3.34406345e-07 9.99949769e-01 1.71510236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85232058799994 meters 0.023107121847177746 Centerline is valid? [True, True] Translation: X:316.65, Y:-125.64, Z:1.71 [[ 7.25653890e-01 6.88021472e-01 7.27225926e-03 3.16652827e+02] [-6.87986792e-01 7.25690329e-01 -6.90797136e-03 -1.25640397e+02] [-1.00302408e-02 9.57797330e-06 9.99949696e-01 1.71461252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88232058799997 meters 0.023664339570674035 Centerline is valid? [True, True] Translation: X:316.69, Y:-125.67, Z:1.71 [[ 7.22083602e-01 6.91760289e-01 7.93561019e-03 3.16689089e+02] [-6.91718810e-01 7.22127206e-01 -7.57539018e-03 -1.25673454e+02] [-1.09708741e-02 -1.91458115e-05 9.99939818e-01 1.71332639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91232058799994 meters 0.023627967380517124 Centerline is valid? [True, True] Translation: X:316.73, Y:-125.71, Z:1.71 [[ 7.18999439e-01 6.94973619e-01 7.17469481e-03 3.16732811e+02] [-6.94939220e-01 7.19035235e-01 -6.91456858e-03 -1.25712085e+02] [-9.96430112e-03 -1.44058839e-05 9.99950355e-01 1.71490342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.942320588 meters 0.023615606629127945 Centerline is valid? [True, True] Translation: X:316.77, Y:-125.75, Z:1.72 [[ 7.17289748e-01 6.96741251e-01 6.85902184e-03 3.16769847e+02] [-6.96709659e-01 7.17322542e-01 -6.63494523e-03 -1.25745128e+02] [-9.54297103e-03 -1.95685743e-05 9.99954465e-01 1.71567523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97232058799995 meters 0.02377765462454012 Centerline is valid? [True, True] Translation: X:316.81, Y:-125.78, Z:1.72 [[ 7.14642443e-01 6.99448287e-01 7.63368256e-03 3.16806064e+02] [-6.99408971e-01 7.14683211e-01 -7.41611395e-03 -1.25776780e+02] [-1.06428530e-02 -3.91962766e-05 9.99943362e-01 1.71535094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.002320588 meters 0.023570901007830915 Centerline is valid? [True, True] Translation: X:316.84, Y:-125.81, Z:1.72 [[ 7.13114103e-01 7.01004134e-01 7.84090621e-03 3.16842649e+02] [-7.00962345e-01 7.13157208e-01 -7.65429558e-03 -1.25808663e+02] [-1.09574916e-02 -3.77938715e-05 9.99939964e-01 1.71583045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03232058799995 meters 0.023684672109001447 Centerline is valid? [True, True] Translation: X:316.88, Y:-125.84, Z:1.72 [[ 7.10478584e-01 7.03691499e-01 6.20133452e-03 3.16877282e+02] [-7.03665195e-01 7.10505646e-01 -6.08448069e-03 -1.25842031e+02] [-8.68768052e-03 -4.07700409e-05 9.99962261e-01 1.71748613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.062320588 meters 0.023712537993675026 Centerline is valid? [True, True] Translation: X:316.91, Y:-125.87, Z:1.72 [[ 7.09423821e-01 7.04758710e-01 5.74485216e-03 3.16912732e+02] [-7.04735950e-01 7.09447081e-01 -5.66393050e-03 -1.25873750e+02] [-8.06737294e-03 -3.04766307e-05 9.99967458e-01 1.71746779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09232058799995 meters 0.023659421028183747 Centerline is valid? [True, True] Translation: X:316.95, Y:-125.91, Z:1.72 [[ 7.07619862e-01 7.06571628e-01 5.53760038e-03 3.16950486e+02] [-7.06550268e-01 7.07641529e-01 -5.49410091e-03 -1.25907049e+02] [-7.80061183e-03 -2.48581020e-05 9.99969574e-01 1.71675628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.122320588 meters 0.023593447339919853 Centerline is valid? [True, True] Translation: X:316.99, Y:-125.94, Z:1.71 [[ 7.08061248e-01 7.06105503e-01 8.01797469e-03 3.16988191e+02] [-7.06060377e-01 7.08106643e-01 -7.98283038e-03 -1.25938596e+02] [-1.13143016e-02 -8.84139863e-06 9.99935991e-01 1.71462743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15232058799995 meters 0.023359800245197966 Centerline is valid? [True, True] Translation: X:317.03, Y:-125.97, Z:1.71 [[ 7.07626856e-01 7.06540683e-01 8.03091057e-03 3.17026127e+02] [-7.06494892e-01 7.07672426e-01 -8.04394359e-03 -1.25971953e+02] [-1.13666274e-02 1.83132128e-05 9.99935398e-01 1.71493865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.182320588 meters 0.023383753605747164 Centerline is valid? [True, True] Translation: X:317.06, Y:-126.01, Z:1.72 [[ 7.05603108e-01 7.08567465e-01 7.51009578e-03 3.17061626e+02] [-7.08527169e-01 7.05643074e-01 -7.55662802e-03 -1.26005039e+02] [-1.06538278e-02 1.08733100e-05 9.99943246e-01 1.71658540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21232058799995 meters 0.023534135285497526 Centerline is valid? [True, True] Translation: X:318.34, Y:-124.74, Z:3.56 [[ 7.63126790e-01 -6.46095221e-01 1.40878919e-02 3.18338489e+02] [-6.45975187e-01 -7.63256706e-01 -1.24602895e-02 -1.24744307e+02] [ 1.88032115e-02 4.08352179e-04 -9.99823121e-01 3.55735335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.242320588 meters 0.023501410485423133 Centerline is valid? [True, True] Translation: X:317.20, Y:-126.14, Z:1.72 [[ 7.59112153e-01 6.50919146e-01 7.28037050e-03 3.17200135e+02] [-6.50889534e-01 7.59147064e-01 -6.20888880e-03 -1.26144708e+02] [-9.56835648e-03 -2.54740196e-05 9.99954222e-01 1.71610878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27232058799996 meters 0.023519533001442338 Centerline is valid? [True, True] Translation: X:317.24, Y:-126.17, Z:1.72 [[ 7.58461543e-01 6.51665873e-01 8.22662076e-03 3.17236373e+02] [-6.51627718e-01 7.58506157e-01 -7.05176832e-03 -1.26174162e+02] [-1.08353393e-02 -1.21990352e-05 9.99941296e-01 1.71642829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.302320588 meters 0.02355023540891902 Centerline is valid? [True, True] Translation: X:317.27, Y:-126.20, Z:1.72 [[ 7.58156460e-01 6.52014956e-01 8.67638978e-03 3.17272954e+02] [-6.51972206e-01 7.58206105e-01 -7.46624374e-03 -1.26202534e+02] [-1.14465943e-02 3.81593914e-06 9.99934486e-01 1.71653389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33232058799996 meters 0.02306039688504838 Centerline is valid? [True, True] Translation: X:317.31, Y:-126.23, Z:1.72 [[ 7.58102120e-01 6.52079193e-01 8.59666040e-03 3.17310085e+02] [-6.52036894e-01 7.58150860e-01 -7.42715303e-03 -1.26230657e+02] [-1.13606574e-02 2.52007073e-05 9.99935465e-01 1.71779045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.362320588 meters 0.023099303220741736 Centerline is valid? [True, True] Translation: X:317.35, Y:-126.26, Z:1.72 [[ 7.56025817e-01 6.54500115e-01 7.38671769e-03 3.17346510e+02] [-6.54468738e-01 7.56061902e-01 -6.40869481e-03 -1.26259795e+02] [-9.77930732e-03 1.07629253e-05 9.99952181e-01 1.71772014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39232058799996 meters 0.023268509845369486 Centerline is valid? [True, True] Translation: X:317.38, Y:-126.29, Z:1.72 [[ 7.54835219e-01 6.55866904e-01 7.89915344e-03 3.17383105e+02] [-6.55830822e-01 7.54876549e-01 -6.87959422e-03 -1.26288942e+02] [-1.04749839e-02 1.24517110e-05 9.99945136e-01 1.71694403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.422320588 meters 0.023268509845369486 Centerline is valid? [True, True] Translation: X:317.42, Y:-126.32, Z:1.72 [[ 7.53547103e-01 6.57346621e-01 7.88563175e-03 3.17418780e+02] [-6.57310458e-01 7.53588362e-01 -6.89510163e-03 -1.26317891e+02] [-1.04749921e-02 1.24756365e-05 9.99945136e-01 1.71714800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45232058799996 meters 0.023454485434651548 Centerline is valid? [True, True] Translation: X:317.45, Y:-126.35, Z:1.72 [[ 7.51878563e-01 6.59255955e-01 7.75966491e-03 3.17453988e+02] [-6.59220760e-01 7.51918604e-01 -6.81202611e-03 -1.26348448e+02] [-1.03255052e-02 6.48420809e-06 9.99946691e-01 1.71833478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48232058799994 meters 0.023340235901512865 Centerline is valid? [True, True] Translation: X:317.49, Y:-126.38, Z:1.72 [[ 7.50103249e-01 6.61273545e-01 7.90029645e-03 3.17494025e+02] [-6.61236692e-01 7.50144851e-01 -6.98131258e-03 -1.26380369e+02] [-1.05429240e-02 1.27393548e-05 9.99944422e-01 1.71910215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51232058799997 meters 0.02329919229771891 Centerline is valid? [True, True] Translation: X:317.53, Y:-126.41, Z:1.72 [[ 7.48937643e-01 6.62594414e-01 7.81347002e-03 3.17531159e+02] [-6.62558144e-01 7.48978399e-01 -6.93279544e-03 -1.26410010e+02] [-1.04457518e-02 1.53532888e-05 9.99945442e-01 1.71959630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54232058799994 meters 0.023218653671010215 Centerline is valid? [True, True] Translation: X:317.57, Y:-126.44, Z:1.72 [[ 7.47490320e-01 6.64242192e-01 6.36652373e-03 3.17567267e+02] [-6.64217977e-01 7.47517431e-01 -5.67179541e-03 -1.26439331e+02] [-8.52653328e-03 1.08526528e-05 9.99963648e-01 1.71998228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57232058799997 meters 0.02327821138980659 Centerline is valid? [True, True] Translation: X:317.60, Y:-126.47, Z:1.72 [[ 7.45427220e-01 6.66560424e-01 5.95490706e-03 3.17602724e+02] [-6.66539139e-01 7.45451005e-01 -5.32675671e-03 -1.26469364e+02] [-7.98969666e-03 1.53082148e-06 9.99968082e-01 1.72061384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60232058799994 meters 0.023167649412771323 Centerline is valid? [True, True] Translation: X:317.64, Y:-126.50, Z:1.72 [[ 7.42663854e-01 6.69639819e-01 5.73692602e-03 3.17643767e+02] [-6.69619832e-01 7.42686012e-01 -5.17381740e-03 -1.26502611e+02] [-7.72532886e-03 8.47732848e-07 9.99970159e-01 1.72181807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63232058799997 meters 0.023571433624768958 Centerline is valid? [True, True] Translation: X:317.68, Y:-126.53, Z:1.72 [[ 7.40058811e-01 6.72512992e-01 6.26348339e-03 3.17679018e+02] [-6.72489126e-01 7.40085316e-01 -5.66574915e-03 -1.26532731e+02] [-8.44580199e-03 -1.91368888e-05 9.99964333e-01 1.72254295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66232058799994 meters 0.02349442953933287 Centerline is valid? [True, True] Translation: X:317.72, Y:-126.56, Z:1.72 [[ 7.37884835e-01 6.74901995e-01 5.76776891e-03 3.17717238e+02] [-6.74881577e-01 7.37907377e-01 -5.24978559e-03 -1.26564321e+02] [-7.79916999e-03 -1.88238071e-05 9.99969586e-01 1.72353356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.692320588 meters 0.02334722597242805 Centerline is valid? [True, True] Translation: X:317.75, Y:-126.59, Z:1.72 [[ 7.36165253e-01 6.76784091e-01 4.90045692e-03 3.17753208e+02] [-6.76769267e-01 7.36181563e-01 -4.47950301e-03 -1.26593836e+02] [-6.63928241e-03 -1.88241734e-05 9.99977960e-01 1.72368763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72232058799995 meters 0.02320476411360928 Centerline is valid? [True, True] Translation: X:317.79, Y:-126.62, Z:1.72 [[ 7.35108350e-01 6.77937462e-01 4.06349749e-03 3.17788636e+02] [-6.77927184e-01 7.35119580e-01 -3.73307565e-03 -1.26623281e+02] [-5.51794840e-03 -1.05403302e-05 9.99984776e-01 1.72431483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.752320588 meters 0.023240117706118453 Centerline is valid? [True, True] Translation: X:317.82, Y:-126.65, Z:1.72 [[ 7.33912670e-01 6.79234395e-01 3.58184525e-03 3.17823758e+02] [-6.79226347e-01 7.33921410e-01 -3.30664305e-03 -1.26652664e+02] [-4.87477861e-03 -6.09643308e-06 9.99988118e-01 1.72458595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78232058799995 meters 0.023055394765315037 Centerline is valid? [True, True] Translation: X:317.88, Y:-126.70, Z:1.72 [[ 7.30575338e-01 6.82815661e-01 4.73788025e-03 3.17881086e+02] [-6.82801156e-01 7.30590701e-01 -4.45066788e-03 -1.26696817e+02] [-6.50043699e-03 1.65180800e-05 9.99978872e-01 1.72463730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.812320588 meters 0.023121444634909966 Centerline is valid? [True, True] Translation: X:317.92, Y:-126.73, Z:1.72 [[ 7.28960523e-01 6.84513294e-01 7.62275931e-03 3.17918076e+02] [-6.84475967e-01 7.29000377e-01 -7.14849054e-03 -1.26727999e+02] [-1.04502312e-02 -6.62815388e-06 9.99945395e-01 1.72310685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84232058799995 meters 0.02305792560813559 Centerline is valid? [True, True] Translation: X:317.96, Y:-126.76, Z:1.73 [[ 7.27387956e-01 6.86196455e-01 6.41759543e-03 3.17957470e+02] [-6.86169696e-01 7.27416266e-01 -6.06002956e-03 -1.26762778e+02] [-8.82663411e-03 4.43300648e-06 9.99961044e-01 1.72595900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.872320588 meters 0.023007195971087097 Centerline is valid? [True, True] Translation: X:317.99, Y:-126.79, Z:1.73 [[ 7.26670581e-01 6.86962245e-01 5.72188079e-03 3.17993676e+02] [-6.86940822e-01 7.26693108e-01 -5.42529622e-03 -1.26793060e+02] [-7.88502500e-03 1.18096642e-05 9.99968913e-01 1.72590116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90232058799995 meters 0.022957398222056627 Centerline is valid? [True, True] Translation: X:318.03, Y:-126.82, Z:1.72 [[ 7.25451753e-01 6.88251089e-01 5.49485980e-03 3.18030881e+02] [-6.88231170e-01 7.25472562e-01 -5.23625797e-03 -1.26824087e+02] [-7.59023027e-03 1.69187355e-05 9.99971194e-01 1.72499176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.932320588 meters 0.023179315175823435 Centerline is valid? [True, True] Translation: X:318.07, Y:-126.86, Z:1.72 [[ 7.23503420e-01 6.90299686e-01 5.39860692e-03 3.18072222e+02] [-6.90280223e-01 7.23523561e-01 -5.18375368e-03 -1.26857495e+02] [-7.48436284e-03 2.39119281e-05 9.99971991e-01 1.72322949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96232058799995 meters 0.02317645369615017 Centerline is valid? [True, True] Translation: X:318.11, Y:-126.89, Z:1.72 [[ 7.22144838e-01 6.91724938e-01 4.84187830e-03 3.18107945e+02] [-6.91709199e-01 7.22161069e-01 -4.66625462e-03 -1.26888743e+02] [-6.72438069e-03 2.05399238e-05 9.99977391e-01 1.72390734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.992320588 meters 0.023554185631076516 Centerline is valid? [True, True] Translation: X:318.14, Y:-126.92, Z:1.72 [[ 7.19356431e-01 6.94625202e-01 4.70682543e-03 3.18142319e+02] [-6.94610254e-01 7.19371829e-01 -4.55699734e-03 -1.26920545e+02] [-6.55136282e-03 8.69613679e-06 9.99978540e-01 1.72327479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02232058799996 meters 0.023639905218609657 Centerline is valid? [True, True] Translation: X:318.18, Y:-126.95, Z:1.72 [[ 7.17291903e-01 6.96760030e-01 4.21741009e-03 3.18177544e+02] [-6.96747948e-01 7.17304301e-01 -4.10318511e-03 -1.26952145e+02] [-5.88410178e-03 4.70963454e-06 9.99982689e-01 1.72368649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.052320588 meters 0.023539819006439252 Centerline is valid? [True, True] Translation: X:318.21, Y:-126.98, Z:1.72 [[ 7.15390421e-01 6.98714909e-01 3.74449791e-03 3.18211962e+02] [-6.98705317e-01 7.15400220e-01 -3.66114624e-03 -1.26983843e+02] [-5.23691209e-03 2.84834978e-06 9.99986287e-01 1.72408612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08232058799996 meters 0.024143904516498452 Centerline is valid? [True, True] Translation: X:318.25, Y:-127.02, Z:1.72 [[ 7.12858948e-01 7.01292867e-01 4.52059351e-03 3.18246319e+02] [-7.01278829e-01 7.12873281e-01 -4.43716871e-03 -1.27015560e+02] [-6.33436509e-03 -7.12110447e-06 9.99979938e-01 1.72332063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.112320588 meters 0.02422767636741527 Centerline is valid? [True, True] Translation: X:318.28, Y:-127.05, Z:1.72 [[ 7.10903397e-01 7.03274961e-01 4.54858541e-03 3.18281669e+02] [-7.03260655e-01 7.10917948e-01 -4.48573232e-03 -1.27047387e+02] [-6.38837423e-03 -9.91881158e-06 9.99979594e-01 1.72267048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14232058799996 meters 0.024255376214018454 Centerline is valid? [True, True] Translation: X:318.32, Y:-127.08, Z:1.72 [[ 7.08629079e-01 7.05570997e-01 3.79432562e-03 3.18316768e+02] [-7.05560969e-01 7.08639237e-01 -3.76166067e-03 -1.27080022e+02] [-5.34292668e-03 -1.15059302e-05 9.99985726e-01 1.72292532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.172320588 meters 0.024456792449364915 Centerline is valid? [True, True] Translation: X:318.35, Y:-127.11, Z:1.72 [[ 7.06473412e-01 7.07728332e-01 3.99080721e-03 3.18353674e+02] [-7.07717147e-01 7.06484684e-01 -3.97892400e-03 -1.27113408e+02] [-5.63544141e-03 -1.33586718e-05 9.99984121e-01 1.72236581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20232058799996 meters 0.024504368553527594 Centerline is valid? [True, True] Translation: X:318.39, Y:-127.15, Z:1.72 [[ 7.04670093e-01 7.09518319e-01 4.88006611e-03 3.18388665e+02] [-7.09501516e-01 7.04686990e-01 -4.88301778e-03 -1.27145711e+02] [-6.90350967e-03 -2.14977176e-05 9.99976170e-01 1.72170654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23232058799994 meters 0.02464706186625312 Centerline is valid? [True, True] Translation: X:318.42, Y:-127.18, Z:1.72 [[ 7.03332088e-01 7.10832019e-01 6.46647929e-03 3.18424272e+02] [-7.10802326e-01 7.03361813e-01 -6.49714035e-03 -1.27179051e+02] [-9.16664999e-03 -2.67412336e-05 9.99957985e-01 1.72102165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26232058799997 meters 0.024755742619409642 Centerline is valid? [True, True] Translation: X:319.70, Y:-125.92, Z:3.57 [[ 7.64224929e-01 -6.44807607e-01 1.35428086e-02 3.19696705e+02] [-6.44696580e-01 -7.64344801e-01 -1.19727091e-02 -1.25915560e+02] [ 1.80714693e-02 4.18840326e-04 -9.99836610e-01 3.56702821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29232058799994 meters 0.02466369121901521 Centerline is valid? [True, True] Translation: X:318.56, Y:-127.32, Z:1.72 [[ 7.59752896e-01 6.50170000e-01 7.38293619e-03 3.18560333e+02] [-6.50139627e-01 7.59788767e-01 -6.28451873e-03 -1.27316891e+02] [-9.69547753e-03 -2.52580785e-05 9.99952997e-01 1.72208429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32232058799997 meters 0.024625344130252573 Centerline is valid? [True, True] Translation: X:318.60, Y:-127.34, Z:1.72 [[ 7.58620541e-01 6.51496381e-01 6.88040779e-03 3.18596996e+02] [-6.51469730e-01 7.58651742e-01 -5.89284551e-03 -1.27344889e+02] [-9.05900088e-03 -1.19437561e-05 9.99958966e-01 1.72223313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35232058799994 meters 0.024835116359135257 Centerline is valid? [True, True] Translation: X:318.63, Y:-127.37, Z:1.72 [[ 7.57349506e-01 6.52969468e-01 7.25254519e-03 3.18633891e+02] [-6.52939718e-01 7.57384231e-01 -6.23307198e-03 -1.27372528e+02] [-9.56296906e-03 -1.48608233e-05 9.99954274e-01 1.72007600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38232058799997 meters 0.025007056791636447 Centerline is valid? [True, True] Translation: X:318.67, Y:-127.40, Z:1.72 [[ 7.55487954e-01 6.55120371e-01 7.43311819e-03 3.18669577e+02] [-6.55088974e-01 7.55524519e-01 -6.41378085e-03 -1.27401548e+02] [-9.81770154e-03 -2.38195984e-05 9.99951805e-01 1.72023057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41232058799994 meters 0.024719575701733817 Centerline is valid? [True, True] Translation: X:318.72, Y:-127.44, Z:1.72 [[ 7.52796423e-01 6.58214862e-01 7.12328763e-03 3.18715453e+02] [-6.58185596e-01 7.52830124e-01 -6.20684379e-03 -1.27436937e+02] [-9.44806233e-03 -1.59555124e-05 9.99955366e-01 1.72121450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.442320588 meters 0.024565028973786582 Centerline is valid? [True, True] Translation: X:318.75, Y:-127.47, Z:1.72 [[ 7.51114264e-01 6.60143845e-01 6.12089929e-03 3.18751993e+02] [-6.60122194e-01 7.51139203e-01 -5.34655157e-03 -1.27466296e+02] [-8.12714053e-03 -2.46703179e-05 9.99966974e-01 1.72224137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47232058799995 meters 0.024640683477303704 Centerline is valid? [True, True] Translation: X:318.79, Y:-127.50, Z:1.72 [[ 7.49559773e-01 6.61908521e-01 6.10385713e-03 3.18787971e+02] [-6.61886877e-01 7.49584624e-01 -5.35280875e-03 -1.27495701e+02] [-8.11842717e-03 -2.78128279e-05 9.99967045e-01 1.72235249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.502320588 meters 0.02473701800696206 Centerline is valid? [True, True] Translation: X:318.82, Y:-127.52, Z:1.72 [[ 7.48252760e-01 6.63366986e-01 7.87708720e-03 3.18824319e+02] [-6.63330767e-01 7.48294220e-01 -6.93210303e-03 -1.27524909e+02] [-1.04929071e-02 -3.81490667e-05 9.99944947e-01 1.72201108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53232058799995 meters 0.024592572840883047 Centerline is valid? [True, True] Translation: X:318.86, Y:-127.55, Z:1.72 [[ 7.46159016e-01 6.65733791e-01 6.72625871e-03 3.18859622e+02] [-6.65707214e-01 7.46189332e-01 -5.94863810e-03 -1.27554499e+02] [-8.97927188e-03 -3.90889970e-05 9.99959685e-01 1.72402880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.562320588 meters 0.024824167884914244 Centerline is valid? [True, True] Translation: X:318.90, Y:-127.58, Z:1.73 [[ 7.43379518e-01 6.68836827e-01 6.64759492e-03 3.18895638e+02] [-6.68810748e-01 7.43409239e-01 -5.90661911e-03 -1.27584703e+02] [-8.89244786e-03 -5.51232585e-05 9.99960460e-01 1.72504561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59232058799995 meters 0.02498482228393758 Centerline is valid? [True, True] Translation: X:318.93, Y:-127.61, Z:1.72 [[ 7.41297667e-01 6.71144005e-01 6.59490110e-03 3.18933021e+02] [-6.71118182e-01 7.41327000e-01 -5.88769273e-03 -1.27614219e+02] [-8.84046793e-03 -6.14251472e-05 9.99960920e-01 1.72479613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.622320588 meters 0.024777626366682966 Centerline is valid? [True, True] Translation: X:318.97, Y:-127.64, Z:1.72 [[ 7.39759686e-01 6.72830382e-01 7.40835992e-03 3.18971085e+02] [-6.72797588e-01 7.39796778e-01 -6.64325833e-03 -1.27643135e+02] [-9.95046684e-03 -6.99119847e-05 9.99950490e-01 1.72461389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65232058799995 meters 0.025141907745684384 Centerline is valid? [True, True] Translation: X:319.01, Y:-127.67, Z:1.72 [[ 7.37514040e-01 6.75289937e-01 7.51939103e-03 3.19007253e+02] [-6.75256034e-01 7.37552367e-01 -6.76719344e-03 -1.27672382e+02] [-1.01157623e-02 -8.66139945e-05 9.99948831e-01 1.72369649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.682320588 meters 0.025160292980184313 Centerline is valid? [True, True] Translation: X:319.04, Y:-127.70, Z:1.72 [[ 7.34845801e-01 6.78197141e-01 7.09125555e-03 3.19042693e+02] [-6.78166834e-01 7.34880009e-01 -6.41223836e-03 -1.27701774e+02] [-9.55998367e-03 -9.70478938e-05 9.99954298e-01 1.72421225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71232058799995 meters 0.025385070777736902 Centerline is valid? [True, True] Translation: X:319.08, Y:-127.73, Z:1.72 [[ 7.33042454e-01 6.80144134e-01 7.26072931e-03 3.19077429e+02] [-6.80112174e-01 7.33078404e-01 -6.59428531e-03 -1.27731734e+02] [-9.80774832e-03 -1.04219308e-04 9.99951897e-01 1.72479516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.742320588 meters 0.02524615222295694 Centerline is valid? [True, True] Translation: X:319.11, Y:-127.76, Z:1.73 [[ 7.30685991e-01 6.82680534e-01 6.72842184e-03 3.19112870e+02] [-6.82652940e-01 7.30716961e-01 -6.13894877e-03 -1.27761523e+02] [-9.10751278e-03 -1.07533084e-04 9.99958520e-01 1.72776902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77232058799996 meters 0.025603399885323674 Centerline is valid? [True, True] Translation: X:319.15, Y:-127.79, Z:1.73 [[ 7.28255102e-01 6.85271685e-01 6.87191518e-03 3.19150158e+02] [-6.85242738e-01 7.28287514e-01 -6.29973228e-03 -1.27791344e+02] [-9.32175818e-03 -1.21117801e-04 9.99956544e-01 1.72687990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.802320588 meters 0.02606242722924491 Centerline is valid? [True, True] Translation: X:319.19, Y:-127.82, Z:1.73 [[ 7.25413055e-01 6.88278198e-01 7.00155938e-03 3.19185643e+02] [-6.88248070e-01 7.25446828e-01 -6.44149518e-03 -1.27821493e+02] [-9.51279974e-03 -1.46065039e-04 9.99954742e-01 1.72602919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83232058799996 meters 0.02638557308310569 Centerline is valid? [True, True] Translation: X:319.22, Y:-127.85, Z:1.73 [[ 7.22542158e-01 6.91291073e-01 7.03440804e-03 3.19221209e+02] [-6.91260517e-01 7.22576381e-01 -6.50170889e-03 -1.27851614e+02] [-9.57747041e-03 -1.64849760e-04 9.99954121e-01 1.72571057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.862320588 meters 0.026378941616114995 Centerline is valid? [True, True] Translation: X:319.26, Y:-127.88, Z:1.73 [[ 7.20721392e-01 6.93187677e-01 7.17774285e-03 3.19258373e+02] [-6.93155638e-01 7.20757113e-01 -6.66678320e-03 -1.27883326e+02] [-9.79474117e-03 -1.70399658e-04 9.99952016e-01 1.72649724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89232058799996 meters 0.026702387642546243 Centerline is valid? [True, True] Translation: X:319.29, Y:-127.91, Z:1.73 [[ 7.17919228e-01 6.96102143e-01 5.81275848e-03 3.19293937e+02] [-6.96081016e-01 7.17942744e-01 -5.42551439e-03 -1.27914290e+02] [-7.94993997e-03 -1.51069722e-04 9.99968387e-01 1.72768302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.922320588 meters 0.02711719829186882 Centerline is valid? [True, True] Translation: X:319.33, Y:-127.95, Z:1.73 [[ 7.15363254e-01 6.98730823e-01 5.53643703e-03 3.19329740e+02] [-6.98711548e-01 7.15384661e-01 -5.19223270e-03 -1.27945317e+02] [-7.58865516e-03 -1.54040014e-04 9.99971194e-01 1.72796676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95232058799996 meters 0.02727600605751313 Centerline is valid? [True, True] Translation: X:319.37, Y:-127.98, Z:1.73 [[ 7.13604494e-01 7.00518730e-01 6.49121293e-03 3.19365691e+02] [-7.00492082e-01 7.13633993e-01 -6.11287476e-03 -1.27975347e+02] [-8.91453346e-03 -1.84868359e-04 9.99960248e-01 1.72682542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98232058799994 meters 0.02720160213423047 Centerline is valid? [True, True] Translation: X:319.40, Y:-128.01, Z:1.73 [[ 7.12212490e-01 7.01932675e-01 6.62488699e-03 3.19402856e+02] [-7.01904699e-01 7.12243277e-01 -6.26959956e-03 -1.28007128e+02] [-9.11936801e-03 -1.84752203e-04 9.99958401e-01 1.72728123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01232058799997 meters 0.027351206104535532 Centerline is valid? [True, True] Translation: X:319.44, Y:-128.04, Z:1.73 [[ 7.10368428e-01 7.03796395e-01 6.87970110e-03 3.19438523e+02] [-7.03766046e-01 7.10401714e-01 -6.53887141e-03 -1.28038072e+02] [-9.48938557e-03 -1.96692238e-04 9.99954955e-01 1.72678418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04232058799994 meters 0.027406234857884362 Centerline is valid? [True, True] Translation: X:319.47, Y:-128.07, Z:1.73 [[ 7.07964137e-01 7.06231103e-01 4.94073834e-03 3.19474277e+02] [-7.06215332e-01 7.07981361e-01 -4.72193616e-03 -1.28069150e+02] [-6.83272884e-03 -1.46263714e-04 9.99976646e-01 1.72841868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07232058799997 meters 0.02702167745688829 Centerline is valid? [True, True] Translation: X:319.51, Y:-128.10, Z:1.73 [[ 7.06455010e-01 7.07745669e-01 4.16969691e-03 3.19512031e+02] [-7.07734332e-01 7.06467305e-01 -4.00765166e-03 -1.28101540e+02] [-5.78215265e-03 -1.19812061e-04 9.99983276e-01 1.72892110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10232058799994 meters 0.027208462790461203 Centerline is valid? [True, True] Translation: X:319.55, Y:-128.14, Z:1.73 [[ 7.03161153e-01 7.11018195e-01 4.18560497e-03 3.19554481e+02] [-7.11006626e-01 7.03173600e-01 -4.05795070e-03 -1.28138837e+02] [-5.82848370e-03 -1.22599573e-04 9.99983007e-01 1.72884602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13232058799997 meters 0.027064378304285396 Centerline is valid? [True, True] Translation: X:319.59, Y:-128.17, Z:1.73 [[ 7.01325437e-01 7.12828086e-01 4.33021748e-03 3.19590718e+02] [-7.12815662e-01 7.01338792e-01 -4.21078986e-03 -1.28171798e+02] [-6.03851878e-03 -1.33512796e-04 9.99981759e-01 1.72998312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16232058799994 meters 0.027399124212566187 Centerline is valid? [True, True] Translation: X:319.63, Y:-128.20, Z:1.73 [[ 6.98979993e-01 7.15122365e-01 5.19358385e-03 3.19626870e+02] [-7.15104408e-01 6.98999267e-01 -5.07059838e-03 -1.28203653e+02] [-7.25640961e-03 -1.69707884e-04 9.99973658e-01 1.72918130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.192320588 meters 0.027418848097727783 Centerline is valid? [True, True] Translation: X:319.66, Y:-128.24, Z:1.73 [[ 6.96639682e-01 7.17398482e-01 5.70708313e-03 3.19663331e+02] [-7.17376670e-01 6.96663032e-01 -5.59759518e-03 -1.28236302e+02] [-7.99162012e-03 -1.94621370e-04 9.99968048e-01 1.72865269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22232058799995 meters 0.027549478864655776 Centerline is valid? [True, True] Translation: X:319.70, Y:-128.27, Z:1.73 [[ 6.94843887e-01 7.19137350e-01 5.78321885e-03 3.19698729e+02] [-7.19114801e-01 6.94867925e-01 -5.69825917e-03 -1.28268631e+02] [-8.11640428e-03 -1.99397725e-04 9.99967042e-01 1.72918104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.252320588 meters 0.027003465728710516 Centerline is valid? [True, True] Translation: X:319.73, Y:-128.30, Z:1.73 [[ 6.93409643e-01 7.20527725e-01 4.78163572e-03 3.19734695e+02] [-7.20512173e-01 6.93426111e-01 -4.73669057e-03 -1.28301287e+02] [-6.72862795e-03 -1.60759827e-04 9.99977350e-01 1.73053573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28232058799995 meters 0.02699877523788406 Centerline is valid? [True, True] Translation: X:319.77, Y:-128.33, Z:1.73 [[ 6.91597672e-01 7.22267926e-01 4.65857871e-03 3.19771601e+02] [-7.22253025e-01 6.91613345e-01 -4.64205362e-03 -1.28334081e+02] [-6.57474165e-03 -1.54239091e-04 9.99978374e-01 1.73052894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.312320588 meters 0.02699877523788406 Centerline is valid? [True, True] Translation: X:319.81, Y:-128.37, Z:1.73 [[ 6.89858710e-01 7.23929108e-01 4.64831439e-03 3.19807064e+02] [-7.23914175e-01 6.89874353e-01 -4.65234619e-03 -1.28366623e+02] [-6.57472171e-03 -1.55519131e-04 9.99978374e-01 1.73074429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34232058799995 meters 0.027052860797892077 Centerline is valid? [True, True] Translation: X:319.84, Y:-128.40, Z:1.73 [[ 6.88241004e-01 7.25460239e-01 5.63581289e-03 3.19842845e+02] [-7.25438146e-01 6.88264053e-01 -5.66478812e-03 -1.28399534e+02] [-7.98850596e-03 -1.89694192e-04 9.99968073e-01 1.73040758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.372320588 meters 0.02671283756858258 Centerline is valid? [True, True] Translation: X:321.11, Y:-127.15, Z:3.57 [[ 7.76846199e-01 -6.29550982e-01 1.32493340e-02 3.21110127e+02] [-6.29442259e-01 -7.76958796e-01 -1.17248244e-02 -1.27146245e+02] [ 1.76755613e-02 7.68694587e-04 -9.99843480e-01 3.57249981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40232058799995 meters 0.02647073324177398 Centerline is valid? [True, True] Translation: X:319.98, Y:-128.54, Z:1.73 [[ 7.46575083e-01 6.65258627e-01 7.52357601e-03 3.19979817e+02] [-6.65227817e-01 7.46612958e-01 -6.40634496e-03 -1.28539565e+02] [-9.87907559e-03 -2.22074527e-04 9.99951176e-01 1.73276094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.432320588 meters 0.025973393372395185 Centerline is valid? [True, True] Translation: X:320.02, Y:-128.57, Z:1.73 [[ 7.46124878e-01 6.65771850e-01 6.74610098e-03 3.20016317e+02] [-6.65746820e-01 7.46155353e-01 -5.77584952e-03 -1.28568334e+02] [-8.87903738e-03 -1.81690250e-04 9.99960564e-01 1.73317224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46232058799995 meters 0.025729966055433002 Centerline is valid? [True, True] Translation: X:320.05, Y:-128.60, Z:1.73 [[ 7.45421773e-01 6.66565497e-01 6.06776339e-03 3.20052949e+02] [-6.66545101e-01 7.45446453e-01 -5.21680626e-03 -1.28596213e+02] [-8.00053576e-03 -1.55716989e-04 9.99967983e-01 1.73226354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.492320588 meters 0.025405754559066056 Centerline is valid? [True, True] Translation: X:320.09, Y:-128.63, Z:1.73 [[ 7.44076351e-01 6.68076913e-01 4.86019645e-03 3.20089908e+02] [-6.68063711e-01 7.44092214e-01 -4.20168370e-03 -1.28625475e+02] [-6.42348222e-03 -1.20547399e-04 9.99979362e-01 1.73325677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52232058799996 meters 0.025368072142493335 Centerline is valid? [True, True] Translation: X:320.13, Y:-128.66, Z:1.73 [[ 7.42961175e-01 6.69314127e-01 5.22419385e-03 3.20125906e+02] [-6.69298767e-01 7.42979531e-01 -4.53612023e-03 -1.28655655e+02] [-6.91755845e-03 -1.26385287e-04 9.99976065e-01 1.73316781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.552320588 meters 0.025139512095060882 Centerline is valid? [True, True] Translation: X:320.16, Y:-128.68, Z:1.73 [[ 7.42077958e-01 6.70295972e-01 4.85944501e-03 3.20161623e+02] [-6.70282601e-01 7.42093860e-01 -4.23529136e-03 -1.28684993e+02] [-6.44506304e-03 -1.14285075e-04 9.99979224e-01 1.73403623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58232058799996 meters 0.02441825836287154 Centerline is valid? [True, True] Translation: X:320.20, Y:-128.72, Z:1.73 [[ 7.41840151e-01 6.70558017e-01 5.01359643e-03 3.20203845e+02] [-6.70543549e-01 7.41857086e-01 -4.40593918e-03 -1.28716768e+02] [-6.67380988e-03 -9.33321601e-05 9.99977726e-01 1.73283273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.612320588 meters 0.024186679405374754 Centerline is valid? [True, True] Translation: X:320.24, Y:-128.75, Z:1.73 [[ 7.41245550e-01 6.71211918e-01 5.44017464e-03 3.20239713e+02] [-6.71194830e-01 7.41265506e-01 -4.79060737e-03 -1.28746155e+02] [-7.24812657e-03 -1.00400697e-04 9.99973727e-01 1.73214665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64232058799996 meters 0.02382630693640589 Centerline is valid? [True, True] Translation: X:320.28, Y:-128.78, Z:1.73 [[ 7.41235480e-01 6.71224965e-01 5.19716065e-03 3.20275564e+02] [-6.71209240e-01 7.41253695e-01 -4.59524713e-03 -1.28776095e+02] [-6.93685913e-03 -8.22220356e-05 9.99975936e-01 1.73294933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.672320588 meters 0.022849081628891096 Centerline is valid? [True, True] Translation: X:320.33, Y:-128.82, Z:1.74 [[ 7.40504416e-01 6.72037605e-01 4.32055735e-03 3.20325842e+02] [-6.72026432e-01 7.40517020e-01 -3.87533247e-03 -1.28815885e+02] [-5.80381540e-03 -3.38279302e-05 9.99983157e-01 1.73546150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70232058799996 meters 0.022853273523072735 Centerline is valid? [True, True] Translation: X:320.36, Y:-128.85, Z:1.73 [[ 7.39782163e-01 6.72829057e-01 4.83854163e-03 3.20361073e+02] [-6.72815077e-01 7.39797985e-01 -4.33752221e-03 -1.28845512e+02] [-6.49795432e-03 -4.66221934e-05 9.99978887e-01 1.73459038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73232058799994 meters 0.02247684431814768 Centerline is valid? [True, True] Translation: X:320.40, Y:-128.88, Z:1.73 [[ 7.40114931e-01 6.72462802e-01 4.86517032e-03 3.20397033e+02] [-6.72448547e-01 7.40130920e-01 -4.37862036e-03 -1.28875491e+02] [-6.54532230e-03 -3.08944084e-05 9.99978579e-01 1.73369714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76232058799997 meters 0.02235372059255497 Centerline is valid? [True, True] Translation: X:320.43, Y:-128.91, Z:1.73 [[ 7.40121033e-01 6.72451968e-01 5.40434115e-03 3.20432313e+02] [-6.72434247e-01 7.40140764e-01 -4.88194808e-03 -1.28905307e+02] [-7.28284878e-03 -2.08316133e-05 9.99973479e-01 1.73335431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79232058799994 meters 0.02217265643298949 Centerline is valid? [True, True] Translation: X:320.47, Y:-128.94, Z:1.73 [[ 7.39371649e-01 6.73279285e-01 4.95668639e-03 3.20467250e+02] [-6.73264271e-01 7.39388264e-01 -4.49626636e-03 -1.28936582e+02] [-6.69215874e-03 -1.27479729e-05 9.99977607e-01 1.73317127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82232058799997 meters 0.022150690150108118 Centerline is valid? [True, True] Translation: X:320.50, Y:-128.97, Z:1.73 [[ 7.40004188e-01 6.72582610e-01 5.14149143e-03 3.20501913e+02] [-6.72566289e-01 7.40022049e-01 -4.68554709e-03 -1.28967483e+02] [-6.95623451e-03 9.33065777e-06 9.99975805e-01 1.73274041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85232058799994 meters 0.02217339458430209 Centerline is valid? [True, True] Translation: X:320.54, Y:-129.00, Z:1.73 [[ 7.39243276e-01 6.73412459e-01 5.91937823e-03 3.20537666e+02] [-6.73390677e-01 7.39266974e-01 -5.41633536e-03 -1.28997032e+02] [-8.02342855e-03 1.79353814e-05 9.99967812e-01 1.73153035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88232058799997 meters 0.02207257563014096 Centerline is valid? [True, True] Translation: X:320.57, Y:-129.03, Z:1.73 [[ 7.38007683e-01 6.74755525e-01 7.04559922e-03 3.20573935e+02] [-6.74724478e-01 7.38041314e-01 -6.47291850e-03 -1.29025780e+02] [-9.56758083e-03 2.32253367e-05 9.99954229e-01 1.73069952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91232058799994 meters 0.022105611570436865 Centerline is valid? [True, True] Translation: X:320.61, Y:-129.06, Z:1.73 [[ 7.35488797e-01 6.77513775e-01 5.59593582e-03 3.20608779e+02] [-6.77494076e-01 7.35510085e-01 -5.16645799e-03 -1.29056207e+02] [-7.61621369e-03 8.65860615e-06 9.99970996e-01 1.73012997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.942320588 meters 0.02200661285814222 Centerline is valid? [True, True] Translation: X:320.64, Y:-129.09, Z:1.73 [[ 7.33839673e-01 6.79301680e-01 5.34435603e-03 3.20643928e+02] [-6.79283596e-01 7.33859133e-01 -4.95662879e-03 -1.29086560e+02] [-7.28905075e-03 7.03746581e-06 9.99973434e-01 1.73127614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97232058799995 meters 0.02204723849797727 Centerline is valid? [True, True] Translation: X:320.68, Y:-129.12, Z:1.73 [[ 7.30079886e-01 6.83352564e-01 3.55431022e-03 3.20677637e+02] [-6.83344522e-01 7.30088538e-01 -3.31521108e-03 -1.29118446e+02] [-4.86041915e-03 -8.44948822e-06 9.99988188e-01 1.73490912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.002320588 meters 0.02218133662131205 Centerline is valid? [True, True] Translation: X:320.71, Y:-129.15, Z:1.73 [[ 7.28280800e-01 6.85267920e-01 3.86713578e-03 3.20713320e+02] [-6.85258348e-01 7.28291067e-01 -3.62185997e-03 -1.29148054e+02] [-5.29834489e-03 -1.22560063e-05 9.99985964e-01 1.73444325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03232058799995 meters 0.022063704232956654 Centerline is valid? [True, True] Translation: X:320.77, Y:-129.19, Z:1.73 [[ 7.25510189e-01 6.88197617e-01 4.35949927e-03 3.20765451e+02] [-6.88185161e-01 7.25523287e-01 -4.14060116e-03 -1.29188055e+02] [-6.01247009e-03 3.90562429e-06 9.99981925e-01 1.73303985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.062320588 meters 0.022039648783333095 Centerline is valid? [True, True] Translation: X:320.80, Y:-129.22, Z:1.73 [[ 7.24863483e-01 6.88874260e-01 5.01837887e-03 3.20800881e+02] [-6.88857774e-01 7.24880855e-01 -4.76592543e-03 -1.29218213e+02] [-6.92085012e-03 -2.30399361e-06 9.99976051e-01 1.73347264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09232058799995 meters 0.02189803885323705 Centerline is valid? [True, True] Translation: X:320.84, Y:-129.25, Z:1.73 [[ 7.24085909e-01 6.89691494e-01 5.02396505e-03 3.20835204e+02] [-6.89674844e-01 7.24103338e-01 -4.79233135e-03 -1.29248580e+02] [-6.94310003e-03 5.15729197e-06 9.99975896e-01 1.73420950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.122320588 meters 0.022046033888094247 Centerline is valid? [True, True] Translation: X:320.87, Y:-129.28, Z:1.74 [[ 7.22959233e-01 6.90879255e-01 3.97532266e-03 3.20871336e+02] [-6.90868720e-01 7.22970162e-01 -3.81530034e-03 -1.29281541e+02] [-5.50995152e-03 1.18805233e-05 9.99984820e-01 1.73565805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15232058799995 meters 0.021810894567010908 Centerline is valid? [True, True] Translation: X:320.91, Y:-129.31, Z:1.74 [[ 7.21445485e-01 6.92460959e-01 3.77266067e-03 3.20906840e+02] [-6.92451413e-01 7.21455349e-01 -3.63591608e-03 -1.29311875e+02] [-5.23953615e-03 1.07310191e-05 9.99986273e-01 1.73533279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.182320588 meters 0.02195883979407569 Centerline is valid? [True, True] Translation: X:320.95, Y:-129.34, Z:1.73 [[ 7.19442603e-01 6.94539477e-01 4.15413796e-03 3.20945251e+02] [-6.94527798e-01 7.19454596e-01 -4.02774932e-03 -1.29344081e+02] [-5.78614455e-03 1.25701697e-05 9.99983260e-01 1.73402404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21232058799995 meters 0.021905096265202356 Centerline is valid? [True, True] Translation: X:320.98, Y:-129.38, Z:1.73 [[ 7.17960609e-01 6.96069990e-01 4.37421866e-03 3.20981391e+02] [-6.96056963e-01 7.17973934e-01 -4.25847326e-03 -1.29376077e+02] [-6.10477042e-03 1.27106967e-05 9.99981366e-01 1.73424759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.242320588 meters 0.021744918774706957 Centerline is valid? [True, True] Translation: X:321.02, Y:-129.41, Z:1.74 [[ 7.17181347e-01 6.96869367e-01 4.89905409e-03 3.21015933e+02] [-6.96852915e-01 7.17198079e-01 -4.78849648e-03 -1.29407310e+02] [-6.85054869e-03 2.03002262e-05 9.99976535e-01 1.73512184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27232058799996 meters 0.02201854831101726 Centerline is valid? [True, True] Translation: X:321.05, Y:-129.44, Z:1.74 [[ 7.15464016e-01 6.98637149e-01 4.16843903e-03 3.21050684e+02] [-6.98625146e-01 7.15476158e-01 -4.09528961e-03 -1.29439629e+02] [-5.84354020e-03 1.78560217e-05 9.99982926e-01 1.73652599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.302320588 meters 0.02167856159624752 Centerline is valid? [True, True] Translation: X:321.09, Y:-129.47, Z:1.74 [[ 7.14036824e-01 7.00099310e-01 3.51731411e-03 3.21087773e+02] [-7.00090682e-01 7.14045486e-01 -3.47576873e-03 -1.29472486e+02] [-4.94490555e-03 1.93880345e-05 9.99987774e-01 1.73709155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33232058799996 meters 0.021829461466915986 Centerline is valid? [True, True] Translation: X:321.12, Y:-129.50, Z:1.74 [[ 7.10570285e-01 7.03621980e-01 2.44512693e-03 3.21122869e+02] [-7.03617780e-01 7.10574492e-01 -2.43114940e-03 -1.29504533e+02] [-3.44805498e-03 7.06773997e-06 9.99994055e-01 1.73728045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.362320588 meters 0.021733740719063904 Centerline is valid? [True, True] Translation: X:321.16, Y:-129.54, Z:1.74 [[ 7.07865614e-01 7.06343708e-01 2.19995718e-03 3.21164038e+02] [-7.06340245e-01 7.07869032e-01 -2.21166295e-03 -1.29542014e+02] [-3.11947577e-03 1.16418545e-05 9.99995134e-01 1.73764378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39232058799996 meters 0.02188357600236503 Centerline is valid? [True, True] Translation: X:321.20, Y:-129.58, Z:1.74 [[ 7.05211539e-01 7.08996476e-01 8.26244959e-04 3.21199252e+02] [-7.08995978e-01 7.05212022e-01 -8.40926104e-04 -1.29575791e+02] [-1.17889152e-03 7.22643895e-06 9.99999305e-01 1.73931962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.422320588 meters 0.021864669288561425 Centerline is valid? [True, True] Translation: X:322.47, Y:-128.31, Z:3.58 [[ 7.64448024e-01 -6.44645595e-01 7.16064700e-03 3.22469866e+02] [-6.44612627e-01 -7.64481468e-01 -6.53043099e-03 -1.28311886e+02] [ 9.68399551e-03 3.76331591e-04 -9.99953038e-01 3.57968642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45232058799996 meters 0.021854511007504174 Centerline is valid? [True, True] Translation: X:321.34, Y:-129.71, Z:1.74 [[ 7.59709318e-01 6.50262040e-01 1.01562508e-03 3.21335849e+02] [-6.50261466e-01 7.59709997e-01 -8.64394942e-04 -1.29711794e+02] [-1.33366374e-03 -3.73296214e-06 9.99999111e-01 1.73988399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48232058799994 meters 0.022026082650647826 Centerline is valid? [True, True] Translation: X:321.37, Y:-129.74, Z:1.74 [[ 7.58509712e-01 6.51660207e-01 1.41092802e-03 3.21372062e+02] [-6.51659079e-01 7.58511024e-01 -1.21279548e-03 -1.29739751e+02] [-1.86053501e-03 4.73096898e-07 9.99998269e-01 1.73882348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51232058799997 meters 0.021871723488538435 Centerline is valid? [True, True] Translation: X:321.41, Y:-129.77, Z:1.74 [[ 7.57477599e-01 6.52859488e-01 1.47471568e-03 3.21408929e+02] [-6.52858248e-01 7.57479035e-01 -1.27252747e-03 -1.29768354e+02] [-1.94784784e-03 1.13075933e-06 9.99998103e-01 1.73894030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54232058799994 meters 0.021809409742529214 Centerline is valid? [True, True] Translation: X:321.44, Y:-129.80, Z:1.74 [[ 7.56973692e-01 6.53445052e-01 6.27499039e-04 3.21444493e+02] [-6.53444821e-01 7.56973952e-01 -5.49470601e-04 -1.29796614e+02] [-8.34049272e-04 5.89879133e-06 9.99999652e-01 1.73963507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57232058799997 meters 0.021877944135973538 Centerline is valid? [True, True] Translation: X:321.48, Y:-129.83, Z:1.74 [[ 7.56251415e-01 6.54280351e-01 1.01030139e-03 3.21480320e+02] [-6.54279757e-01 7.56252089e-01 -8.81572099e-04 -1.29825244e+02] [-1.34083784e-03 5.67039784e-06 9.99999101e-01 1.74015734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60232058799994 meters 0.02189856000623774 Centerline is valid? [True, True] Translation: X:321.53, Y:-129.86, Z:1.74 [[ 7.53941418e-01 6.56941401e-01 5.77471805e-04 3.21529040e+02] [-6.56941191e-01 7.53941639e-01 -5.25699839e-04 -1.29861815e+02] [-7.80734027e-04 1.69818671e-05 9.99999695e-01 1.74226665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63232058799997 meters 0.02193876104025235 Centerline is valid? [True, True] Translation: X:321.57, Y:-129.89, Z:1.74 [[ 7.52769327e-01 6.58282398e-01 1.62020912e-03 3.21565105e+02] [-6.58280856e-01 7.52771070e-01 -1.42478084e-03 -1.29890032e+02] [-2.15755470e-03 5.97866304e-06 9.99997672e-01 1.74137811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66232058799994 meters 0.022075757820437053 Centerline is valid? [True, True] Translation: X:321.61, Y:-129.92, Z:1.74 [[ 7.50376827e-01 6.61009000e-01 1.31094359e-03 3.21611175e+02] [-6.61007956e-01 7.50377972e-01 -1.17540901e-03 -1.29924440e+02] [-1.76065913e-03 1.54555449e-05 9.99998450e-01 1.73915036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.692320588 meters 0.021970664062772323 Centerline is valid? [True, True] Translation: X:321.65, Y:-129.95, Z:1.74 [[ 7.49660641e-01 6.61820953e-01 1.39635162e-03 3.21647027e+02] [-6.61819783e-01 7.49661942e-01 -1.24434134e-03 -1.29953232e+02] [-1.87032284e-03 8.70060598e-06 9.99998251e-01 1.74015894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72232058799995 meters 0.022067724949821753 Centerline is valid? [True, True] Translation: X:321.68, Y:-129.98, Z:1.74 [[ 7.48059529e-01 6.63629678e-01 1.61021856e-03 3.21682662e+02] [-6.63628113e-01 7.48061262e-01 -1.44095169e-03 -1.29983036e+02] [-2.16080043e-03 9.33133841e-06 9.99997665e-01 1.74033534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.752320588 meters 0.022130980555229756 Centerline is valid? [True, True] Translation: X:321.72, Y:-130.01, Z:1.74 [[ 7.46204202e-01 6.65716939e-01 4.95043213e-04 3.21718305e+02] [-6.65716785e-01 7.46204367e-01 -4.53630253e-04 -1.30012161e+02] [-6.71392750e-04 8.94222485e-06 9.99999775e-01 1.74292311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78232058799995 meters 0.021918659747156413 Centerline is valid? [True, True] Translation: X:321.77, Y:-130.05, Z:1.74 [[ 7.43201108e-01 6.69067230e-01 1.07444840e-03 3.21769585e+02] [-6.69066491e-01 7.43201885e-01 -9.94424050e-04 -1.30052000e+02] [-1.46386862e-03 2.01796330e-05 9.99998928e-01 1.74307542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.812320588 meters 0.02200892367577932 Centerline is valid? [True, True] Translation: X:321.81, Y:-130.08, Z:1.74 [[ 7.40819947e-01 6.71703167e-01 8.13617979e-04 3.21805820e+02] [-6.71702751e-01 7.40820393e-01 -7.47973935e-04 -1.30081535e+02] [-1.10516125e-03 7.60457565e-06 9.99999389e-01 1.74374171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84232058799995 meters 0.02210220217078858 Centerline is valid? [True, True] Translation: X:321.84, Y:-130.11, Z:1.74 [[ 7.39828379e-01 6.72794887e-01 1.00454934e-03 3.21841699e+02] [-6.72794254e-01 7.39829061e-01 -9.22767335e-04 -1.30110573e+02] [-1.36402794e-03 6.83443458e-06 9.99999070e-01 1.74356707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.872320588 meters 0.0219256135465891 Centerline is valid? [True, True] Translation: X:321.88, Y:-130.14, Z:1.74 [[ 7.37594849e-01 6.75243501e-01 2.29465227e-04 3.21881447e+02] [-6.75243463e-01 7.37594885e-01 -2.26017466e-04 -1.30143127e+02] [-3.21869203e-04 1.17644242e-05 9.99999948e-01 1.74455451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90232058799995 meters 0.021850171976803705 Centerline is valid? [True, True] Translation: X:321.92, Y:-130.17, Z:1.75 [[ 7.35956838e-01 6.77027849e-01 -9.08506090e-04 3.21915955e+02] [-6.77027352e-01 7.35957398e-01 8.20218713e-04 -1.30173443e+02] [ 1.22393269e-03 1.14379020e-05 9.99999251e-01 1.74779945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.932320588 meters 0.021853881594986437 Centerline is valid? [True, True] Translation: X:321.95, Y:-130.20, Z:1.75 [[ 7.34558058e-01 6.78545032e-01 -1.04834945e-03 3.21950981e+02] [-6.78544363e-01 7.34558806e-01 9.52652562e-04 -1.30204062e+02] [ 1.41649198e-03 1.15729907e-05 9.99998997e-01 1.74840095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96232058799995 meters 0.021887497501362818 Centerline is valid? [True, True] Translation: X:321.99, Y:-130.23, Z:1.75 [[ 7.33565676e-01 6.79617794e-01 -1.02660167e-03 3.21986498e+02] [-6.79617147e-01 7.33566394e-01 9.37724249e-04 -1.30234618e+02] [ 1.39037457e-03 9.81377333e-06 9.99999033e-01 1.74865966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.992320588 meters 0.021977710054622773 Centerline is valid? [True, True] Translation: X:322.02, Y:-130.26, Z:1.75 [[ 7.31613142e-01 6.81720035e-01 -7.30504554e-05 3.22022093e+02] [-6.81720032e-01 7.31613145e-01 5.51053659e-05 -1.30264483e+02] [ 9.10111060e-05 9.48414893e-06 9.99999996e-01 1.74709338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02232058799996 meters 0.02196375874896915 Centerline is valid? [True, True] Translation: X:322.06, Y:-130.29, Z:1.75 [[ 7.30373216e-01 6.83048213e-01 -3.23599123e-04 3.22058041e+02] [-6.83048152e-01 7.30373287e-01 2.89051468e-04 -1.30294378e+02] [ 4.33784245e-04 9.91833244e-06 9.99999906e-01 1.74709707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.052320588 meters 0.02199774060982199 Centerline is valid? [True, True] Translation: X:322.09, Y:-130.32, Z:1.75 [[ 7.30025038e-01 6.83420136e-01 -6.01074994e-04 3.22093608e+02] [-6.83419914e-01 7.30025286e-01 5.50263188e-04 -1.30323460e+02] [ 8.14860887e-04 9.08071589e-06 9.99999668e-01 1.74700197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08232058799996 meters 0.021866824234124543 Centerline is valid? [True, True] Translation: X:322.13, Y:-130.35, Z:1.75 [[ 7.29167646e-01 6.84334889e-01 -5.50480434e-04 3.22129113e+02] [-6.84334703e-01 7.29167854e-01 5.05165545e-04 -1.30353884e+02] [ 7.47095045e-04 8.36249336e-06 9.99999721e-01 1.74776294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.112320588 meters 0.022065336021496074 Centerline is valid? [True, True] Translation: X:322.16, Y:-130.38, Z:1.75 [[ 7.27210834e-01 6.86413913e-01 -5.85432121e-04 3.22164040e+02] [-6.86413701e-01 7.27211070e-01 5.40166197e-04 -1.30384969e+02] [ 7.96510313e-04 9.03391787e-06 9.99999683e-01 1.74829465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14232058799996 meters 0.022112820134346286 Centerline is valid? [True, True] Translation: X:322.20, Y:-130.42, Z:1.75 [[ 7.24929793e-01 6.88822608e-01 4.58125693e-04 3.22200523e+02] [-6.88822461e-01 7.24929938e-01 -4.49523750e-04 -1.30418675e+02] [-6.41751151e-04 1.03058923e-05 9.99999794e-01 1.74946356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.172320588 meters 0.022301771693566754 Centerline is valid? [True, True] Translation: X:322.24, Y:-130.45, Z:1.75 [[ 7.22473279e-01 6.91398803e-01 2.35448711e-04 3.22235621e+02] [-6.91398762e-01 7.22473318e-01 -2.37886089e-04 -1.30450599e+02] [-3.34579568e-04 9.07739559e-06 9.99999944e-01 1.75072567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20232058799996 meters 0.022282316597499637 Centerline is valid? [True, True] Translation: X:322.27, Y:-130.48, Z:1.75 [[ 7.20074319e-01 6.93896948e-01 -2.77870575e-05 3.22272903e+02] [-6.93896948e-01 7.20074320e-01 1.21794919e-05 -1.30482568e+02] [ 2.84600594e-05 1.05112151e-05 1.00000000e+00 1.74881185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23232058799994 meters 0.022282316597499637 Centerline is valid? [True, True] Translation: X:322.31, Y:-130.51, Z:1.75 [[ 7.18543141e-01 6.95482390e-01 -2.69830385e-05 3.22307167e+02] [-6.95482390e-01 7.18543141e-01 1.30327605e-05 -1.30512880e+02] [ 2.84525332e-05 9.40162746e-06 1.00000000e+00 1.74901472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26232058799997 meters 0.022278167438669692 Centerline is valid? [True, True] Translation: X:322.34, Y:-130.54, Z:1.75 [[ 7.17416717e-01 6.96643986e-01 6.40625376e-04 3.22342885e+02] [-6.96643698e-01 7.17417003e-01 -6.33144518e-04 -1.30543327e+02] [-9.00671858e-04 7.94083002e-06 9.99999594e-01 1.74831256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29232058799994 meters 0.02246219262296961 Centerline is valid? [True, True] Translation: X:322.38, Y:-130.57, Z:1.75 [[ 7.15645718e-01 6.98462771e-01 9.81747141e-04 3.22378195e+02] [-6.98462101e-01 7.15646392e-01 -9.67513495e-04 -1.30574584e+02] [-1.37835595e-03 6.68371980e-06 9.99999050e-01 1.74757546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32232058799997 meters 0.022345475501650783 Centerline is valid? [True, True] Translation: X:322.41, Y:-130.61, Z:1.75 [[ 7.14093791e-01 7.00049637e-01 7.49835632e-04 3.22413651e+02] [-7.00049240e-01 7.14094185e-01 -7.46457723e-04 -1.30607498e+02] [-1.05801072e-03 8.11896185e-06 9.99999440e-01 1.74850680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35232058799994 meters 0.02256206576792961 Centerline is valid? [True, True] Translation: X:322.45, Y:-130.64, Z:1.75 [[ 7.12260067e-01 7.01915063e-01 9.16997899e-04 3.22448018e+02] [-7.01914470e-01 7.12260657e-01 -9.12995995e-04 -1.30639051e+02] [-1.29398717e-03 6.63649453e-06 9.99999163e-01 1.74835420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38232058799997 meters 0.022606425375383987 Centerline is valid? [True, True] Translation: X:322.48, Y:-130.67, Z:1.75 [[ 7.10288111e-01 7.03905162e-01 2.88470255e-03 3.22482625e+02] [-7.03899368e-01 7.10293969e-01 -2.85616308e-03 -1.30670784e+02] [-4.05945476e-03 -1.84162269e-06 9.99991760e-01 1.74806558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41232058799994 meters 0.022573035170861757 Centerline is valid? [True, True] Translation: X:322.52, Y:-130.70, Z:1.75 [[ 7.08552907e-01 7.05650734e-01 3.13352391e-03 3.22517485e+02] [-7.05643854e-01 7.08559836e-01 -3.11614564e-03 -1.30702819e+02] [-4.41919965e-03 -3.19783758e-06 9.99990235e-01 1.74867867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.442320588 meters 0.022474876707812636 Centerline is valid? [True, True] Translation: X:322.55, Y:-130.73, Z:1.75 [[ 7.07162733e-01 7.07046663e-01 2.42581897e-03 3.22552663e+02] [-7.07042500e-01 7.07166894e-01 -2.42636686e-03 -1.30734761e+02] [-3.43101346e-03 6.79112774e-07 9.99994114e-01 1.74916290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47232058799995 meters 0.022449713976286353 Centerline is valid? [True, True] Translation: X:322.60, Y:-130.78, Z:1.75 [[ 7.04118426e-01 7.10077932e-01 2.56372165e-03 3.22598767e+02] [-7.10073168e-01 7.04123094e-01 -2.60090572e-03 -1.30776395e+02] [-3.65202138e-03 1.09156873e-05 9.99993331e-01 1.74995989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.502320588 meters 0.022437336424439795 Centerline is valid? [True, True] Translation: X:323.87, Y:-129.52, Z:3.58 [[ 7.63094733e-01 -6.46232123e-01 8.39473185e-03 3.23867616e+02] [-6.46187528e-01 -7.63140814e-01 -7.60106820e-03 -1.29518562e+02] [ 1.13184169e-02 3.75764081e-04 -9.99935874e-01 3.58393934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53232058799995 meters 0.022480695674039236 Centerline is valid? [True, True] Translation: X:322.73, Y:-130.91, Z:1.75 [[ 7.59193680e-01 6.50858442e-01 2.87128832e-03 3.22733295e+02] [-6.50853838e-01 7.59199109e-01 -2.44820648e-03 -1.30913499e+02] [-3.77331539e-03 -1.01261353e-05 9.99992881e-01 1.75143491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.562320588 meters 0.02272127974594467 Centerline is valid? [True, True] Translation: X:322.77, Y:-130.94, Z:1.75 [[ 7.57708963e-01 6.52584604e-01 3.23445357e-03 3.22769161e+02] [-6.52578698e-01 7.57715866e-01 -2.77638904e-03 -1.30941040e+02] [-4.26262553e-03 -7.04064385e-06 9.99990915e-01 1.75081764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59232058799995 meters 0.022845618824660737 Centerline is valid? [True, True] Translation: X:322.80, Y:-130.97, Z:1.75 [[ 7.55993500e-01 6.54570415e-01 3.37623100e-03 3.22804526e+02] [-6.54563952e-01 7.56001039e-01 -2.90880916e-03 -1.30969712e+02] [-4.45645457e-03 -1.09182898e-05 9.99990070e-01 1.75027851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.622320588 meters 0.023034756042612313 Centerline is valid? [True, True] Translation: X:322.84, Y:-131.00, Z:1.75 [[ 7.54793817e-01 6.55959075e-01 1.99658018e-03 3.22840080e+02] [-6.55956789e-01 7.54796457e-01 -1.73161782e-03 -1.30999298e+02] [-2.64288206e-03 -2.65590065e-06 9.99996508e-01 1.75151119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65232058799995 meters 0.023010367593870644 Centerline is valid? [True, True] Translation: X:322.88, Y:-131.03, Z:1.75 [[ 7.54010751e-01 6.56856310e-01 2.75244568e-03 3.22876260e+02] [-6.56851953e-01 7.54015774e-01 -2.39250620e-03 -1.31028608e+02] [-3.64692026e-03 -3.97392270e-06 9.99993350e-01 1.75179471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.682320588 meters 0.02294184512338998 Centerline is valid? [True, True] Translation: X:322.92, Y:-131.06, Z:1.75 [[ 7.52489844e-01 6.58598653e-01 2.61699062e-03 3.22916597e+02] [-6.58594661e-01 7.52494395e-01 -2.29320325e-03 -1.31059197e+02] [-3.47957134e-03 2.07611288e-06 9.99993946e-01 1.75153020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71232058799995 meters 0.02294045224317388 Centerline is valid? [True, True] Translation: X:322.96, Y:-131.09, Z:1.75 [[ 7.51181584e-01 6.60089934e-01 2.73993767e-03 3.22958977e+02] [-6.60085513e-01 7.51186581e-01 -2.41605397e-03 -1.31091282e+02] [-3.65301731e-03 6.30208309e-06 9.99993328e-01 1.75025202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.742320588 meters 0.02304252058388226 Centerline is valid? [True, True] Translation: X:323.00, Y:-131.12, Z:1.75 [[ 7.50742716e-01 6.60585654e-01 3.45951475e-03 3.22996054e+02] [-6.60578604e-01 7.50750686e-01 -3.05206295e-03 -1.31119879e+02] [-4.61338207e-03 6.03260771e-06 9.99989358e-01 1.74984713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77232058799996 meters 0.02273683641635888 Centerline is valid? [True, True] Translation: X:323.03, Y:-131.15, Z:1.75 [[ 7.49646110e-01 6.61834171e-01 2.49808040e-03 3.23032066e+02] [-6.61830464e-01 7.49650272e-01 -2.21523392e-03 -1.31148766e+02] [-3.33880416e-03 7.33578207e-06 9.99994426e-01 1.74940755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.802320588 meters 0.0227285805888585 Centerline is valid? [True, True] Translation: X:323.07, Y:-131.18, Z:1.75 [[ 7.48478433e-01 6.63155351e-01 2.23934706e-03 3.23067989e+02] [-6.63152351e-01 7.48481783e-01 -1.99499176e-03 -1.31178839e+02] [-2.99909994e-03 8.18004455e-06 9.99995503e-01 1.75021259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83232058799996 meters 0.022662064678069412 Centerline is valid? [True, True] Translation: X:323.10, Y:-131.21, Z:1.75 [[ 7.47446393e-01 6.64320040e-01 1.66544451e-03 3.23104110e+02] [-6.64318364e-01 7.47448248e-01 -1.49237013e-03 -1.31208333e+02] [-2.23624497e-03 9.08129344e-06 9.99997500e-01 1.75075389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.862320588 meters 0.02257801591932886 Centerline is valid? [True, True] Translation: X:323.14, Y:-131.24, Z:1.75 [[ 7.45706080e-01 6.66267579e-01 3.15522626e-03 3.23141938e+02] [-6.66261553e-01 7.45712755e-01 -2.83368189e-03 -1.31238576e+02] [-4.24088284e-03 1.08878716e-05 9.99991007e-01 1.74945591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89232058799996 meters 0.022559313145579487 Centerline is valid? [True, True] Translation: X:323.18, Y:-131.27, Z:1.75 [[ 7.44810994e-01 6.67271106e-01 2.41972566e-03 3.23178148e+02] [-6.67267537e-01 7.44814924e-01 -2.18232023e-03 -1.31267334e+02] [-3.25844701e-03 1.08117183e-05 9.99994691e-01 1.74934594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.922320588 meters 0.022622748494094753 Centerline is valid? [True, True] Translation: X:323.21, Y:-131.30, Z:1.75 [[ 7.43408722e-01 6.68833883e-01 2.16997283e-03 3.23214005e+02] [-6.68830987e-01 7.43411889e-01 -1.96822375e-03 -1.31297006e+02] [-2.92959833e-03 1.18496362e-05 9.99995709e-01 1.74885411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95232058799996 meters 0.022557142589756107 Centerline is valid? [True, True] Translation: X:323.25, Y:-131.33, Z:1.75 [[ 7.41947741e-01 6.70455544e-01 1.70701444e-03 3.23249048e+02] [-6.70453734e-01 7.41949704e-01 -1.55785617e-03 -1.31326914e+02] [-2.31099216e-03 1.13736642e-05 9.99997330e-01 1.75063571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98232058799994 meters 0.02252268906151338 Centerline is valid? [True, True] Translation: X:323.29, Y:-131.36, Z:1.75 [[ 7.39193785e-01 6.73488633e-01 2.36858809e-03 3.23289818e+02] [-6.73485114e-01 7.39197579e-01 -2.17706673e-03 -1.31361208e+02] [-3.21708428e-03 1.40653759e-05 9.99994825e-01 1.75202484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01232058799997 meters 0.0225983894147163 Centerline is valid? [True, True] Translation: X:323.33, Y:-131.39, Z:1.75 [[ 7.37408133e-01 6.75440783e-01 2.99912600e-03 3.23329782e+02] [-6.75435121e-01 7.37414231e-01 -2.76551047e-03 -1.31393357e+02] [-4.07953676e-03 1.35948790e-05 9.99991679e-01 1.75224329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04232058799994 meters 0.022655583713250244 Centerline is valid? [True, True] Translation: X:323.37, Y:-131.42, Z:1.75 [[ 7.35893069e-01 6.77091731e-01 2.85996116e-03 3.23365817e+02] [-6.77086562e-01 7.35898626e-01 -2.64560405e-03 -1.31422534e+02] [-3.89595811e-03 1.04404177e-05 9.99992411e-01 1.75161165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07232058799997 meters 0.022541661704640444 Centerline is valid? [True, True] Translation: X:323.41, Y:-131.46, Z:1.75 [[ 7.34322509e-01 6.78798546e-01 1.72812733e-03 3.23407413e+02] [-6.78796612e-01 7.34324542e-01 -1.62043935e-03 -1.31455497e+02] [-2.36895819e-03 1.68781183e-05 9.99997194e-01 1.75204023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10232058799994 meters 0.022589784770809335 Centerline is valid? [True, True] Translation: X:323.44, Y:-131.49, Z:1.75 [[ 7.33128049e-01 6.80084025e-01 2.99721769e-03 3.23443058e+02] [-6.80078262e-01 7.33134175e-01 -2.79988169e-03 -1.31485306e+02] [-4.10151753e-03 1.43292017e-05 9.99991589e-01 1.75043132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13232058799997 meters 0.02238051166373412 Centerline is valid? [True, True] Translation: X:323.48, Y:-131.52, Z:1.75 [[ 7.31954751e-01 6.81350093e-01 2.07196869e-03 3.23477590e+02] [-6.81347306e-01 7.31957683e-01 -1.94899683e-03 -1.31515991e+02] [-2.84454258e-03 1.48472051e-05 9.99995954e-01 1.75293145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16232058799994 meters 0.022264713809697446 Centerline is valid? [True, True] Translation: X:323.51, Y:-131.55, Z:1.75 [[ 7.29461356e-01 6.84019979e-01 1.67261445e-03 3.23513261e+02] [-6.84018144e-01 7.29463274e-01 -1.58453153e-03 -1.31548542e+02] [-2.30396203e-03 1.17558827e-05 9.99997346e-01 1.75473637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.192320588 meters 0.022256735732692077 Centerline is valid? [True, True] Translation: X:323.55, Y:-131.58, Z:1.75 [[ 7.28562029e-01 6.84977583e-01 1.75536683e-03 3.23548739e+02] [-6.84975551e-01 7.28564143e-01 -1.66832961e-03 -1.31578514e+02] [-2.42166571e-03 1.30982395e-05 9.99997068e-01 1.75442508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22232058799995 meters 0.02232200419168677 Centerline is valid? [True, True] Translation: X:323.58, Y:-131.61, Z:1.75 [[ 7.27587619e-01 6.86011131e-01 2.23266494e-03 3.23584265e+02] [-6.86007831e-01 7.27591044e-01 -2.12787255e-03 -1.31608155e+02] [-3.08421126e-03 1.65880875e-05 9.99995244e-01 1.75311794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.252320588 meters 0.022223516666909002 Centerline is valid? [True, True] Translation: X:323.62, Y:-131.64, Z:1.75 [[ 7.26488527e-01 6.87177112e-01 1.42700414e-03 3.23620433e+02] [-6.87175744e-01 7.26489929e-01 -1.37115545e-03 -1.31638765e+02] [-1.97893078e-03 1.55260706e-05 9.99998042e-01 1.75458557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28232058799995 meters 0.022298260407720163 Centerline is valid? [True, True] Translation: X:323.65, Y:-131.67, Z:1.75 [[ 7.24106036e-01 6.89685812e-01 1.98239681e-03 3.23654936e+02] [-6.89683174e-01 7.24108749e-01 -1.90773803e-03 -1.31670172e+02] [-2.75121073e-03 1.41788933e-05 9.99996215e-01 1.75491028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.312320588 meters 0.022267150239591305 Centerline is valid? [True, True] Translation: X:323.69, Y:-131.70, Z:1.76 [[ 7.22447848e-01 6.91422976e-01 1.83712189e-03 3.23690288e+02] [-6.91420692e-01 7.22450184e-01 -1.77723574e-03 -1.31701831e+02] [-2.55605067e-03 1.37360540e-05 9.99996733e-01 1.75594011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34232058799995 meters 0.02247506381970969 Centerline is valid? [True, True] Translation: X:323.74, Y:-131.74, Z:1.76 [[ 7.18722850e-01 6.95296044e-01 9.36249575e-04 3.23736452e+02] [-6.95295417e-01 7.18723459e-01 -9.33667046e-04 -1.31742209e+02] [-1.32207954e-03 2.00778015e-05 9.99999126e-01 1.75650454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.372320588 meters 0.022134907740934844 Centerline is valid? [True, True] Translation: X:323.77, Y:-131.77, Z:1.76 [[ 7.17484878e-01 6.96574063e-01 -1.58621678e-04 3.23772123e+02] [-6.96574049e-01 7.17484895e-01 1.41045794e-04 -1.31772969e+02] [ 2.12057500e-04 9.29352003e-06 9.99999977e-01 1.75622420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40232058799995 meters 0.022122454333964495 Centerline is valid? [True, True] Translation: X:323.81, Y:-131.80, Z:1.75 [[ 7.15375760e-01 6.98739320e-01 9.40533345e-04 3.23808118e+02] [-6.98738697e-01 7.15376379e-01 -9.32935200e-04 -1.31803593e+02] [-1.32471384e-03 1.02121838e-05 9.99999123e-01 1.75419340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.432320588 meters 0.022334993476250824 Centerline is valid? [True, True] Translation: X:323.84, Y:-131.84, Z:1.75 [[ 7.13014079e-01 7.01149522e-01 5.20765667e-04 3.23843034e+02] [-7.01149325e-01 7.13014269e-01 -5.25265638e-04 -1.31836683e+02] [-7.39603102e-04 9.38729921e-06 9.99999726e-01 1.75497829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46232058799995 meters 0.022544161918693784 Centerline is valid? [True, True] Translation: X:323.88, Y:-131.87, Z:1.76 [[ 7.10456485e-01 7.03740465e-01 9.69674801e-04 3.23881846e+02] [-7.03739789e-01 7.10457147e-01 -9.75686941e-04 -1.31872511e+02] [-1.37554277e-03 1.07843753e-05 9.99999054e-01 1.75514723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.492320588 meters 0.022380908491420774 Centerline is valid? [True, True] Translation: X:323.92, Y:-131.90, Z:1.75 [[ 7.08850450e-01 7.05358633e-01 4.88091710e-04 3.23917370e+02] [-7.05358457e-01 7.08850618e-01 -4.97924444e-04 -1.31902811e+02] [-6.97199415e-04 8.67435096e-06 9.99999757e-01 1.75448005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52232058799996 meters 0.022398544294337776 Centerline is valid? [True, True] Translation: X:323.95, Y:-131.93, Z:1.75 [[ 7.07356715e-01 7.06855393e-01 1.38966893e-03 3.23953598e+02] [-7.06854007e-01 7.07358080e-01 -1.39965582e-03 -1.31934209e+02] [-1.97234781e-03 7.76289021e-06 9.99998055e-01 1.75254152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.552320588 meters 0.022330597396076332 Centerline is valid? [True, True] Translation: X:323.99, Y:-131.97, Z:1.75 [[ 7.05724785e-01 7.08485907e-01 -4.98482184e-04 3.23987826e+02] [-7.08485740e-01 7.05724961e-01 4.85497081e-04 -1.31967064e+02] [ 6.95759160e-04 1.05401960e-05 9.99999758e-01 1.75483866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58232058799996 meters 0.022123211671185247 Centerline is valid? [True, True] Translation: X:325.25, Y:-130.72, Z:3.59 [[ 7.62231028e-01 -6.47282473e-01 5.40924137e-03 3.25246269e+02] [-6.47262871e-01 -7.62250142e-01 -5.04945840e-03 -1.30716621e+02] [ 7.39162092e-03 3.47652772e-04 -9.99972621e-01 3.59476728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.612320588 meters 0.02235953334244996 Centerline is valid? [True, True] Translation: X:324.12, Y:-132.10, Z:1.76 [[ 7.61376220e-01 6.48310248e-01 -2.72381692e-04 3.24121335e+02] [-6.48310208e-01 7.61376268e-01 2.29321307e-04 -1.32102367e+02] [ 3.56056310e-04 1.98804135e-06 9.99999937e-01 1.75692125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64232058799996 meters 0.022256928504903257 Centerline is valid? [True, True] Translation: X:324.16, Y:-132.13, Z:1.76 [[ 7.60156613e-01 6.49738955e-01 1.10154432e-03 3.24157425e+02] [-6.49738260e-01 7.60157411e-01 -9.50716985e-04 -1.32130010e+02] [-1.45506494e-03 6.97831122e-06 9.99998941e-01 1.75664031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.672320588 meters 0.022082632718020762 Centerline is valid? [True, True] Translation: X:324.19, Y:-132.16, Z:1.76 [[ 7.58793632e-01 6.51330896e-01 5.36778113e-04 3.24193379e+02] [-6.51330726e-01 7.58793822e-01 -4.70508505e-04 -1.32158705e+02] [-7.13760641e-04 7.39877897e-06 9.99999745e-01 1.75709248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70232058799996 meters 0.021784636253704963 Centerline is valid? [True, True] Translation: X:324.23, Y:-132.19, Z:1.76 [[ 7.57239837e-01 6.53136781e-01 4.18400534e-04 3.24228963e+02] [-6.53136676e-01 7.57239952e-01 -3.70856040e-04 -1.32187817e+02] [-5.59049320e-04 7.55423358e-06 9.99999844e-01 1.75731010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73232058799994 meters 0.02165979735657326 Centerline is valid? [True, True] Translation: X:324.26, Y:-132.22, Z:1.76 [[ 7.55431141e-01 6.55228040e-01 -8.19389355e-05 3.24263994e+02] [-6.55228038e-01 7.55431145e-01 6.02178299e-05 -1.32217196e+02] [ 1.01355635e-04 8.19826395e-06 9.99999995e-01 1.75965339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76232058799997 meters 0.021564159293662302 Centerline is valid? [True, True] Translation: X:324.30, Y:-132.25, Z:1.76 [[ 7.54855719e-01 6.55890656e-01 5.39780596e-04 3.24299119e+02] [-6.55890481e-01 7.54855912e-01 -4.78534112e-04 -1.32245676e+02] [-7.21322626e-04 7.18725626e-06 9.99999740e-01 1.76031347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79232058799994 meters 0.021501742104644093 Centerline is valid? [True, True] Translation: X:324.34, Y:-132.27, Z:1.76 [[ 7.53614932e-01 6.57315709e-01 7.70107962e-04 3.24335104e+02] [-6.57315357e-01 7.53615325e-01 -6.80825175e-04 -1.32274471e+02] [-1.02788224e-03 6.87622835e-06 9.99999472e-01 1.76081011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82232058799997 meters 0.021591571717436718 Centerline is valid? [True, True] Translation: X:324.37, Y:-132.30, Z:1.76 [[ 7.52320175e-01 6.58797586e-01 3.08757188e-04 3.24373944e+02] [-6.58797525e-01 7.52320238e-01 -2.83328225e-04 -1.32303919e+02] [-4.18940231e-04 9.74506872e-06 9.99999912e-01 1.75962809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85232058799994 meters 0.021366754272326045 Centerline is valid? [True, True] Translation: X:324.41, Y:-132.33, Z:1.76 [[ 7.51343142e-01 6.59911674e-01 -2.57176795e-04 3.24410265e+02] [-6.59911639e-01 7.51343186e-01 2.15137230e-04 -1.32332129e+02] [ 3.35199603e-04 8.07207815e-06 9.99999944e-01 1.75874956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88232058799997 meters 0.02133472698592822 Centerline is valid? [True, True] Translation: X:324.45, Y:-132.36, Z:1.76 [[ 7.50782020e-01 6.60549908e-01 -4.22191922e-04 3.24446302e+02] [-6.60549809e-01 7.50782138e-01 3.61364442e-04 -1.32360351e+02] [ 5.55673404e-04 7.57286822e-06 9.99999846e-01 1.75805121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91232058799994 meters 0.02127164200558876 Centerline is valid? [True, True] Translation: X:324.48, Y:-132.39, Z:1.76 [[ 7.49218587e-01 6.62322812e-01 4.11500390e-05 3.24481638e+02] [-6.62322810e-01 7.49218588e-01 -4.73949336e-05 -1.32390181e+02] [-6.22211193e-05 8.25455570e-06 9.99999998e-01 1.75883313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.942320588 meters 0.021262314058783646 Centerline is valid? [True, True] Translation: X:324.52, Y:-132.42, Z:1.76 [[ 7.47768635e-01 6.63959271e-01 3.93433998e-04 3.24517230e+02] [-6.63959173e-01 7.47768738e-01 -3.60522654e-04 -1.32419899e+02] [-5.33570002e-04 8.36342070e-06 9.99999858e-01 1.75904622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97232058799995 meters 0.021177029550349273 Centerline is valid? [True, True] Translation: X:324.55, Y:-132.45, Z:1.76 [[ 7.46873834e-01 6.64965643e-01 4.11730191e-04 3.24553963e+02] [-6.64965535e-01 7.46873948e-01 -3.78266590e-04 -1.32448345e+02] [-5.59044839e-04 8.73103183e-06 9.99999844e-01 1.75867369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.002320588 meters 0.02135446118137981 Centerline is valid? [True, True] Translation: X:324.59, Y:-132.48, Z:1.76 [[ 7.44953865e-01 6.67115940e-01 2.47641659e-04 3.24592922e+02] [-6.67115898e-01 7.44953907e-01 -2.37271654e-04 -1.32479117e+02] [-3.42769323e-04 1.15507485e-05 9.99999941e-01 1.75845442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03232058799995 meters 0.02092761822834016 Centerline is valid? [True, True] Translation: X:324.63, Y:-132.51, Z:1.76 [[ 7.43474913e-01 6.68763608e-01 -5.38983440e-04 3.24628826e+02] [-6.68763440e-01 7.43475108e-01 4.74068890e-04 -1.32509255e+02] [ 7.17760794e-04 7.99409278e-06 9.99999742e-01 1.76049495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.062320588 meters 0.020995831967492794 Centerline is valid? [True, True] Translation: X:324.66, Y:-132.54, Z:1.76 [[ 7.42093570e-01 6.70296285e-01 1.51768087e-04 3.24664954e+02] [-6.70296269e-01 7.42093586e-01 -1.49716467e-04 -1.32538637e+02] [-2.12980515e-04 9.37404511e-06 9.99999977e-01 1.75959290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09232058799995 meters 0.021017816603344543 Centerline is valid? [True, True] Translation: X:324.70, Y:-132.57, Z:1.76 [[ 7.41569019e-01 6.70872896e-01 2.22440904e-03 3.24701241e+02] [-6.70869824e-01 7.41572355e-01 -2.03028954e-03 -1.32567492e+02] [-3.01162647e-03 1.33109235e-05 9.99995465e-01 1.75839680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.122320588 meters 0.021017816603344543 Centerline is valid? [True, True] Translation: X:324.76, Y:-132.61, Z:1.76 [[ 7.36637582e-01 6.76284154e-01 2.19431358e-03 3.24762164e+02] [-6.76281008e-01 7.36640850e-01 -2.06315702e-03 -1.32613998e+02] [-3.01170143e-03 3.58263999e-05 9.99995464e-01 1.75872519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15232058799995 meters 0.021071552154862568 Centerline is valid? [True, True] Translation: X:324.80, Y:-132.64, Z:1.76 [[ 7.35493125e-01 6.77529429e-01 1.93307645e-03 3.24797482e+02] [-6.77527041e-01 7.35495665e-01 -1.79885726e-03 -1.32644314e+02] [-2.64054808e-03 1.33355828e-05 9.99996514e-01 1.75885987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.182320588 meters 0.021086914563375126 Centerline is valid? [True, True] Translation: X:324.84, Y:-132.68, Z:1.76 [[ 7.32881094e-01 6.80353438e-01 2.12165204e-03 3.24844609e+02] [-6.80350488e-01 7.32884165e-01 -2.00337488e-03 -1.32683220e+02] [-2.91792817e-03 2.47685708e-05 9.99995743e-01 1.75918384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21232058799995 meters 0.020838235030701497 Centerline is valid? [True, True] Translation: X:324.88, Y:-132.71, Z:1.76 [[ 7.32363988e-01 6.80911426e-01 1.61799277e-03 3.24880969e+02] [-6.80909711e-01 7.32365776e-01 -1.52844350e-03 -1.32712722e+02] [-2.22569717e-03 1.76699872e-05 9.99997523e-01 1.76068251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.242320588 meters 0.021010621486026858 Centerline is valid? [True, True] Translation: X:324.92, Y:-132.74, Z:1.76 [[ 7.31447900e-01 6.81896047e-01 1.32328618e-03 3.24916974e+02] [-6.81894891e-01 7.31449097e-01 -1.25586544e-03 -1.32741760e+02] [-1.82428616e-03 1.62580508e-05 9.99998336e-01 1.76006013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27232058799996 meters 0.021092065212251723 Centerline is valid? [True, True] Translation: X:324.95, Y:-132.77, Z:1.76 [[ 7.31655814e-01 6.81673392e-01 1.07530571e-03 3.24953851e+02] [-6.81672620e-01 7.31656604e-01 -1.02651326e-03 -1.32770486e+02] [-1.48650130e-03 1.80479357e-05 9.99998895e-01 1.75848609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.302320588 meters 0.02099813270085416 Centerline is valid? [True, True] Translation: X:324.99, Y:-132.80, Z:1.76 [[ 7.30957459e-01 6.82422814e-01 5.44226240e-04 3.24988236e+02] [-6.82422611e-01 7.30957661e-01 -5.27092633e-04 -1.32802206e+02] [-7.57506377e-04 1.38899996e-05 9.99999713e-01 1.75978341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33232058799996 meters 0.021172815271672776 Centerline is valid? [True, True] Translation: X:325.05, Y:-132.85, Z:1.76 [[ 7.26847213e-01 6.86799190e-01 -3.90890416e-05 3.25048889e+02] [-6.86799191e-01 7.26847213e-01 -5.28730230e-06 -1.32851331e+02] [ 2.47804467e-05 3.06893831e-05 9.99999999e-01 1.76120410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.362320588 meters 0.021363007676810458 Centerline is valid? [True, True] Translation: X:325.09, Y:-132.88, Z:1.76 [[ 7.26744875e-01 6.86904385e-01 2.06230968e-03 3.25085485e+02] [-6.86901466e-01 7.26747800e-01 -2.00281278e-03 -1.32880613e+02] [-2.87451991e-03 3.89303810e-05 9.99995868e-01 1.76029511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39232058799996 meters 0.02174021035017961 Centerline is valid? [True, True] Translation: X:325.12, Y:-132.91, Z:1.76 [[ 7.26107807e-01 6.87576164e-01 2.54378444e-03 3.25123503e+02] [-6.87571687e-01 7.26112261e-01 -2.48192866e-03 -1.32911208e+02] [-3.55358806e-03 5.31136216e-05 9.99993685e-01 1.75912361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.422320588 meters 0.021786529609720842 Centerline is valid? [True, True] Translation: X:325.16, Y:-132.94, Z:1.76 [[ 7.25056123e-01 6.88686673e-01 2.07018531e-03 3.25158449e+02] [-6.88683683e-01 7.25059076e-01 -2.02992059e-03 -1.32941927e+02] [-2.89898591e-03 4.61035037e-05 9.99995797e-01 1.76017680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45232058799996 meters 0.022198587383457587 Centerline is valid? [True, True] Translation: X:325.20, Y:-132.98, Z:1.76 [[ 7.24843421e-01 6.88911666e-01 1.65265955e-03 3.25197642e+02] [-6.88909723e-01 7.24845304e-01 -1.63669776e-03 -1.32976213e+02] [-2.32546269e-03 4.78163718e-05 9.99997295e-01 1.76042686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48232058799994 meters 0.0220007014587122 Centerline is valid? [True, True] Translation: X:325.23, Y:-133.01, Z:1.76 [[ 7.22611820e-01 6.91254043e-01 7.40280055e-05 3.25232239e+02] [-6.91254038e-01 7.22611824e-01 -8.56233778e-05 -1.33006683e+02] [-1.12681018e-04 1.07003072e-05 9.99999994e-01 1.76265021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51232058799997 meters 0.021907229838904124 Centerline is valid? [True, True] Translation: X:325.27, Y:-133.04, Z:1.76 [[ 7.20577436e-01 6.93373289e-01 1.28050001e-03 3.25267855e+02] [-6.93372115e-01 7.20578573e-01 -1.27657663e-03 -1.33037339e+02] [-1.80784501e-03 3.20093105e-05 9.99998365e-01 1.76136456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54232058799994 meters 0.021524204131747646 Centerline is valid? [True, True] Translation: X:325.30, Y:-133.07, Z:1.76 [[ 7.18440485e-01 6.95588233e-01 5.28673897e-04 3.25303615e+02] [-6.95588025e-01 7.18440679e-01 -5.38315248e-04 -1.33069774e+02] [-7.54266585e-04 1.90082353e-05 9.99999715e-01 1.76243770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57232058799997 meters 0.02176122351084409 Centerline is valid? [True, True] Translation: X:325.34, Y:-133.10, Z:1.76 [[ 7.17539784e-01 6.96517299e-01 5.57674237e-04 3.25338547e+02] [-6.96517068e-01 7.17540000e-01 -5.67123071e-04 -1.33101250e+02] [-7.95164601e-04 1.85037406e-05 9.99999684e-01 1.76361142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60232058799994 meters 0.022031419537585337 Centerline is valid? [True, True] Translation: X:325.37, Y:-133.13, Z:1.76 [[ 7.17475899e-01 6.96582820e-01 -8.42214841e-04 3.25374327e+02] [-6.96582325e-01 7.17476393e-01 8.31046219e-04 -1.33131114e+02] [ 1.18316179e-03 -9.58366142e-06 9.99999300e-01 1.76301312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63232058799997 meters 0.022327467263660777 Centerline is valid? [True, True] Translation: X:326.61, Y:-131.92, Z:3.60 [[ 7.52315373e-01 -6.58781701e-01 5.31504794e-03 3.26607802e+02] [-6.58763060e-01 -7.52334112e-01 -4.96132399e-03 -1.31920100e+02] [ 7.26712133e-03 2.31123063e-04 -9.99973567e-01 3.60351848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66232058799994 meters 0.022962220485241113 Centerline is valid? [True, True] Translation: X:325.51, Y:-133.27, Z:1.76 [[ 7.73951550e-01 6.33243182e-01 1.43893774e-03 3.25514698e+02] [-6.33242000e-01 7.73952887e-01 -1.22424847e-03 -1.33269745e+02] [-1.88891701e-03 3.63131889e-05 9.99998215e-01 1.76273571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.692320588 meters 0.023557384499948035 Centerline is valid? [True, True] Translation: X:325.55, Y:-133.30, Z:1.76 [[ 7.74436544e-01 6.32650702e-01 1.06262144e-03 3.25549716e+02] [-6.32650042e-01 7.74437272e-01 -9.14772833e-04 -1.33296125e+02] [-1.40166532e-03 3.61660151e-05 9.99999017e-01 1.76360860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72232058799995 meters 0.024498139948471765 Centerline is valid? [True, True] Translation: X:325.59, Y:-133.32, Z:1.76 [[ 7.74684518e-01 6.32346581e-01 1.30335424e-03 3.25585147e+02] [-6.32345584e-01 7.74685613e-01 -1.12414952e-03 -1.33322757e+02] [-1.72054188e-03 4.66909300e-05 9.99998519e-01 1.76292713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.752320588 meters 0.025562840508859895 Centerline is valid? [True, True] Translation: X:325.62, Y:-133.35, Z:1.76 [[ 7.75572801e-01 6.31256781e-01 1.30622457e-03 3.25619877e+02] [-6.31255772e-01 7.75573900e-01 -1.12984168e-03 -1.33349437e+02] [-1.72629390e-03 5.17126780e-05 9.99998509e-01 1.76207432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78232058799995 meters 0.026090652334964326 Centerline is valid? [True, True] Translation: X:325.65, Y:-133.38, Z:1.76 [[ 7.75946442e-01 6.30795117e-01 2.15413292e-03 3.25654911e+02] [-6.30792369e-01 7.75949427e-01 -1.86399893e-03 -1.33376724e+02] [-2.84729963e-03 8.75527312e-05 9.99995943e-01 1.76314536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.812320588 meters 0.026152093421094688 Centerline is valid? [True, True] Translation: X:325.69, Y:-133.40, Z:1.76 [[ 7.74703918e-01 6.32318949e-01 2.56638791e-03 3.25689246e+02] [-6.32315037e-01 7.74708162e-01 -2.22654453e-03 -1.33404668e+02] [-3.39608796e-03 1.02147103e-04 9.99994228e-01 1.76324251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84232058799995 meters 0.026421153384573837 Centerline is valid? [True, True] Translation: X:325.72, Y:-133.43, Z:1.76 [[ 7.74064445e-01 6.33090727e-01 4.51287214e-03 3.25723622e+02] [-6.33078607e-01 7.74077580e-01 -3.92151174e-03 -1.33432277e+02] [-5.97598587e-03 1.78499998e-04 9.99982128e-01 1.76183735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.872320588 meters 0.02593266940515843 Centerline is valid? [True, True] Translation: X:325.76, Y:-133.46, Z:1.76 [[ 7.72498273e-01 6.35008928e-01 3.17500725e-03 3.25758060e+02] [-6.35002892e-01 7.72504787e-01 -2.77147153e-03 -1.33460645e+02] [-4.21261746e-03 1.24818177e-04 9.99991119e-01 1.76278570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90232058799995 meters 0.02570902029235477 Centerline is valid? [True, True] Translation: X:325.79, Y:-133.49, Z:1.76 [[ 7.70616085e-01 6.37298933e-01 9.58807689e-04 3.25791443e+02] [-6.37298373e-01 7.70616680e-01 -8.46319126e-04 -1.33489818e+02] [-1.27823147e-03 4.11405514e-05 9.99999182e-01 1.76498490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.932320588 meters 0.024841612659043534 Centerline is valid? [True, True] Translation: X:325.82, Y:-133.52, Z:1.77 [[ 7.67611712e-01 6.40915147e-01 1.84103650e-04 3.25824430e+02] [-6.40915124e-01 7.67611734e-01 -1.70759025e-04 -1.33519467e+02] [-2.50762167e-04 1.30818142e-05 9.99999968e-01 1.76638025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96232058799995 meters 0.024478111515569344 Centerline is valid? [True, True] Translation: X:325.86, Y:-133.55, Z:1.77 [[ 7.65671147e-01 6.43231944e-01 6.00566921e-04 3.25858211e+02] [-6.43231720e-01 7.65671382e-01 -5.37655127e-04 -1.33548792e+02] [-8.05673856e-04 2.53633245e-05 9.99999675e-01 1.76676375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.992320588 meters 0.024448845239156063 Centerline is valid? [True, True] Translation: X:325.89, Y:-133.58, Z:1.77 [[ 7.64580659e-01 6.44526632e-01 1.35539740e-03 3.25893200e+02] [-6.44525506e-01 7.64581858e-01 -1.20553075e-03 -1.33577774e+02] [-1.81330894e-03 4.81372999e-05 9.99998355e-01 1.76615350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02232058799996 meters 0.02423622165791792 Centerline is valid? [True, True] Translation: X:325.93, Y:-133.61, Z:1.77 [[ 7.62367765e-01 6.47143728e-01 6.21636029e-04 3.25934573e+02] [-6.47143480e-01 7.62368017e-01 -5.67965955e-04 -1.33610961e+02] [-8.41471032e-04 3.07112322e-05 9.99999645e-01 1.76698455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.052320588 meters 0.024170390605879596 Centerline is valid? [True, True] Translation: X:325.97, Y:-133.64, Z:1.77 [[ 7.61029051e-01 6.48717287e-01 8.15269373e-04 3.25970200e+02] [-6.48716869e-01 7.61029487e-01 -7.36882537e-04 -1.33640482e+02] [-1.09847247e-03 3.19100232e-05 9.99999396e-01 1.76611183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08232058799996 meters 0.024117919161854705 Centerline is valid? [True, True] Translation: X:326.01, Y:-133.67, Z:1.76 [[ 7.59243381e-01 6.50806264e-01 8.33509307e-04 3.26005041e+02] [-6.50805827e-01 7.59243838e-01 -7.55093441e-04 -1.33669428e+02] [-1.12425635e-03 3.08469839e-05 9.99999368e-01 1.76491979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.112320588 meters 0.024227316809015537 Centerline is valid? [True, True] Translation: X:326.04, Y:-133.70, Z:1.76 [[ 7.58265581e-01 6.51942162e-01 2.17384377e-03 3.26039825e+02] [-6.51939218e-01 7.58268694e-01 -1.96036937e-03 -1.33698184e+02] [-2.92640512e-03 6.92666144e-05 9.99995716e-01 1.76388176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14232058799996 meters 0.024111941229830007 Centerline is valid? [True, True] Translation: X:326.07, Y:-133.73, Z:1.76 [[ 7.56446566e-01 6.54043411e-01 3.97610102e-03 3.26074024e+02] [-6.54033568e-01 7.56457007e-01 -3.59008024e-03 -1.33727413e+02] [-5.35581780e-03 1.15200336e-04 9.99985651e-01 1.76252908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.172320588 meters 0.02387362958715939 Centerline is valid? [True, True] Translation: X:326.11, Y:-133.76, Z:1.76 [[ 7.54487693e-01 6.56305119e-01 3.45146537e-03 3.26108108e+02] [-6.56297666e-01 7.54495581e-01 -3.12911852e-03 -1.33757438e+02] [-4.65777187e-03 9.56927448e-05 9.99989148e-01 1.76369443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20232058799996 meters 0.023649261024035778 Centerline is valid? [True, True] Translation: X:326.14, Y:-133.79, Z:1.76 [[ 7.52463159e-01 6.58626907e-01 3.12930489e-03 3.26143503e+02] [-6.58620748e-01 7.52469661e-01 -2.84937982e-03 -1.33787874e+02] [-4.23138521e-03 8.30282100e-05 9.99991044e-01 1.76410175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23232058799994 meters 0.023161960130111344 Centerline is valid? [True, True] Translation: X:326.18, Y:-133.82, Z:1.76 [[ 7.49907928e-01 6.61532662e-01 3.55485723e-03 3.26177262e+02] [-6.61524698e-01 7.49916349e-01 -3.24711140e-03 -1.33818925e+02] [-4.81391580e-03 8.34087287e-05 9.99988410e-01 1.76425529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26232058799997 meters 0.023011193867265065 Centerline is valid? [True, True] Translation: X:326.21, Y:-133.85, Z:1.76 [[ 7.47550313e-01 6.64192749e-01 4.06480756e-03 3.26213920e+02] [-6.64182271e-01 7.47561359e-01 -3.73178662e-03 -1.33850901e+02] [-5.51731867e-03 8.99251443e-05 9.99984775e-01 1.76419691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29232058799994 meters 0.022796240720616735 Centerline is valid? [True, True] Translation: X:326.25, Y:-133.88, Z:1.76 [[ 7.45178678e-01 6.66854599e-01 3.69877856e-03 3.26251083e+02] [-6.66845870e-01 7.45187854e-01 -3.41288948e-03 -1.33882222e+02] [-5.03218590e-03 7.66972670e-05 9.99987336e-01 1.76431734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32232058799997 meters 0.022632486497444548 Centerline is valid? [True, True] Translation: X:326.29, Y:-133.91, Z:1.76 [[ 7.43897516e-01 6.68284673e-01 3.47583219e-03 3.26285931e+02] [-6.68276932e-01 7.43905633e-01 -3.21723010e-03 -1.33912320e+02] [-4.73571671e-03 7.04710060e-05 9.99988784e-01 1.76422644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35232058799994 meters 0.022571571655806245 Centerline is valid? [True, True] Translation: X:326.32, Y:-133.94, Z:1.76 [[ 7.41104408e-01 6.71375893e-01 4.32048224e-03 3.26323000e+02] [-6.71363867e-01 7.41116998e-01 -4.01915653e-03 -1.33944726e+02] [-5.90034763e-03 7.79989551e-05 9.99982590e-01 1.76470429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38232058799997 meters 0.022154228946192827 Centerline is valid? [True, True] Translation: X:326.36, Y:-133.98, Z:1.77 [[ 7.38542327e-01 6.74202740e-01 2.42846385e-03 3.26357104e+02] [-6.74198915e-01 7.38546318e-01 -2.27135379e-03 -1.33977011e+02] [-3.32488598e-03 4.02232190e-05 9.99994472e-01 1.76816928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41232058799994 meters 0.022360600214202147 Centerline is valid? [True, True] Translation: X:326.39, Y:-134.01, Z:1.77 [[ 7.36923064e-01 6.75972630e-01 2.32383028e-03 3.26391799e+02] [-6.75969109e-01 7.36926728e-01 -2.18234177e-03 -1.34007982e+02] [-3.18769595e-03 3.73805000e-05 9.99994919e-01 1.76891339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.442320588 meters 0.022316416767946674 Centerline is valid? [True, True] Translation: X:326.43, Y:-134.04, Z:1.77 [[ 7.35335356e-01 6.77697845e-01 2.74682422e-03 3.26429521e+02] [-6.77692886e-01 7.35340485e-01 -2.59303388e-03 -1.34039502e+02] [-3.77714453e-03 4.52462638e-05 9.99992866e-01 1.76897659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47232058799995 meters 0.02230405644944991 Centerline is valid? [True, True] Translation: X:326.47, Y:-134.07, Z:1.77 [[ 7.33901132e-01 6.79251105e-01 2.65789868e-03 3.26465321e+02] [-6.79246445e-01 7.33905944e-01 -2.51649207e-03 -1.34069744e+02] [-3.65997766e-03 4.14881466e-05 9.99993301e-01 1.76934197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.502320588 meters 0.022444251644648618 Centerline is valid? [True, True] Translation: X:326.51, Y:-134.10, Z:1.77 [[ 7.32054291e-01 6.81241674e-01 2.50937285e-03 3.26505659e+02] [-6.81237462e-01 7.32058590e-01 -2.39594006e-03 -1.34102912e+02] [-3.46922217e-03 4.44794046e-05 9.99993981e-01 1.76875747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53232058799995 meters 0.022246384431380033 Centerline is valid? [True, True] Translation: X:326.54, Y:-134.13, Z:1.77 [[ 7.31142074e-01 6.82222297e-01 2.00108458e-03 3.26540550e+02] [-6.82219608e-01 7.31144812e-01 -1.91587100e-03 -1.34133883e+02] [-2.77013252e-03 3.55947545e-05 9.99996163e-01 1.76931096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.562320588 meters 0.02241557503095465 Centerline is valid? [True, True] Translation: X:326.58, Y:-134.16, Z:1.77 [[ 7.30519970e-01 6.82889234e-01 1.69321865e-03 3.26575454e+02] [-6.82887292e-01 7.30521932e-01 -1.62924940e-03 -1.34163980e+02] [-2.34953023e-03 3.39217318e-05 9.99997239e-01 1.76940909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59232058799995 meters 0.02257748445561804 Centerline is valid? [True, True] Translation: X:326.64, Y:-134.21, Z:1.77 [[ 7.26084570e-01 6.87603121e-01 1.77344525e-03 3.26636355e+02] [-6.87600866e-01 7.26086734e-01 -1.76182614e-03 -1.34211235e+02] [-2.49911222e-03 5.98122870e-05 9.99996875e-01 1.76875496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.622320588 meters 0.02290959617128287 Centerline is valid? [True, True] Translation: X:326.67, Y:-134.24, Z:1.77 [[ 7.25430239e-01 6.88292184e-01 2.19945168e-03 3.26671638e+02] [-6.88288822e-01 7.25433572e-01 -2.15189023e-03 -1.34241451e+02] [-3.07668531e-03 4.71882412e-05 9.99995266e-01 1.76741265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65232058799995 meters 0.02339001635282577 Centerline is valid? [True, True] Translation: X:326.71, Y:-134.27, Z:1.77 [[ 7.26186062e-01 6.87491737e-01 2.98567335e-03 3.26706236e+02] [-6.87485505e-01 7.26192196e-01 -2.92829302e-03 -1.34272521e+02] [-4.18134994e-03 7.38784250e-05 9.99991255e-01 1.76680732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.682320588 meters 0.023685592298369956 Centerline is valid? [True, True] Translation: X:326.74, Y:-134.30, Z:1.77 [[ 7.26304952e-01 6.87362970e-01 3.64192452e-03 3.26739557e+02] [-6.87353639e-01 7.26314076e-01 -3.58300547e-03 -1.34304389e+02] [-5.10800633e-03 9.90645441e-05 9.99986949e-01 1.76890621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71232058799995 meters 0.02401985812296567 Centerline is valid? [True, True] Translation: X:326.77, Y:-134.34, Z:1.77 [[ 7.25286054e-01 6.88437437e-01 3.74622971e-03 3.26773683e+02] [-6.88427505e-01 7.25295722e-01 -3.69940869e-03 -1.34336102e+02] [-5.26393581e-03 1.04121959e-04 9.99986140e-01 1.76889552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.742320588 meters 0.024143955565628594 Centerline is valid? [True, True] Translation: X:326.81, Y:-134.37, Z:1.77 [[ 7.24637330e-01 6.89123922e-01 2.99333978e-03 3.26808086e+02] [-6.89117519e-01 7.24643507e-01 -2.97211478e-03 -1.34367763e+02] [-4.21725963e-03 9.09424331e-05 9.99991103e-01 1.77016149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77232058799996 meters 0.024348947225401787 Centerline is valid? [True, True] Translation: X:326.84, Y:-134.40, Z:1.77 [[ 7.23546949e-01 6.90268009e-01 3.14462403e-03 3.26841883e+02] [-6.90260909e-01 7.23553776e-01 -3.13220535e-03 -1.34399541e+02] [-4.43736574e-03 9.56865831e-05 9.99990150e-01 1.77010377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.802320588 meters 0.02427759699039867 Centerline is valid? [True, True] Translation: X:326.88, Y:-134.43, Z:1.77 [[ 7.22132062e-01 6.91742567e-01 4.18403664e-03 3.26875578e+02] [-6.91729942e-01 7.22144172e-01 -4.18107750e-03 -1.34430844e+02] [-5.91370696e-03 1.25066696e-04 9.99982506e-01 1.77010604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83232058799996 meters 0.024293523114974003 Centerline is valid? [True, True] Translation: X:326.91, Y:-134.46, Z:1.77 [[ 7.20806836e-01 6.93123247e-01 4.20350055e-03 3.26909456e+02] [-6.93110438e-01 7.20819082e-01 -4.21572377e-03 -1.34463365e+02] [-5.95197955e-03 1.25232403e-04 9.99982279e-01 1.77079443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.862320588 meters 0.024323774116862155 Centerline is valid? [True, True] Translation: X:328.14, Y:-133.25, Z:3.61 [[ 7.48994571e-01 -6.62494152e-01 1.04226387e-02 3.28142773e+02] [-6.62428942e-01 -7.49067083e-01 -9.29522399e-03 -1.33249717e+02] [ 1.39652871e-02 5.78147653e-05 -9.99902479e-01 3.61245093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89232058799996 meters 0.02371834914267491 Centerline is valid? [True, True] Translation: X:327.05, Y:-134.60, Z:1.77 [[ 7.73425661e-01 6.33878748e-01 3.23735945e-03 3.27045345e+02] [-6.33872778e-01 7.73432432e-01 -2.75202116e-03 -1.34604178e+02] [-4.24832652e-03 7.64097564e-05 9.99990973e-01 1.77289441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.922320588 meters 0.023470720609688495 Centerline is valid? [True, True] Translation: X:327.08, Y:-134.63, Z:1.77 [[ 7.72275708e-01 6.35274347e-01 4.09084692e-03 3.27080032e+02] [-6.35264729e-01 7.72286536e-01 -3.49730288e-03 -1.34633106e+02] [-5.38105280e-03 1.02111294e-04 9.99985517e-01 1.77352123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95232058799996 meters 0.023164525897966345 Centerline is valid? [True, True] Translation: X:327.11, Y:-134.66, Z:1.78 [[ 7.69917089e-01 6.38138385e-01 2.66059501e-03 3.27114305e+02] [-6.38134293e-01 7.69921683e-01 -2.28602221e-03 -1.34661873e+02] [-3.50724831e-03 6.22306514e-05 9.99993848e-01 1.77521253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98232058799994 meters 0.023027884405049947 Centerline is valid? [True, True] Translation: X:327.16, Y:-134.69, Z:1.77 [[ 7.68376814e-01 6.39992974e-01 2.46273245e-03 3.27155095e+02] [-6.39989421e-01 7.68380758e-01 -2.13354142e-03 -1.34691772e+02] [-3.25776775e-03 6.32410449e-05 9.99994691e-01 1.77450854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01232058799997 meters 0.022911617273798816 Centerline is valid? [True, True] Translation: X:327.19, Y:-134.72, Z:1.77 [[ 7.66186808e-01 6.42614781e-01 2.00458381e-03 3.27189843e+02] [-6.42612425e-01 7.66189429e-01 -1.74071997e-03 -1.34720216e+02] [-2.65450330e-03 4.55462099e-05 9.99996476e-01 1.77430329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04232058799994 meters 0.022911617273798816 Centerline is valid? [True, True] Translation: X:327.23, Y:-134.75, Z:1.77 [[ 7.64990429e-01 6.44038539e-01 2.00118965e-03 3.27225038e+02] [-6.44036177e-01 7.64993045e-01 -1.74463300e-03 -1.34748635e+02] [-2.65450705e-03 4.57890114e-05 9.99996476e-01 1.77449863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07232058799997 meters 0.022431727063572476 Centerline is valid? [True, True] Translation: X:327.26, Y:-134.78, Z:1.77 [[ 7.62757436e-01 6.46681408e-01 2.06169005e-03 3.27257595e+02] [-6.46678896e-01 7.62760221e-01 -1.80320869e-03 -1.34779378e+02] [-2.73867669e-03 4.21593916e-05 9.99996249e-01 1.77459843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10232058799994 meters 0.02262266085789797 Centerline is valid? [True, True] Translation: X:327.29, Y:-134.81, Z:1.78 [[ 7.61918794e-01 6.47668911e-01 2.17561138e-03 3.27292374e+02] [-6.47666097e-01 7.61921899e-01 -1.90976037e-03 -1.34808381e+02] [-2.89453837e-03 4.60125907e-05 9.99995810e-01 1.77605703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13232058799997 meters 0.02229201918338752 Centerline is valid? [True, True] Translation: X:327.33, Y:-134.84, Z:1.78 [[ 7.59999909e-01 6.49921674e-01 1.39837338e-03 3.27327044e+02] [-6.49920500e-01 7.60001195e-01 -1.23580062e-03 -1.34837542e+02] [-1.86593905e-03 3.03768293e-05 9.99998259e-01 1.77715569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16232058799994 meters 0.022095979545467936 Centerline is valid? [True, True] Translation: X:327.36, Y:-134.87, Z:1.78 [[ 7.57817098e-01 6.52465261e-01 1.52592580e-03 3.27362790e+02] [-6.52463859e-01 7.57818634e-01 -1.35323244e-03 -1.34866699e+02] [-2.03931216e-03 2.98912423e-05 9.99997920e-01 1.77700820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.192320588 meters 0.02198639564944327 Centerline is valid? [True, True] Translation: X:327.40, Y:-134.90, Z:1.78 [[ 7.56983774e-01 6.53431616e-01 1.63978618e-03 3.27398100e+02] [-6.53429989e-01 7.56985549e-01 -1.45847051e-03 -1.34895885e+02] [-2.19430518e-03 3.25530428e-05 9.99997592e-01 1.77744345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22232058799995 meters 0.022083931974946718 Centerline is valid? [True, True] Translation: X:327.43, Y:-134.93, Z:1.78 [[ 7.55046481e-01 6.55671054e-01 5.28715516e-04 3.27433760e+02] [-6.55670878e-01 7.55046666e-01 -4.81058975e-04 -1.34926095e+02] [-7.14621333e-04 1.65585199e-05 9.99999745e-01 1.77809349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.252320588 meters 0.02174317499537319 Centerline is valid? [True, True] Translation: X:327.47, Y:-134.96, Z:1.78 [[ 7.53500332e-01 6.57447400e-01 4.07202327e-04 3.27469847e+02] [-6.57447294e-01 7.53500442e-01 -3.73354551e-04 -1.34955324e+02] [-5.52288112e-04 1.36087103e-05 9.99999847e-01 1.77789375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28232058799995 meters 0.021615931980173246 Centerline is valid? [True, True] Translation: X:327.51, Y:-134.98, Z:1.78 [[ 7.51933453e-01 6.59238772e-01 5.68638153e-04 3.27505262e+02] [-6.59238567e-01 7.51933668e-01 -5.20714156e-04 -1.34984643e+02] [-7.70853132e-04 1.66741922e-05 9.99999703e-01 1.77846327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.312320588 meters 0.021749817535854032 Centerline is valid? [True, True] Translation: X:327.54, Y:-135.01, Z:1.78 [[ 7.50920383e-01 6.60392650e-01 3.54356286e-04 3.27539645e+02] [-6.60392569e-01 7.50920467e-01 -3.28671869e-04 -1.35014558e+02] [-4.83145874e-04 1.27921479e-05 9.99999883e-01 1.77962768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34232058799995 meters 0.02155710553484515 Centerline is valid? [True, True] Translation: X:327.57, Y:-135.05, Z:1.78 [[ 7.49257292e-01 6.62278819e-01 5.24631470e-04 3.27573736e+02] [-6.62278643e-01 7.49257476e-01 -4.83223255e-04 -1.35045094e+02] [-7.13112577e-04 1.46063298e-05 9.99999746e-01 1.78219099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.372320588 meters 0.021595676963193464 Centerline is valid? [True, True] Translation: X:327.61, Y:-135.07, Z:1.78 [[ 7.48252070e-01 6.63414292e-01 5.62550883e-04 3.27609317e+02] [-6.63414089e-01 7.48252282e-01 -5.19314454e-04 -1.35074062e+02] [-7.65450612e-04 1.53739340e-05 9.99999707e-01 1.78162350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40232058799995 meters 0.021519306277317983 Centerline is valid? [True, True] Translation: X:327.64, Y:-135.10, Z:1.78 [[ 7.46350470e-01 6.65552823e-01 -6.45734839e-04 3.27644090e+02] [-6.65552574e-01 7.46350749e-01 5.75718235e-04 -1.35103530e+02] [ 8.65115577e-04 8.29092939e-08 9.99999626e-01 1.78174961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.432320588 meters 0.021480446684101207 Centerline is valid? [True, True] Translation: X:327.68, Y:-135.13, Z:1.78 [[ 7.45201322e-01 6.66839463e-01 3.47791225e-04 3.27679111e+02] [-6.66839382e-01 7.45201403e-01 -3.27918426e-04 -1.35133646e+02] [-4.77843455e-04 1.24443583e-05 9.99999886e-01 1.78233478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46232058799995 meters 0.021656327680535534 Centerline is valid? [True, True] Translation: X:327.71, Y:-135.16, Z:1.78 [[ 7.44099215e-01 6.68068670e-01 7.81764477e-04 3.27713897e+02] [-6.68068275e-01 7.44099625e-01 -7.26240881e-04 -1.35164345e+02] [-1.06688943e-03 1.81232229e-05 9.99999431e-01 1.78332496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.492320588 meters 0.021530824195275904 Centerline is valid? [True, True] Translation: X:327.75, Y:-135.19, Z:1.78 [[ 7.43341942e-01 6.68911530e-01 3.49932447e-04 3.27749397e+02] [-6.68911447e-01 7.43342024e-01 -3.32348437e-04 -1.35194743e+02] [-4.82431194e-04 1.29747130e-05 9.99999884e-01 1.78479564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52232058799996 meters 0.021424939734210422 Centerline is valid? [True, True] Translation: X:327.79, Y:-135.22, Z:1.78 [[ 7.42754954e-01 6.69563054e-01 -6.28610256e-04 3.27785853e+02] [-6.69562812e-01 7.42755220e-01 5.68646641e-04 -1.35223857e+02] [ 8.47648332e-04 -1.47105923e-06 9.99999641e-01 1.78493952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.552320588 meters 0.021357588856327988 Centerline is valid? [True, True] Translation: X:327.82, Y:-135.25, Z:1.78 [[ 7.40387156e-01 6.72180016e-01 9.41247466e-04 3.27820117e+02] [-6.72179437e-01 7.40387754e-01 -8.82247715e-04 -1.35254702e+02] [-1.28991738e-03 2.05176847e-05 9.99999168e-01 1.78305820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58232058799996 meters 0.021321355358091272 Centerline is valid? [True, True] Translation: X:327.85, Y:-135.29, Z:1.78 [[ 7.38070494e-01 6.74723599e-01 -1.04742830e-04 3.27854977e+02] [-6.74723593e-01 7.38070502e-01 8.46781623e-05 -1.35285927e+02] [ 1.34441948e-04 8.17400574e-06 9.99999991e-01 1.78387755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.612320588 meters 0.021236285361329217 Centerline is valid? [True, True] Translation: X:327.89, Y:-135.32, Z:1.78 [[ 7.37882811e-01 6.74928725e-01 4.16914900e-04 3.27890588e+02] [-6.74928606e-01 7.37882929e-01 -4.00211174e-04 -1.35316444e+02] [-5.77748404e-04 1.39211541e-05 9.99999833e-01 1.78457663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64232058799996 meters 0.021297592048112813 Centerline is valid? [True, True] Translation: X:327.93, Y:-135.35, Z:1.78 [[ 7.35887962e-01 6.77101939e-01 1.36790930e-03 3.27929617e+02] [-6.77100691e-01 7.35889233e-01 -1.30069434e-03 -1.35350081e+02] [-1.88733238e-03 3.09529724e-05 9.99998219e-01 1.78430683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.672320588 meters 0.021206439053007647 Centerline is valid? [True, True] Translation: X:327.96, Y:-135.38, Z:1.78 [[ 7.35060549e-01 6.77998658e-01 1.95173346e-03 3.27964709e+02] [-6.77996134e-01 7.35063139e-01 -1.85054000e-03 -1.35380839e+02] [-2.68931096e-03 3.69912132e-05 9.99996383e-01 1.78427337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70232058799996 meters 0.021316456741013422 Centerline is valid? [True, True] Translation: X:328.00, Y:-135.41, Z:1.78 [[ 7.32835384e-01 6.80402829e-01 2.07150939e-03 3.27998854e+02] [-6.80399975e-01 7.32838311e-01 -1.97104196e-03 -1.35411883e+02] [-2.85918397e-03 3.49943538e-05 9.99995912e-01 1.78409753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73232058799994 meters 0.021313488100611618 Centerline is valid? [True, True] Translation: X:328.03, Y:-135.44, Z:1.78 [[ 7.31524422e-01 6.81809202e-01 2.86926337e-03 3.28033990e+02] [-6.81803712e-01 7.31530048e-01 -2.73649423e-03 -1.35442576e+02] [-3.96471931e-03 4.55379467e-05 9.99992139e-01 1.78322472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76232058799997 meters 0.021030315961575594 Centerline is valid? [True, True] Translation: X:328.07, Y:-135.47, Z:1.79 [[ 7.29969224e-01 6.83473624e-01 2.95583614e-03 3.28067801e+02] [-6.83467757e-01 7.29975207e-01 -2.83235020e-03 -1.35474311e+02] [-4.09352375e-03 4.73097855e-05 9.99991620e-01 1.78549088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79232058799994 meters 0.021210695949996045 Centerline is valid? [True, True] Translation: X:328.11, Y:-135.51, Z:1.79 [[ 7.28238437e-01 6.85315209e-01 3.44142158e-03 3.28107090e+02] [-6.85307172e-01 7.28246566e-01 -3.31965357e-03 -1.35508666e+02] [-4.78121253e-03 5.90684319e-05 9.99988568e-01 1.78543707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82232058799997 meters 0.021367041428593872 Centerline is valid? [True, True] Translation: X:328.14, Y:-135.54, Z:1.79 [[ 7.27029847e-01 6.86597908e-01 3.30355427e-03 3.28141923e+02] [-6.86590468e-01 7.27037351e-01 -3.19690375e-03 -1.35539018e+02] [-4.59679477e-03 5.60555780e-05 9.99989433e-01 1.78626243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85232058799994 meters 0.021609627608051064 Centerline is valid? [True, True] Translation: X:328.18, Y:-135.57, Z:1.79 [[ 7.26822337e-01 6.86821482e-01 2.35402866e-03 3.28179867e+02] [-6.86817655e-01 7.26826148e-01 -2.29356160e-03 -1.35570149e+02] [-3.28623696e-03 5.02233584e-05 9.99994599e-01 1.78697297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88232058799997 meters 0.021956497120721494 Centerline is valid? [True, True] Translation: X:328.22, Y:-135.60, Z:1.79 [[ 7.26036533e-01 6.87645529e-01 3.81829495e-03 3.28216258e+02] [-6.87635428e-01 7.26046569e-01 -3.72801117e-03 -1.35601894e+02] [-5.33581015e-03 8.10774215e-05 9.99985761e-01 1.78554247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91232058799994 meters 0.021841156726325493 Centerline is valid? [True, True] Translation: X:328.25, Y:-135.63, Z:1.79 [[ 7.24205933e-01 6.89573707e-01 3.72425334e-03 3.28250031e+02] [-6.89564042e-01 7.24215505e-01 -3.65172909e-03 -1.35634177e+02] [-5.21529838e-03 7.64926871e-05 9.99986397e-01 1.78770382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.942320588 meters 0.021704786545117476 Centerline is valid? [True, True] Translation: X:328.28, Y:-135.67, Z:1.79 [[ 7.23342421e-01 6.90480979e-01 3.42932970e-03 3.28284413e+02] [-6.90472734e-01 7.23350546e-01 -3.37504413e-03 -1.35665585e+02] [-4.81101128e-03 7.34539386e-05 9.99988424e-01 1.78879725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97232058799995 meters 0.021661114848785114 Centerline is valid? [True, True] Translation: X:328.32, Y:-135.70, Z:1.79 [[ 7.20909700e-01 6.93022160e-01 3.08071065e-03 3.28318779e+02] [-6.93015472e-01 7.20916280e-01 -3.04517887e-03 -1.35697603e+02] [-4.33131090e-03 6.03188402e-05 9.99990618e-01 1.78900706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.002320588 meters 0.02155501428849389 Centerline is valid? [True, True] Translation: X:328.35, Y:-135.73, Z:1.79 [[ 7.18494698e-01 6.95528609e-01 2.30724360e-03 3.28353956e+02] [-6.95524826e-01 7.18498401e-01 -2.29455464e-03 -1.35727395e+02] [-3.25367923e-03 4.38801335e-05 9.99994706e-01 1.78785190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03232058799995 meters 0.02122469911763373 Centerline is valid? [True, True] Translation: X:328.39, Y:-135.76, Z:1.79 [[ 7.16984489e-01 6.97086415e-01 1.94222032e-03 3.28390391e+02] [-6.97083706e-01 7.16987119e-01 -1.94379815e-03 -1.35759376e+02] [-2.74754223e-03 3.97829894e-05 9.99996225e-01 1.78822689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.062320588 meters 0.02147634916104871 Centerline is valid? [True, True] Translation: X:328.43, Y:-135.79, Z:1.79 [[ 7.14777858e-01 6.99349126e-01 1.84745221e-03 3.28425962e+02] [-6.99346658e-01 7.14780245e-01 -1.85848885e-03 -1.35792141e+02] [-2.62025490e-03 3.63971527e-05 9.99996566e-01 1.78966126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09232058799995 meters 0.021727702146830338 Centerline is valid? [True, True] Translation: X:328.46, Y:-135.82, Z:1.79 [[ 7.14697272e-01 6.99422053e-01 4.07458884e-03 3.28461116e+02] [-6.99410043e-01 7.14708882e-01 -4.09952211e-03 -1.35824056e+02] [-5.77944100e-03 8.01089053e-05 9.99983296e-01 1.78868122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.122320588 meters 0.021821364509614985 Centerline is valid? [True, True] Translation: X:329.72, Y:-134.61, Z:3.61 [[ 7.53044127e-01 -6.57897018e-01 9.80083404e-03 3.29716110e+02] [-6.57838350e-01 -7.53107884e-01 -8.78746645e-03 -1.34605878e+02] [ 1.31623334e-02 1.69985510e-04 -9.99913358e-01 3.61119612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15232058799995 meters 0.022090069242182583 Centerline is valid? [True, True] Translation: X:328.61, Y:-135.97, Z:1.79 [[ 7.70928936e-01 6.36919287e-01 1.54802473e-03 3.28608125e+02] [-6.36917919e-01 7.70930490e-01 -1.32050665e-03 -1.35969734e+02] [-2.03447562e-03 3.20520998e-05 9.99997930e-01 1.79041496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.182320588 meters 0.022312986621494862 Centerline is valid? [True, True] Translation: X:328.64, Y:-136.00, Z:1.79 [[ 7.70258244e-01 6.37731021e-01 1.17580603e-03 3.28643690e+02] [-6.37730215e-01 7.70259141e-01 -1.01472962e-03 -1.35997444e+02] [-1.55279990e-03 3.17568247e-05 9.99998794e-01 1.79090998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21232058799995 meters 0.022389401328888513 Centerline is valid? [True, True] Translation: X:328.68, Y:-136.02, Z:1.79 [[ 7.69752061e-01 6.38341132e-01 1.53705425e-03 3.28679130e+02] [-6.38339752e-01 7.69753595e-01 -1.32827778e-03 -1.36024773e+02] [-2.03104738e-03 4.12817276e-05 9.99997937e-01 1.79127009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.242320588 meters 0.022979902293380934 Centerline is valid? [True, True] Translation: X:328.71, Y:-136.05, Z:1.79 [[ 7.69813092e-01 6.38265535e-01 2.21609596e-03 3.28714241e+02] [-6.38262657e-01 7.69816279e-01 -1.91752648e-03 -1.36052477e+02] [-2.92987781e-03 6.16856894e-05 9.99995706e-01 1.79109646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27232058799996 meters 0.023167798320475382 Centerline is valid? [True, True] Translation: X:328.75, Y:-136.08, Z:1.79 [[ 7.69212209e-01 6.38991649e-01 1.49991401e-03 3.28749371e+02] [-6.38990317e-01 7.69213670e-01 -1.30559066e-03 -1.36081192e+02] [-1.98801589e-03 4.58457506e-05 9.99998023e-01 1.79249223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.302320588 meters 0.023023815202145307 Centerline is valid? [True, True] Translation: X:328.78, Y:-136.11, Z:1.79 [[ 7.67084965e-01 6.41545059e-01 7.69910144e-04 3.28783994e+02] [-6.41544702e-01 7.67085351e-01 -6.77218739e-04 -1.36109653e+02] [-1.02505313e-03 2.55525384e-05 9.99999474e-01 1.79248173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33232058799996 meters 0.022573062131686087 Centerline is valid? [True, True] Translation: X:328.82, Y:-136.14, Z:1.79 [[ 7.65443857e-01 6.43502649e-01 -2.05285778e-04 3.28818674e+02] [-6.43502627e-01 7.65443885e-01 1.68493192e-04 -1.36139221e+02] [ 2.65560560e-04 3.12985835e-06 9.99999965e-01 1.79391463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.362320588 meters 0.022320102387168094 Centerline is valid? [True, True] Translation: X:328.85, Y:-136.17, Z:1.79 [[ 7.63814603e-01 6.45435678e-01 -1.93580616e-04 3.28853304e+02] [-6.45435658e-01 7.63814628e-01 1.59134992e-04 -1.36168058e+02] [ 2.50571108e-04 3.39420144e-06 9.99999969e-01 1.79480990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39232058799996 meters 0.022549803148665625 Centerline is valid? [True, True] Translation: X:328.89, Y:-136.20, Z:1.79 [[ 7.62650051e-01 6.46811151e-01 4.83431614e-04 3.28887657e+02] [-6.46811006e-01 7.62650204e-01 -4.33896758e-04 -1.36196518e+02] [-6.49338480e-04 1.82224960e-05 9.99999789e-01 1.79394419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.422320588 meters 0.0226284879823671 Centerline is valid? [True, True] Translation: X:328.92, Y:-136.23, Z:1.79 [[ 7.61763517e-01 6.47855067e-01 3.95200587e-04 3.28922321e+02] [-6.47854969e-01 7.61763619e-01 -3.57681170e-04 -1.36225815e+02] [-5.32774987e-04 1.64358024e-05 9.99999858e-01 1.79483872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45232058799996 meters 0.022620759975269873 Centerline is valid? [True, True] Translation: X:328.96, Y:-136.25, Z:1.80 [[ 7.60679298e-01 6.49127579e-01 -6.25594516e-04 3.28957213e+02] [-6.49127352e-01 7.60679556e-01 5.42428082e-04 -1.36254447e+02] [ 8.27981987e-04 -6.52330117e-06 9.99999657e-01 1.79637220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48232058799994 meters 0.022503141215675242 Centerline is valid? [True, True] Translation: X:329.00, Y:-136.29, Z:1.80 [[ 7.57732750e-01 6.52563609e-01 -1.34764675e-03 3.29002485e+02] [-6.52562545e-01 7.57733948e-01 1.17865386e-03 -1.36290084e+02] [ 1.79030431e-03 -1.36808373e-05 9.99998397e-01 1.79528512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51232058799997 meters 0.022622393695275262 Centerline is valid? [True, True] Translation: X:329.04, Y:-136.32, Z:1.80 [[ 7.56596768e-01 6.53879426e-01 -1.73967909e-03 3.29037259e+02] [-6.53877607e-01 7.56598768e-01 1.54281279e-03 -1.36319597e+02] [ 2.32505260e-03 -2.97499777e-05 9.99997297e-01 1.79606858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54232058799994 meters 0.022574515000124373 Centerline is valid? [True, True] Translation: X:329.07, Y:-136.35, Z:1.80 [[ 7.55601608e-01 6.55029801e-01 -1.47302152e-03 3.29072152e+02] [-6.55028492e-01 7.55603044e-01 1.30961466e-03 -1.36348788e+02] [ 1.97085618e-03 -2.46758779e-05 9.99998058e-01 1.79723243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57232058799997 meters 0.022305835834812326 Centerline is valid? [True, True] Translation: X:329.11, Y:-136.38, Z:1.80 [[ 7.53484789e-01 6.57463653e-01 -1.48914986e-03 3.29106340e+02] [-6.57462310e-01 7.53486260e-01 1.32912950e-03 -1.36379356e+02] [ 1.99590829e-03 -2.24189516e-05 9.99998008e-01 1.79717203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60232058799994 meters 0.022025907575003115 Centerline is valid? [True, True] Translation: X:329.14, Y:-136.41, Z:1.80 [[ 7.51376146e-01 6.59871039e-01 -2.02445362e-03 3.29141426e+02] [-6.59868537e-01 7.51378873e-01 1.81735703e-03 -1.36409360e+02] [ 2.72035296e-03 -2.96454753e-05 9.99996299e-01 1.79753409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63232058799997 meters 0.022000269897308578 Centerline is valid? [True, True] Translation: X:329.26, Y:-136.48, Z:1.80 [[ 7.33356205e-01 6.79836276e-01 -3.36362085e-03 3.29263213e+02] [-6.79829435e-01 7.33363918e-01 3.05022842e-03 -1.36484335e+02] [ 4.54041410e-03 4.97845248e-05 9.99989691e-01 1.79805902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66232058799994 meters 0.021428540507097502 Centerline is valid? [True, True] Translation: X:329.30, Y:-136.52, Z:1.80 [[ 7.30118979e-01 6.83309316e-01 -3.82827770e-03 3.29301179e+02] [-6.83299588e-01 7.30129014e-01 3.64636413e-03 -1.36519970e+02] [ 5.28673120e-03 -4.64190825e-05 9.99986024e-01 1.79930751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.692320588 meters 0.0214641532469551 Centerline is valid? [True, True] Translation: X:329.33, Y:-136.55, Z:1.80 [[ 7.27462416e-01 6.86140638e-01 -3.07559910e-03 3.29334917e+02] [-6.86134327e-01 7.27468916e-01 2.94303656e-03 -1.36551064e+02] [ 4.25673973e-03 -3.06743674e-05 9.99990940e-01 1.79838679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72232058799995 meters 0.02132025598900014 Centerline is valid? [True, True] Translation: X:329.37, Y:-136.58, Z:1.80 [[ 7.25426439e-01 6.88291889e-01 -3.27977051e-03 3.29369255e+02] [-6.88284669e-01 7.25433852e-01 3.15283222e-03 -1.36582198e+02] [ 4.54932540e-03 -2.97320855e-05 9.99989651e-01 1.79859280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.752320588 meters 0.021283750457839777 Centerline is valid? [True, True] Translation: X:329.50, Y:-136.65, Z:1.80 [[ 6.97603792e-01 7.16474279e-01 -3.68207177e-03 3.29499087e+02] [-7.16465223e-01 6.97613498e-01 3.60452147e-03 -1.36653861e+02] [ 5.15120989e-03 1.23548528e-04 9.99986725e-01 1.79995323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78232058799995 meters 0.021128039951127622 Centerline is valid? [True, True] Translation: X:330.77, Y:-135.44, Z:3.61 [[ 7.44936303e-01 -6.67131603e-01 2.30845897e-03 3.30770808e+02] [-6.67127021e-01 -7.44939813e-01 -2.49262583e-03 -1.35436420e+02] [ 3.38257246e-03 3.16812118e-04 -9.99994229e-01 3.61049438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.812320588 meters 0.02100975366550073 Centerline is valid? [True, True] Translation: X:329.63, Y:-136.79, Z:1.80 [[ 7.53645525e-01 6.57268539e-01 -4.06071975e-03 3.29627535e+02] [-6.57258755e-01 7.53656464e-01 3.58647653e-03 -1.36792338e+02] [ 5.41766588e-03 -3.39883827e-05 9.99985324e-01 1.80262577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84232058799995 meters 0.02085177852220898 Centerline is valid? [True, True] Translation: X:329.66, Y:-136.82, Z:1.80 [[ 7.50820170e-01 6.60488567e-01 -4.89127790e-03 3.29662980e+02] [-6.60474375e-01 7.50836102e-01 4.32981192e-03 -1.36822321e+02] [ 6.53233931e-03 -2.03464070e-05 9.99978664e-01 1.80357028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.872320588 meters 0.021001432683590178 Centerline is valid? [True, True] Translation: X:329.70, Y:-136.85, Z:1.80 [[ 7.48205194e-01 6.63448591e-01 -4.99559094e-03 3.29697612e+02] [-6.63433727e-01 7.48221870e-01 4.44106277e-03 -1.36852314e+02] [ 6.68422724e-03 -8.58271777e-06 9.99977660e-01 1.80301299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90232058799995 meters 0.020775256282929203 Centerline is valid? [True, True] Translation: X:329.73, Y:-136.88, Z:1.80 [[ 7.46506836e-01 6.65352778e-01 -5.76410781e-03 3.29732468e+02] [-6.65332879e-01 7.46529089e-01 5.14570952e-03 -1.36882447e+02] [ 7.72678627e-03 -6.25689007e-06 9.99970148e-01 1.80421766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.932320588 meters 0.020775256282929203 Centerline is valid? [True, True] Translation: X:329.77, Y:-136.91, Z:1.80 [[ 7.45210301e-01 6.66804693e-01 -5.75407681e-03 3.29767738e+02] [-6.66784751e-01 7.45232515e-01 5.15691226e-03 -1.36911929e+02] [ 7.72677843e-03 -6.25346305e-06 9.99970148e-01 1.80441516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96232058799995 meters 0.020959887144419213 Centerline is valid? [True, True] Translation: X:329.80, Y:-136.94, Z:1.80 [[ 7.43217873e-01 6.69033736e-01 -4.58842303e-03 3.29802587e+02] [-6.69021012e-01 7.43232037e-01 4.12619413e-03 -1.36942490e+02] [ 6.17082607e-03 3.09018591e-06 9.99980960e-01 1.80377475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.992320588 meters 0.020937199257203477 Centerline is valid? [True, True] Translation: X:329.84, Y:-136.97, Z:1.81 [[ 7.40058206e-01 6.72518813e-01 -5.68303806e-03 3.29836704e+02] [-6.72499222e-01 7.40080026e-01 5.13328527e-03 -1.36973917e+02] [ 7.65813388e-03 2.29087870e-05 9.99970676e-01 1.80641512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02232058799996 meters 0.021197870147904977 Centerline is valid? [True, True] Translation: X:329.87, Y:-137.01, Z:1.81 [[ 7.36978750e-01 6.75880703e-01 -6.89905745e-03 3.29873285e+02] [-6.75851699e-01 7.37011040e-01 6.26161485e-03 -1.37005407e+02] [ 9.31678615e-03 4.80626213e-05 9.99956597e-01 1.80798844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.052320588 meters 0.021172808748828324 Centerline is valid? [True, True] Translation: X:329.91, Y:-137.04, Z:1.81 [[ 7.34896650e-01 6.78138922e-01 -7.38349803e-03 3.29909534e+02] [-6.78105495e-01 7.34933738e-01 6.73339822e-03 -1.37035570e+02] [ 9.99256122e-03 5.84387888e-05 9.99950071e-01 1.80810529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08232058799996 meters 0.021303128798921548 Centerline is valid? [True, True] Translation: X:329.95, Y:-137.07, Z:1.81 [[ 7.33713527e-01 6.79419432e-01 -7.32768436e-03 3.29945733e+02] [-6.79386296e-01 7.33750115e-01 6.71035428e-03 -1.37065388e+02] [ 9.93583435e-03 5.48506306e-05 9.99950637e-01 1.80761117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.112320588 meters 0.021116622568020802 Centerline is valid? [True, True] Translation: X:329.98, Y:-137.10, Z:1.81 [[ 7.32603447e-01 6.80616989e-01 -7.25972527e-03 3.29980948e+02] [-6.80584267e-01 7.32639414e-01 6.67414765e-03 -1.37095338e+02] [ 9.86129915e-03 5.13512340e-05 9.99951375e-01 1.80736007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14232058799996 meters 0.021154136018390286 Centerline is valid? [True, True] Translation: X:330.02, Y:-137.12, Z:1.81 [[ 7.32751045e-01 6.80476618e-01 -5.24199142e-03 3.30017430e+02] [-6.80459441e-01 7.32769795e-01 4.83505654e-03 -1.37124837e+02] [ 7.13131590e-03 2.40698151e-05 9.99974572e-01 1.80658289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.172320588 meters 0.02095912251660662 Centerline is valid? [True, True] Translation: X:330.05, Y:-137.15, Z:1.81 [[ 7.31904656e-01 6.81391920e-01 -4.54150547e-03 3.30052603e+02] [-6.81378952e-01 7.31918746e-01 4.20396138e-03 -1.37154816e+02] [ 6.18855831e-03 1.75873258e-05 9.99980851e-01 1.80696950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20232058799996 meters 0.021061251604140678 Centerline is valid? [True, True] Translation: X:330.09, Y:-137.18, Z:1.81 [[ 7.31622951e-01 6.81698302e-01 -3.90922773e-03 3.30088088e+02] [-6.81688628e-01 7.31633395e-01 3.63176905e-03 -1.37184180e+02] [ 5.33589235e-03 7.79049928e-06 9.99985764e-01 1.80764281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23232058799994 meters 0.02098201154347862 Centerline is valid? [True, True] Translation: X:330.12, Y:-137.21, Z:1.81 [[ 7.30885059e-01 6.82487924e-01 -4.15505006e-03 3.30123438e+02] [-6.82476906e-01 7.30896869e-01 3.87803177e-03 -1.37213953e+02] [ 5.68362293e-03 1.33022980e-06 9.99983848e-01 1.80871565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26232058799997 meters 0.02107004613786498 Centerline is valid? [True, True] Translation: X:330.16, Y:-137.24, Z:1.81 [[ 7.31793826e-01 6.81514553e-01 -3.96365822e-03 3.30160426e+02] [-6.81504429e-01 7.31804560e-01 3.71477967e-03 -1.37242657e+02] [ 5.43229956e-03 -1.72021973e-05 9.99985245e-01 1.81015561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29232058799994 meters 0.021272854894518998 Centerline is valid? [True, True] Translation: X:330.20, Y:-137.27, Z:1.81 [[ 7.31031449e-01 6.82332777e-01 -3.87329612e-03 3.30198189e+02] [-6.82323043e-01 7.31041709e-01 3.64479276e-03 -1.37273776e+02] [ 5.31850258e-03 -2.16189329e-05 9.99985856e-01 1.81060388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32232058799997 meters 0.02122699997031438 Centerline is valid? [True, True] Translation: X:330.24, Y:-137.31, Z:1.81 [[ 7.30001768e-01 6.83428561e-01 -4.77721194e-03 3.30235044e+02] [-6.83413614e-01 7.30017398e-01 4.52006779e-03 -1.37305958e+02] [ 6.57659125e-03 -3.48457961e-05 9.99978373e-01 1.81200533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35232058799994 meters 0.021889355326708583 Centerline is valid? [True, True] Translation: X:330.27, Y:-137.34, Z:1.81 [[ 7.31259674e-01 6.82080765e-01 -5.01198366e-03 3.30270450e+02] [-6.82064132e-01 7.31276846e-01 4.76382055e-03 -1.37335805e+02] [ 6.91445797e-03 -6.50955782e-05 9.99976093e-01 1.81223796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38232058799997 meters 0.021868816515587898 Centerline is valid? [True, True] Translation: X:330.31, Y:-137.37, Z:1.81 [[ 7.29838970e-01 6.83601561e-01 -4.89733274e-03 3.30305776e+02] [-6.83585594e-01 7.29855398e-01 4.67267171e-03 -1.37366226e+02] [ 6.76859041e-03 -6.25517963e-05 9.99977091e-01 1.81162880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41232058799994 meters 0.021930015342747453 Centerline is valid? [True, True] Translation: X:330.41, Y:-137.44, Z:1.81 [[ 7.18206003e-01 6.95815786e-01 -4.53082443e-03 3.30406677e+02] [-6.95801973e-01 7.18220295e-01 4.38444437e-03 -1.37437047e+02] [ 6.30489566e-03 3.62230795e-06 9.99980124e-01 1.81207749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.442320588 meters 0.021773626194441703 Centerline is valid? [True, True] Translation: X:330.44, Y:-137.47, Z:1.81 [[ 7.17194881e-01 6.96861294e-01 -3.97993921e-03 3.30441615e+02] [-6.96850137e-01 7.17205921e-01 3.94377214e-03 -1.37469656e+02] [ 5.60269813e-03 -5.50320040e-05 9.99984303e-01 1.81427030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47232058799995 meters 0.02209204426395234 Centerline is valid? [True, True] Translation: X:330.48, Y:-137.50, Z:1.82 [[ 7.16792816e-01 6.97280275e-01 -2.87694205e-03 3.30475279e+02] [-6.97274410e-01 7.16798588e-01 2.86024274e-03 -1.37501991e+02] [ 4.05657884e-03 -4.41833743e-05 9.99991771e-01 1.81576344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.502320588 meters 0.0225673838236918 Centerline is valid? [True, True] Translation: X:330.52, Y:-137.54, Z:1.82 [[ 7.16079702e-01 6.98011411e-01 -3.15121159e-03 3.30518151e+02] [-6.98004320e-01 7.16086634e-01 3.14675169e-03 -1.37538232e+02] [ 4.45300908e-03 -5.37657120e-05 9.99990084e-01 1.81638774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53232058799995 meters 0.022425929025489046 Centerline is valid? [True, True] Translation: X:331.77, Y:-136.32, Z:3.61 [[ 7.51212291e-01 -6.60053937e-01 2.98223983e-03 3.31770281e+02] [-6.60047232e-01 -7.51218160e-01 -2.98794237e-03 -1.36316066e+02] [ 4.21251584e-03 2.76159889e-04 -9.99991089e-01 3.60853081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.562320588 meters 0.02254978546011393 Centerline is valid? [True, True] Translation: X:330.66, Y:-137.68, Z:1.81 [[ 7.70705560e-01 6.37181993e-01 -3.47106355e-03 3.30661752e+02] [-6.37175121e-01 7.70713373e-01 2.96012165e-03 -1.37678145e+02] [ 4.56133131e-03 -6.97068732e-05 9.99989595e-01 1.81292170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59232058799995 meters 0.02276703785257004 Centerline is valid? [True, True] Translation: X:330.70, Y:-137.71, Z:1.81 [[ 7.69887477e-01 6.38174026e-01 -2.68060676e-03 3.30698632e+02] [-6.38169933e-01 7.69892142e-01 2.28618515e-03 -1.37706488e+02] [ 3.52276206e-03 -4.94226832e-05 9.99993794e-01 1.81302638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.622320588 meters 0.022708651916340403 Centerline is valid? [True, True] Translation: X:330.73, Y:-137.73, Z:1.81 [[ 7.68574808e-01 6.39759610e-01 -6.37856199e-04 3.30733142e+02] [-6.39759383e-01 7.68575072e-01 5.38787519e-04 -1.37734879e+02] [ 8.34934868e-04 -6.02402497e-06 9.99999651e-01 1.81202907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65232058799995 meters 0.022670847807200006 Centerline is valid? [True, True] Translation: X:330.77, Y:-137.76, Z:1.81 [[ 7.67438228e-01 6.41122623e-01 -5.89734463e-04 3.30768623e+02] [-6.41122429e-01 7.67438455e-01 4.99191625e-04 -1.37763148e+02] [ 7.72627950e-04 -5.00674475e-06 9.99999702e-01 1.81419212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.682320588 meters 0.02237813304046161 Centerline is valid? [True, True] Translation: X:330.80, Y:-137.79, Z:1.82 [[ 7.65045682e-01 6.43975297e-01 -9.59473798e-04 3.30801871e+02] [-6.43974774e-01 7.65046284e-01 8.21270014e-04 -1.37792466e+02] [ 1.26291947e-03 -1.04321565e-05 9.99999202e-01 1.81546890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71232058799995 meters 0.022525094015706196 Centerline is valid? [True, True] Translation: X:330.84, Y:-137.82, Z:1.82 [[ 7.64092064e-01 6.45094372e-01 -4.07039920e-03 3.30838704e+02] [-6.45084727e-01 7.64102903e-01 3.52832862e-03 -1.37821603e+02] [ 5.38630878e-03 -7.02155402e-05 9.99985491e-01 1.81947297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.742320588 meters 0.022485418546038503 Centerline is valid? [True, True] Translation: X:330.87, Y:-137.85, Z:1.82 [[ 7.63312291e-01 6.46018731e-01 -3.76109808e-03 3.30874407e+02] [-6.46010448e-01 7.63321554e-01 3.27197514e-03 -1.37848531e+02] [ 4.98468446e-03 -6.78301870e-05 9.99987574e-01 1.81843792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77232058799996 meters 0.022730167968954038 Centerline is valid? [True, True] Translation: X:330.91, Y:-137.88, Z:1.82 [[ 7.62650508e-01 6.46799231e-01 -3.86741966e-03 3.30910114e+02] [-6.46790421e-01 7.62660310e-01 3.37687334e-03 -1.37875323e+02] [ 5.13368655e-03 -7.39641783e-05 9.99986820e-01 1.81730983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.802320588 meters 0.023085253919344996 Centerline is valid? [True, True] Translation: X:330.95, Y:-137.90, Z:1.82 [[ 7.62776187e-01 6.46658233e-01 -2.37034421e-03 3.30945217e+02] [-6.46654911e-01 7.62779868e-01 2.07339572e-03 -1.37902853e+02] [ 3.14882926e-03 -4.87421529e-05 9.99995041e-01 1.81568166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83232058799996 meters 0.023587287795024833 Centerline is valid? [True, True] Translation: X:330.98, Y:-137.93, Z:1.82 [[ 7.62436797e-01 6.47061492e-01 -1.24718479e-03 3.30981130e+02] [-6.47060575e-01 7.62437817e-01 1.08980244e-03 -1.37932769e+02] [ 1.65607004e-03 -2.39013783e-05 9.99998628e-01 1.81644076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.862320588 meters 0.0248512050047781 Centerline is valid? [True, True] Translation: X:331.02, Y:-137.96, Z:1.82 [[ 7.64368215e-01 6.44779224e-01 -9.92107124e-04 3.31017161e+02] [-6.44778640e-01 7.64368858e-01 8.68627919e-04 -1.37960145e+02] [ 1.31840903e-03 -2.42620899e-05 9.99999131e-01 1.81724788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89232058799996 meters 0.025163614270951994 Centerline is valid? [True, True] Translation: X:331.05, Y:-137.99, Z:1.82 [[ 7.63425230e-01 6.45893864e-01 -1.74199639e-03 3.31051846e+02] [-6.45892034e-01 7.63427216e-01 1.53815934e-03 -1.37988437e+02] [ 2.32337513e-03 -4.91280580e-05 9.99997300e-01 1.81717034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.922320588 meters 0.025631014151110028 Centerline is valid? [True, True] Translation: X:331.09, Y:-138.02, Z:1.82 [[ 7.62753110e-01 6.46687633e-01 -1.67288167e-03 3.31094254e+02] [-6.46685944e-01 7.62754943e-01 1.47909878e-03 -1.38020911e+02] [ 2.23251365e-03 -4.63581306e-05 9.99997507e-01 1.81724859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95232058799996 meters 0.025544159848132637 Centerline is valid? [True, True] Translation: X:331.13, Y:-138.05, Z:1.82 [[ 7.60958986e-01 6.48798957e-01 -1.15553686e-03 3.31126879e+02] [-6.48798146e-01 7.60959862e-01 1.02665929e-03 -1.38051163e+02] [ 1.54541264e-03 -3.15354403e-05 9.99998805e-01 1.81574709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98232058799994 meters 0.025293789850013473 Centerline is valid? [True, True] Translation: X:331.16, Y:-138.08, Z:1.82 [[ 7.59402078e-01 6.50621608e-01 -8.28898059e-05 3.31160866e+02] [-6.50621605e-01 7.59402083e-01 6.48924306e-05 -1.38081139e+02] [ 1.05167109e-04 4.65045189e-06 9.99999994e-01 1.81506376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01232058799997 meters 0.024626669814303264 Centerline is valid? [True, True] Translation: X:331.20, Y:-138.11, Z:1.82 [[ 7.57423189e-01 6.52924272e-01 9.36979252e-05 3.31195178e+02] [-6.52924265e-01 7.57423194e-01 -9.44904259e-05 -1.38110644e+02] [-1.32664074e-04 1.03915907e-05 9.99999991e-01 1.81510736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04232058799994 meters 0.024311316703621536 Centerline is valid? [True, True] Translation: X:331.23, Y:-138.14, Z:1.82 [[ 7.55873764e-01 6.54717222e-01 -4.61267130e-04 3.31228934e+02] [-6.54717095e-01 7.55873904e-01 4.08234441e-04 -1.38140991e+02] [ 6.15937906e-04 -6.57422837e-06 9.99999810e-01 1.81642636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07232058799997 meters 0.024810430503187663 Centerline is valid? [True, True] Translation: X:331.26, Y:-138.17, Z:1.82 [[ 7.54969818e-01 6.55759493e-01 -2.46289355e-04 3.31264212e+02] [-6.55759458e-01 7.54969858e-01 2.13768523e-04 -1.38170720e+02] [ 3.26121778e-04 1.17791394e-07 9.99999947e-01 1.81682324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10232058799994 meters 0.02483175795877462 Centerline is valid? [True, True] Translation: X:331.30, Y:-138.20, Z:1.82 [[ 7.54045795e-01 6.56820609e-01 -1.27520475e-03 3.31299846e+02] [-6.56819595e-01 7.54046873e-01 1.15426268e-03 -1.38200430e+02] [ 1.71970767e-03 -3.27874490e-05 9.99998521e-01 1.81839758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13232058799997 meters 0.025242586924925377 Centerline is valid? [True, True] Translation: X:331.34, Y:-138.23, Z:1.82 [[ 7.53658960e-01 6.57265083e-01 -8.84556329e-04 3.31336186e+02] [-6.57264596e-01 7.53659479e-01 8.00502617e-04 -1.38230004e+02] [ 1.19279668e-03 -2.19184115e-05 9.99999288e-01 1.81773638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16232058799994 meters 0.024978181083077953 Centerline is valid? [True, True] Translation: X:331.37, Y:-138.26, Z:1.82 [[ 7.51996624e-01 6.59166941e-01 1.43370476e-04 3.31370147e+02] [-6.59166926e-01 7.51996638e-01 -1.42190606e-04 -1.38260479e+02] [-2.01541462e-04 1.24217794e-05 9.99999980e-01 1.81645920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.192320588 meters 0.024585408298409994 Centerline is valid? [True, True] Translation: X:331.40, Y:-138.29, Z:1.82 [[ 7.50144970e-01 6.61273149e-01 5.89265854e-04 3.31404371e+02] [-6.61272917e-01 7.50145201e-01 -5.54570719e-04 -1.38291214e+02] [-8.08757677e-04 2.63428848e-05 9.99999673e-01 1.81683496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22232058799995 meters 0.02405933013094208 Centerline is valid? [True, True] Translation: X:331.44, Y:-138.32, Z:1.82 [[ 7.47312232e-01 6.64473001e-01 -2.42632329e-04 3.31437913e+02] [-6.64472967e-01 7.47312271e-01 2.14309930e-04 -1.38323371e+02] [ 3.23725280e-04 1.06619177e-06 9.99999948e-01 1.81829366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.252320588 meters 0.023754882775198854 Centerline is valid? [True, True] Translation: X:331.47, Y:-138.35, Z:1.82 [[ 7.45213247e-01 6.66823267e-01 -1.98663700e-03 3.31473585e+02] [-6.66820735e-01 7.45215894e-01 1.83819781e-03 -1.38353646e+02] [ 2.70622654e-03 -4.51186120e-05 9.99996337e-01 1.81806790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28232058799995 meters 0.023878367013487146 Centerline is valid? [True, True] Translation: X:331.51, Y:-138.39, Z:1.82 [[ 7.43848673e-01 6.68345483e-01 -1.86221264e-03 3.31513135e+02] [-6.68343253e-01 7.43851003e-01 1.72700765e-03 -1.38387384e+02] [ 2.53944650e-03 -4.00350894e-05 9.99996775e-01 1.82159010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.312320588 meters 0.0231362730487515 Centerline is valid? [True, True] Translation: X:331.55, Y:-138.42, Z:1.82 [[ 7.40529522e-01 6.72017266e-01 -2.97002275e-03 3.31546260e+02] [-6.72011521e-01 7.40535475e-01 2.77953390e-03 -1.38419681e+02] [ 4.06730198e-03 -6.24374010e-05 9.99991727e-01 1.82147163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34232058799995 meters 0.022780650355814232 Centerline is valid? [True, True] Translation: X:331.58, Y:-138.45, Z:1.82 [[ 7.38238920e-01 6.74534429e-01 -2.56921847e-03 3.31582638e+02] [-6.74530119e-01 7.38243389e-01 2.41178735e-03 -1.38451815e+02] [ 3.52354216e-03 -4.74600439e-05 9.99993791e-01 1.82122117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.372320588 meters 0.022816322665906108 Centerline is valid? [True, True] Translation: X:331.62, Y:-138.48, Z:1.82 [[ 7.36863880e-01 6.76036372e-01 -2.53875157e-03 3.31617228e+02] [-6.76032133e-01 7.36868252e-01 2.39470799e-03 -1.38483536e+02] [ 3.48963513e-03 -4.82961880e-05 9.99993910e-01 1.82220037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40232058799995 meters 0.02274009258838005 Centerline is valid? [True, True] Translation: X:331.66, Y:-138.52, Z:1.82 [[ 7.34448398e-01 6.78662800e-01 -1.53424780e-03 3.31656875e+02] [-6.78661261e-01 7.34450000e-01 1.44548994e-03 -1.38519278e+02] [ 2.10782855e-03 -2.04032206e-05 9.99997778e-01 1.82267944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.432320588 meters 0.022720106343569798 Centerline is valid? [True, True] Translation: X:331.69, Y:-138.55, Z:1.82 [[ 7.33132432e-01 6.80085662e-01 -5.73661443e-04 3.31693871e+02] [-6.80085451e-01 7.33132657e-01 5.35977297e-04 -1.38550767e+02] [ 7.85080413e-04 -2.80353856e-06 9.99999692e-01 1.82165804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46232058799995 meters 0.022718361124031028 Centerline is valid? [True, True] Translation: X:331.73, Y:-138.58, Z:1.82 [[ 7.31643031e-01 6.81687702e-01 -5.94275631e-04 3.31729344e+02] [-6.81687471e-01 7.31643272e-01 5.60338784e-04 -1.38581245e+02] [ 8.16773825e-04 -4.85771436e-06 9.99999666e-01 1.82154468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.492320588 meters 0.02241510681876326 Centerline is valid? [True, True] Translation: X:331.76, Y:-138.61, Z:1.82 [[ 7.30400444e-01 6.83017714e-01 -1.41188738e-03 3.31763704e+02] [-6.83016378e-01 7.30401808e-01 1.35151851e-03 -1.38612901e+02] [ 1.95435618e-03 -2.28075164e-05 9.99998090e-01 1.82259425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52232058799996 meters 0.022563800803880613 Centerline is valid? [True, True] Translation: X:331.80, Y:-138.65, Z:1.82 [[ 7.28815902e-01 6.84708899e-01 -1.05102550e-03 3.31797108e+02] [-6.84708158e-01 7.28816660e-01 1.00713611e-03 -1.38645532e+02] [ 1.45559995e-03 -1.43710763e-05 9.99998941e-01 1.82351054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.552320588 meters 0.02250472575682545 Centerline is valid? [True, True] Translation: X:331.83, Y:-138.68, Z:1.83 [[ 7.26944639e-01 6.86695821e-01 -5.83703655e-04 3.31831810e+02] [-6.86695597e-01 7.26944874e-01 5.54878951e-04 -1.38678865e+02] [ 8.05353438e-04 -2.53954878e-06 9.99999676e-01 1.82548936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58232058799996 meters 0.022395258643796177 Centerline is valid? [True, True] Translation: X:331.87, Y:-138.71, Z:1.83 [[ 7.24995830e-01 6.88752845e-01 -7.51725934e-04 3.31866919e+02] [-6.88752466e-01 7.24996220e-01 7.22355066e-04 -1.38709815e+02] [ 1.04252257e-03 -5.95132021e-06 9.99999457e-01 1.82559111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.612320588 meters 0.022512609349004793 Centerline is valid? [True, True] Translation: X:331.90, Y:-138.74, Z:1.82 [[ 7.23895507e-01 6.89909464e-01 4.75609305e-04 3.31901640e+02] [-6.89909299e-01 7.23895663e-01 -4.77765089e-04 -1.38740598e+02] [-6.73906169e-04 1.77247199e-05 9.99999773e-01 1.82315324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64232058799996 meters 0.022564225239972004 Centerline is valid? [True, True] Translation: X:331.94, Y:-138.77, Z:1.82 [[ 7.22158908e-01 6.91727129e-01 -3.00750897e-04 3.31938002e+02] [-6.91727072e-01 7.22158971e-01 2.81292624e-04 -1.38774335e+02] [ 4.11767698e-04 4.89956279e-06 9.99999915e-01 1.82341085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.672320588 meters 0.022482042754104845 Centerline is valid? [True, True] Translation: X:331.97, Y:-138.81, Z:1.82 [[ 7.20094761e-01 6.93875611e-01 -4.15430564e-04 3.31971408e+02] [-6.93875495e-01 7.20094880e-01 4.00205178e-04 -1.38806174e+02] [ 5.76842035e-04 7.14360940e-08 9.99999834e-01 1.82433294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70232058799996 meters 0.02203894239038789 Centerline is valid? [True, True] Translation: X:332.01, Y:-138.84, Z:1.82 [[ 7.16691496e-01 6.97390259e-01 -3.55596417e-04 3.32010815e+02] [-6.97390178e-01 7.16691584e-01 3.35533136e-04 -1.38841263e+02] [ 4.88850501e-04 7.51570419e-06 9.99999880e-01 1.82306196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73232058799994 meters 0.021959329545275186 Centerline is valid? [True, True] Translation: X:332.05, Y:-138.88, Z:1.82 [[ 7.14427597e-01 6.99709357e-01 -1.56884818e-04 3.32047400e+02] [-6.99709343e-01 7.14427614e-01 1.41290007e-04 -1.38875767e+02] [ 2.10944787e-04 8.83229307e-06 9.99999978e-01 1.82413338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76232058799997 meters 0.021450517247422647 Centerline is valid? [True, True] Translation: X:333.29, Y:-137.63, Z:3.61 [[ 7.56316836e-01 -6.54176851e-01 6.12306802e-03 3.33290888e+02] [-6.54152524e-01 -7.56341574e-01 -5.64786067e-03 -1.37629646e+02] [ 8.32583062e-03 2.66151711e-04 -9.99965304e-01 3.61294906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79232058799994 meters 0.021642786103269526 Centerline is valid? [True, True] Translation: X:332.17, Y:-139.01, Z:1.83 [[ 7.67138166e-01 6.41481441e-01 7.71124556e-04 3.32172412e+02] [-6.41481103e-01 7.67138554e-01 -6.58171721e-04 -1.39007305e+02] [-1.01376432e-03 1.02468158e-05 9.99999486e-01 1.82589292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82232058799997 meters 0.02167336785278145 Centerline is valid? [True, True] Translation: X:332.21, Y:-139.04, Z:1.83 [[ 7.66156013e-01 6.42654540e-01 3.27247570e-04 3.32208972e+02] [-6.42654474e-01 7.66156082e-01 -2.89956057e-04 -1.39036718e+02] [-4.37064292e-04 1.18444611e-05 9.99999904e-01 1.82634963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85232058799994 meters 0.02167336785278145 Centerline is valid? [True, True] Translation: X:332.24, Y:-139.06, Z:1.83 [[ 7.64986150e-01 6.44046647e-01 3.27044587e-04 3.32243659e+02] [-6.44046581e-01 7.64986220e-01 -2.90182153e-04 -1.39064434e+02] [-4.37075445e-04 1.13533800e-05 9.99999904e-01 1.82653925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88232058799997 meters 0.02178088658138962 Centerline is valid? [True, True] Translation: X:332.28, Y:-139.09, Z:1.83 [[ 7.65346866e-01 6.43617450e-01 8.67335594e-04 3.32279963e+02] [-6.43617006e-01 7.65347357e-01 -7.56510924e-04 -1.39092611e+02] [-1.15071664e-03 2.07613272e-05 9.99999338e-01 1.82629344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91232058799994 meters 0.021727790272523948 Centerline is valid? [True, True] Translation: X:332.33, Y:-139.13, Z:1.83 [[ 7.61775903e-01 6.47839798e-01 1.03481743e-03 3.32330111e+02] [-6.47839139e-01 7.61776605e-01 -9.24221727e-04 -1.39131671e+02] [-1.38704733e-03 3.36546040e-05 9.99999037e-01 1.82643738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.942320588 meters 0.02176260231761838 Centerline is valid? [True, True] Translation: X:332.37, Y:-139.16, Z:1.83 [[ 7.60580713e-01 6.49241381e-01 1.61488000e-03 3.32365656e+02] [-6.49239833e-01 7.60582427e-01 -1.41819986e-03 -1.39160580e+02] [-2.14900338e-03 3.02110367e-05 9.99997690e-01 1.82585554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97232058799995 meters 0.02162715398014344 Centerline is valid? [True, True] Translation: X:332.42, Y:-139.20, Z:1.83 [[ 7.56743772e-01 6.53709235e-01 1.76050338e-03 3.32418873e+02] [-6.53707321e-01 7.56745818e-01 -1.58259030e-03 -1.39201852e+02] [-2.36680746e-03 4.67614085e-05 9.99997198e-01 1.82673233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.002320588 meters 0.021658175746585597 Centerline is valid? [True, True] Translation: X:332.47, Y:-139.24, Z:1.83 [[ 7.53773369e-01 6.57129578e-01 2.53509963e-03 3.32468723e+02] [-6.57125617e-01 7.53777630e-01 -2.28221456e-03 -1.39241144e+02] [-3.41061208e-03 5.43936505e-05 9.99994182e-01 1.82735792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03232058799995 meters 0.021624321069441194 Centerline is valid? [True, True] Translation: X:332.50, Y:-139.27, Z:1.83 [[ 7.51446196e-01 6.59790084e-01 2.37881201e-03 3.32503164e+02] [-6.59786620e-01 7.51449960e-01 -2.13848788e-03 -1.39271501e+02] [-3.19851129e-03 3.74502529e-05 9.99994884e-01 1.82753461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.062320588 meters 0.02147979072040803 Centerline is valid? [True, True] Translation: X:332.54, Y:-139.30, Z:1.83 [[ 7.49152679e-01 6.62396824e-01 8.43573852e-04 3.32539096e+02] [-6.62396379e-01 7.49153154e-01 -7.67855473e-04 -1.39300632e+02] [-1.14059104e-03 1.64607201e-05 9.99999349e-01 1.82654985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09232058799995 meters 0.02159824775753093 Centerline is valid? [True, True] Translation: X:332.58, Y:-139.33, Z:1.83 [[ 7.47381885e-01 6.64394467e-01 5.56615001e-04 3.32576802e+02] [-6.64394267e-01 7.47382092e-01 -5.15133583e-04 -1.39331514e+02] [-7.58255986e-04 1.51896924e-05 9.99999712e-01 1.82599218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.122320588 meters 0.021503585455549385 Centerline is valid? [True, True] Translation: X:332.61, Y:-139.36, Z:1.83 [[ 7.45994137e-01 6.65951692e-01 1.04535734e-03 3.32612217e+02] [-6.65951004e-01 7.45994869e-01 -9.57098947e-04 -1.39361861e+02] [-1.41721288e-03 1.78334293e-05 9.99998996e-01 1.82662982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15232058799995 meters 0.021134312754893487 Centerline is valid? [True, True] Translation: X:332.65, Y:-139.39, Z:1.83 [[ 7.42840480e-01 6.69467401e-01 1.19201324e-03 3.32646546e+02] [-6.69466506e-01 7.42841436e-01 -1.09422832e-03 -1.39392921e+02] [-1.61802701e-03 1.48241507e-05 9.99998691e-01 1.82868877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.182320588 meters 0.02098600696067685 Centerline is valid? [True, True] Translation: X:332.68, Y:-139.42, Z:1.83 [[ 7.40196594e-01 6.72390488e-01 1.84011083e-04 3.32682339e+02] [-6.72390465e-01 7.40196617e-01 -1.78785705e-04 -1.39423170e+02] [-2.56418188e-04 8.60927228e-06 9.99999967e-01 1.82876635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21232058799995 meters 0.021025782464881564 Centerline is valid? [True, True] Translation: X:332.72, Y:-139.45, Z:1.83 [[ 7.37392516e-01 6.75463269e-01 -1.28427252e-03 3.32718142e+02] [-6.75462265e-01 7.37393634e-01 1.16468102e-03 -1.39452433e+02] [ 1.73371363e-03 8.65055507e-06 9.99998497e-01 1.82855854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.242320588 meters 0.020771063583234016 Centerline is valid? [True, True] Translation: X:332.75, Y:-139.49, Z:1.83 [[ 7.34433899e-01 6.78679145e-01 -1.21061226e-03 3.32754222e+02] [-6.78678252e-01 7.34434897e-01 1.10145308e-03 -1.39485503e+02] [ 1.63664913e-03 1.26717333e-05 9.99998661e-01 1.83110062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27232058799996 meters 0.021080875578761666 Centerline is valid? [True, True] Translation: X:332.79, Y:-139.52, Z:1.83 [[ 7.31384277e-01 6.81965570e-01 -2.90699765e-05 3.32789830e+02] [-6.81965570e-01 7.31384278e-01 1.37897005e-05 -1.39517797e+02] [ 3.06654253e-05 9.73915296e-06 9.99999999e-01 1.83123626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.302320588 meters 0.021353860892345346 Centerline is valid? [True, True] Translation: X:332.83, Y:-139.55, Z:1.83 [[ 7.28688471e-01 6.84845140e-01 -4.97450248e-04 3.32825403e+02] [-6.84844992e-01 7.28688640e-01 4.49939933e-04 -1.39548116e+02] [ 6.70625521e-04 1.28102696e-05 9.99999775e-01 1.83236779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33232058799996 meters 0.021776724395613904 Centerline is valid? [True, True] Translation: X:332.86, Y:-139.58, Z:1.83 [[ 7.26170699e-01 6.87514284e-01 4.74384945e-04 3.32861401e+02] [-6.87514134e-01 7.26170854e-01 -4.53673069e-04 -1.39578196e+02] [-6.56391235e-04 3.29773511e-06 9.99999785e-01 1.82996692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.362320588 meters 0.022183567045986324 Centerline is valid? [True, True] Translation: X:332.90, Y:-139.61, Z:1.83 [[ 7.23005214e-01 6.90842567e-01 -9.16715886e-05 3.32896202e+02] [-6.90842563e-01 7.23005220e-01 7.48551552e-05 -1.39608709e+02] [ 1.17992165e-04 9.20996768e-06 9.99999993e-01 1.82992878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39232058799996 meters 0.02191318696649172 Centerline is valid? [True, True] Translation: X:332.93, Y:-139.64, Z:1.83 [[ 7.21856102e-01 6.92043149e-01 2.21145536e-04 3.32931045e+02] [-6.92043114e-01 7.21856136e-01 -2.20490643e-04 -1.39638639e+02] [-3.12224300e-04 6.12027053e-06 9.99999951e-01 1.83047224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.422320588 meters 0.021570116668407274 Centerline is valid? [True, True] Translation: X:332.97, Y:-139.67, Z:1.83 [[ 7.20822897e-01 6.93116858e-01 -1.83646959e-03 3.32966208e+02] [-6.93114716e-01 7.20825235e-01 1.72343675e-03 -1.39669662e+02] [ 2.51831669e-03 3.05914299e-05 9.99996829e-01 1.83265185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45232058799996 meters 0.02160446323730763 Centerline is valid? [True, True] Translation: X:333.00, Y:-139.70, Z:1.83 [[ 7.19494117e-01 6.94495746e-01 -1.96857718e-03 3.33001687e+02] [-6.94493269e-01 7.19496809e-01 1.85517701e-03 -1.39699751e+02] [ 2.70479754e-03 3.23746505e-05 9.99996342e-01 1.83196805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48232058799994 meters 0.02114511283410662 Centerline is valid? [True, True] Translation: X:333.04, Y:-139.73, Z:1.83 [[ 7.19551317e-01 6.94438015e-01 -1.32127620e-03 3.33037003e+02] [-6.94436896e-01 7.19552530e-01 1.24658460e-03 -1.39729338e+02] [ 1.81640337e-03 2.05613537e-05 9.99998350e-01 1.83039873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51232058799997 meters 0.020785440724474285 Centerline is valid? [True, True] Translation: X:333.09, Y:-139.77, Z:1.83 [[ 7.17616890e-01 6.96435295e-01 -1.96935097e-03 3.33087449e+02] [-6.96432794e-01 7.17619592e-01 1.86677544e-03 -1.39771072e+02] [ 2.71333314e-03 3.18910154e-05 9.99996318e-01 1.83143295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54232058799994 meters 0.02051089034915197 Centerline is valid? [True, True] Translation: X:333.12, Y:-139.80, Z:1.83 [[ 7.19735565e-01 6.94247975e-01 -6.82184568e-04 3.33122418e+02] [-6.94247673e-01 7.19735889e-01 6.47033241e-04 -1.39801899e+02] [ 9.40194235e-04 7.91221395e-06 9.99999558e-01 1.83303268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57232058799997 meters 0.0205554417273657 Centerline is valid? [True, True] Translation: X:333.16, Y:-139.83, Z:1.83 [[ 7.19133275e-01 6.94870572e-01 -1.49042151e-03 3.33156951e+02] [-6.94869090e-01 7.19134819e-01 1.43504930e-03 -1.39832693e+02] [ 2.06898753e-03 3.65613517e-06 9.99997860e-01 1.83351844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60232058799994 meters 0.02045201264874371 Centerline is valid? [True, True] Translation: X:333.19, Y:-139.86, Z:1.83 [[ 7.17731036e-01 6.96316156e-01 -2.44367236e-03 3.33193088e+02] [-6.96312118e-01 7.17735196e-01 2.37133870e-03 -1.39864854e+02] [ 3.40511110e-03 -4.24705830e-07 9.99994203e-01 1.83352073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63232058799997 meters 0.020476880870991546 Centerline is valid? [True, True] Translation: X:333.23, Y:-139.90, Z:1.83 [[ 7.16655491e-01 6.97420469e-01 -3.09771780e-03 3.33227729e+02] [-6.97413912e-01 7.16662186e-01 3.02420871e-03 -1.39896510e+02] [ 4.32916227e-03 -6.92429404e-06 9.99990629e-01 1.83285119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66232058799994 meters 0.02042110975822978 Centerline is valid? [True, True] Translation: X:333.26, Y:-139.93, Z:1.83 [[ 7.16161017e-01 6.97931191e-01 -2.33460429e-03 3.33262176e+02] [-6.97927446e-01 7.16164823e-01 2.28637686e-03 -1.39928033e+02] [ 3.26769519e-03 -8.02956858e-06 9.99994661e-01 1.83292582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.692320588 meters 0.02042110975822978 Centerline is valid? [True, True] Translation: X:333.30, Y:-139.96, Z:1.83 [[ 7.14585151e-01 6.99544591e-01 -2.32961107e-03 3.33296638e+02] [-6.99540838e-01 7.14588948e-01 2.29145037e-03 -1.39959337e+02] [ 3.26768604e-03 -7.77832663e-06 9.99994661e-01 1.83312522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72232058799995 meters 0.020474586958429523 Centerline is valid? [True, True] Translation: X:333.33, Y:-139.99, Z:1.84 [[ 7.13013658e-01 7.01143854e-01 -2.96979012e-03 3.33330465e+02] [-7.01137698e-01 7.13019843e-01 2.93798099e-03 -1.39992472e+02] [ 4.17746660e-03 -1.25887662e-05 9.99991274e-01 1.83530251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.752320588 meters 0.020520377958383587 Centerline is valid? [True, True] Translation: X:333.36, Y:-140.02, Z:1.83 [[ 7.10587639e-01 7.03606749e-01 -1.65824871e-03 3.33364262e+02] [-7.03604832e-01 7.10589574e-01 1.64214977e-03 -1.40024706e+02] [ 2.33376191e-03 -1.39523512e-07 9.99997277e-01 1.83488218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78232058799995 meters 0.020365153927433783 Centerline is valid? [True, True] Translation: X:333.40, Y:-140.06, Z:1.84 [[ 7.08075312e-01 7.06131632e-01 -2.73342261e-03 3.33398800e+02] [-7.06126364e-01 7.08080588e-01 2.72758764e-03 -1.40058276e+02] [ 3.86151940e-03 -1.19569853e-06 9.99992544e-01 1.83613432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.812320588 meters 0.020166634121574312 Centerline is valid? [True, True] Translation: X:334.66, Y:-138.80, Z:3.62 [[ 7.60659318e-01 -6.49146286e-01 2.54978343e-03 3.34664153e+02] [-6.49141119e-01 -7.60663520e-01 -2.61091686e-03 -1.38803420e+02] [ 3.63439422e-03 3.30848971e-04 -9.99993341e-01 3.61741018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84232058799995 meters 0.02016046203604206 Centerline is valid? [True, True] Translation: X:333.53, Y:-140.20, Z:1.84 [[ 7.60966232e-01 6.48782757e-01 -3.36571543e-03 3.33531915e+02] [-6.48776440e-01 7.60973675e-01 2.86290629e-03 -1.40195978e+02] [ 4.41862508e-03 5.02186241e-06 9.99990238e-01 1.83687817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.872320588 meters 0.020297599571910255 Centerline is valid? [True, True] Translation: X:333.57, Y:-140.23, Z:1.84 [[ 7.58514574e-01 6.51643173e-01 -4.10090713e-03 3.33573499e+02] [-6.51633794e-01 7.58525659e-01 3.49610338e-03 -1.40229091e+02] [ 5.38885518e-03 2.04443062e-05 9.99985480e-01 1.83816313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90232058799995 meters 0.02024676533357502 Centerline is valid? [True, True] Translation: X:333.61, Y:-140.26, Z:1.84 [[ 7.56909617e-01 6.53512219e-01 -3.10030774e-03 3.33612406e+02] [-6.53506824e-01 7.56915966e-01 2.65535179e-03 -1.40258863e+02] [ 4.08197727e-03 1.62109599e-05 9.99991669e-01 1.83657834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.932320588 meters 0.02003125786987446 Centerline is valid? [True, True] Translation: X:333.65, Y:-140.29, Z:1.84 [[ 7.56408899e-01 6.54085665e-01 -4.18576399e-03 3.33649524e+02] [-6.54075721e-01 7.56420480e-01 3.60670331e-03 -1.40286505e+02] [ 5.52529054e-03 9.66411896e-06 9.99984735e-01 1.83596284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96232058799995 meters 0.020094716982552607 Centerline is valid? [True, True] Translation: X:333.69, Y:-140.32, Z:1.84 [[ 7.55319203e-01 6.55344945e-01 -3.98793247e-03 3.33685651e+02] [-6.55335867e-01 7.55329731e-01 3.44939434e-03 -1.40316328e+02] [ 5.27274711e-03 8.04139669e-06 9.99986099e-01 1.83632922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.992320588 meters 0.01997219719756564 Centerline is valid? [True, True] Translation: X:333.72, Y:-140.35, Z:1.84 [[ 7.54009239e-01 6.56848405e-01 -4.49905083e-03 3.33721086e+02] [-6.56836777e-01 7.54022661e-01 3.90833771e-03 -1.40346208e+02] [ 5.95957167e-03 8.21930152e-06 9.99982242e-01 1.83953451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02232058799996 meters 0.019889680166286144 Centerline is valid? [True, True] Translation: X:333.76, Y:-140.38, Z:1.84 [[ 7.52023710e-01 6.59113124e-01 -5.49809772e-03 3.33763102e+02] [-6.59095631e-01 7.52043808e-01 4.80210001e-03 -1.40378560e+02] [ 7.29993749e-03 1.24791112e-05 9.99973355e-01 1.84059679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.052320588 meters 0.01998253417107843 Centerline is valid? [True, True] Translation: X:333.80, Y:-140.41, Z:1.84 [[ 7.50865796e-01 6.60425746e-01 -6.19599534e-03 3.33799156e+02] [-6.60403335e-01 7.50891360e-01 5.44065562e-03 -1.40407191e+02] [ 8.24566841e-03 6.65377762e-06 9.99966004e-01 1.84030093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08232058799996 meters 0.019887064075906735 Centerline is valid? [True, True] Translation: X:333.84, Y:-140.44, Z:1.84 [[ 7.50765560e-01 6.60548745e-01 -5.14100319e-03 3.33835832e+02] [-6.60533205e-01 7.50783162e-01 4.53086072e-03 -1.40435464e+02] [ 6.85263299e-03 -5.81086643e-06 9.99976520e-01 1.83975495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.112320588 meters 0.020048128876326423 Centerline is valid? [True, True] Translation: X:333.87, Y:-140.46, Z:1.84 [[ 7.50844621e-01 6.60467096e-01 -3.94592719e-03 3.33871868e+02] [-6.60457877e-01 7.50854989e-01 3.48979824e-03 -1.40463503e+02] [ 5.26771602e-03 -1.41775423e-05 9.99986125e-01 1.84038498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14232058799996 meters 0.020027411953650327 Centerline is valid? [True, True] Translation: X:333.91, Y:-140.49, Z:1.84 [[ 7.50005671e-01 6.61414029e-01 -4.79319026e-03 3.33908070e+02] [-6.61400325e-01 7.50020987e-01 4.25783633e-03 -1.40492416e+02] [ 6.41118597e-03 -2.31837968e-05 9.99979448e-01 1.84158726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.172320588 meters 0.019934169361279938 Centerline is valid? [True, True] Translation: X:333.94, Y:-140.52, Z:1.84 [[ 7.49555367e-01 6.61919736e-01 -5.38654226e-03 3.33943395e+02] [-6.61902298e-01 7.49574721e-01 4.80481801e-03 -1.40520941e+02] [ 7.21801977e-03 -3.61124295e-05 9.99973949e-01 1.84236754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20232058799996 meters 0.020063204895646496 Centerline is valid? [True, True] Translation: X:333.98, Y:-140.55, Z:1.84 [[ 7.48350057e-01 6.63282343e-01 -5.35962461e-03 3.33978818e+02] [-6.63264983e-01 7.48369249e-01 4.79892330e-03 -1.40549492e+02] [ 7.19401933e-03 -3.64232015e-05 9.99974122e-01 1.84167646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23232058799994 meters 0.020066938476095444 Centerline is valid? [True, True] Translation: X:334.01, Y:-140.58, Z:1.84 [[ 7.47031417e-01 6.64763846e-01 -5.75247548e-03 3.34013672e+02] [-6.64743735e-01 7.47053564e-01 5.17096408e-03 -1.40578335e+02] [ 7.73487727e-03 -3.89505888e-05 9.99970085e-01 1.84196622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26232058799997 meters 0.020085823517070552 Centerline is valid? [True, True] Translation: X:334.05, Y:-140.61, Z:1.84 [[ 7.45935808e-01 6.65996086e-01 -5.38372991e-03 3.34049225e+02] [-6.65978373e-01 7.45955235e-01 4.85738380e-03 -1.40608430e+02] [ 7.25102011e-03 -3.78488224e-05 9.99973710e-01 1.84270433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29232058799994 meters 0.020302333501005927 Centerline is valid? [True, True] Translation: X:334.09, Y:-140.64, Z:1.84 [[ 7.44867437e-01 6.67185237e-01 -6.02999930e-03 3.34085390e+02] [-6.67162859e-01 7.44891843e-01 5.46462563e-03 -1.40638251e+02] [ 8.13761484e-03 -4.74301178e-05 9.99966888e-01 1.84393968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32232058799997 meters 0.020243100695996365 Centerline is valid? [True, True] Translation: X:334.12, Y:-140.67, Z:1.84 [[ 7.43132633e-01 6.69111148e-01 -6.64537625e-03 3.34120637e+02] [-6.69083809e-01 7.43162344e-01 6.04873840e-03 -1.40668092e+02] [ 8.98587169e-03 -4.87012440e-05 9.99959625e-01 1.84404852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35232058799994 meters 0.02046654846814234 Centerline is valid? [True, True] Translation: X:334.16, Y:-140.70, Z:1.84 [[ 7.41513226e-01 6.70894643e-01 -7.64941162e-03 3.34156389e+02] [-6.70858215e-01 7.41552679e-01 6.99137472e-03 -1.40697743e+02] [ 1.03629175e-02 -5.25261970e-05 9.99946302e-01 1.84370858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38232058799997 meters 0.020240410682825432 Centerline is valid? [True, True] Translation: X:334.19, Y:-140.73, Z:1.84 [[ 7.39931828e-01 6.72645521e-01 -6.99238695e-03 3.34191484e+02] [-6.72614934e-01 7.39964865e-01 6.41481469e-03 -1.40727596e+02] [ 9.48901703e-03 -4.33416737e-05 9.99954977e-01 1.84255914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41232058799994 meters 0.020328095344360732 Centerline is valid? [True, True] Translation: X:334.23, Y:-140.76, Z:1.85 [[ 7.38501107e-01 6.74197968e-01 -8.55658202e-03 3.34231135e+02] [-6.74151776e-01 7.38550673e-01 7.89221132e-03 -1.40760904e+02] [ 1.16403822e-02 -5.99718350e-05 9.99932247e-01 1.84688988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.442320588 meters 0.02018126559062221 Centerline is valid? [True, True] Translation: X:334.27, Y:-140.79, Z:1.85 [[ 7.37510850e-01 6.75288398e-01 -7.95777788e-03 3.34266161e+02] [-6.75248155e-01 7.37553778e-01 7.37244838e-03 -1.40790737e+02] [ 1.08478180e-02 -6.37858386e-05 9.99941159e-01 1.84713037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47232058799995 meters 0.02048290107414453 Centerline is valid? [True, True] Translation: X:334.30, Y:-140.82, Z:1.85 [[ 7.37080761e-01 6.75757661e-01 -7.97089288e-03 3.34301859e+02] [-6.75717002e-01 7.37123855e-01 7.41323678e-03 -1.40820079e+02] [ 1.08850868e-02 -7.80863637e-05 9.99940753e-01 1.84713299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.502320588 meters 0.020646290160142754 Centerline is valid? [True, True] Translation: X:334.34, Y:-140.85, Z:1.85 [[ 7.36345093e-01 6.76557267e-01 -8.13435986e-03 3.34337471e+02] [-6.76514643e-01 7.36390016e-01 7.59484001e-03 -1.40850158e+02] [ 1.11284056e-02 -8.94096187e-05 9.99938073e-01 1.84732650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53232058799995 meters 0.02077033619012153 Centerline is valid? [True, True] Translation: X:334.37, Y:-140.88, Z:1.85 [[ 7.36158124e-01 6.76759456e-01 -8.23736023e-03 3.34373501e+02] [-6.76715421e-01 7.36204202e-01 7.72095838e-03 -1.40879508e+02] [ 1.12896108e-02 -1.09497549e-04 9.99936264e-01 1.84808022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.562320588 meters 0.021142409786245393 Centerline is valid? [True, True] Translation: X:334.41, Y:-140.91, Z:1.85 [[ 7.35184602e-01 6.77809212e-01 -8.84720542e-03 3.34411749e+02] [-6.77758025e-01 7.35237822e-01 8.33087887e-03 -1.40911011e+02] [ 1.21515465e-02 -1.28469389e-04 9.99926159e-01 1.84894131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59232058799995 meters 0.02126718036440082 Centerline is valid? [True, True] Translation: X:334.45, Y:-140.94, Z:1.85 [[ 7.34353660e-01 6.78707225e-01 -9.01136340e-03 3.34447149e+02] [-6.78653746e-01 7.34408934e-01 8.52121863e-03 -1.40941076e+02] [ 1.24014384e-02 -1.41992567e-04 9.99923089e-01 1.84884247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.622320588 meters 0.021307264238860254 Centerline is valid? [True, True] Translation: X:334.48, Y:-140.97, Z:1.85 [[ 7.33179905e-01 6.79958099e-01 -1.02083241e-02 3.34482288e+02] [-6.79889046e-01 7.33250950e-01 9.69168009e-03 -1.40972159e+02] [ 1.40751998e-02 -1.65217321e-04 9.99900926e-01 1.85167072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65232058799995 meters 0.021697062851360565 Centerline is valid? [True, True] Translation: X:334.52, Y:-141.00, Z:1.85 [[ 7.32714567e-01 6.80467391e-01 -9.66918196e-03 3.34517089e+02] [-6.80405019e-01 7.32778343e-01 9.21468907e-03 -1.41002332e+02] [ 1.33556626e-02 -1.72776984e-04 9.99910794e-01 1.85249355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.682320588 meters 0.021798325191569302 Centerline is valid? [True, True] Translation: X:334.57, Y:-141.04, Z:1.85 [[ 7.29726447e-01 6.83666053e-01 -1.00020130e-02 3.34566652e+02] [-6.83598531e-01 7.29794969e-01 9.60993643e-03 -1.41043032e+02] [ 1.38694061e-02 -1.75263343e-04 9.99903800e-01 1.85382835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71232058799995 meters 0.022316117318548857 Centerline is valid? [True, True] Translation: X:334.60, Y:-141.07, Z:1.85 [[ 7.29206594e-01 6.84208523e-01 -1.07908011e-02 3.34603403e+02] [-6.84129035e-01 7.29286396e-01 1.04315177e-02 -1.41072603e+02] [ 1.50069177e-02 -2.24431191e-04 9.99887365e-01 1.85312342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.742320588 meters 0.022316117318548857 Centerline is valid? [True, True] Translation: X:334.64, Y:-141.10, Z:1.85 [[ 7.27896668e-01 6.85602252e-01 -1.07699985e-02 3.34637484e+02] [-6.85522599e-01 7.27976306e-01 1.04529822e-02 -1.41103528e+02] [ 1.50068919e-02 -2.25613560e-04 9.99887365e-01 1.85331991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77232058799996 meters 0.022270153557888975 Centerline is valid? [True, True] Translation: X:334.67, Y:-141.13, Z:1.85 [[ 7.26753123e-01 6.86822407e-01 -1.02410812e-02 3.34672070e+02] [-6.86749970e-01 7.26825243e-01 9.97719383e-03 -1.41134460e+02] [ 1.42960366e-02 -2.17894531e-04 9.99897783e-01 1.85243835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.802320588 meters 0.022531181117869524 Centerline is valid? [True, True] Translation: X:334.71, Y:-141.17, Z:1.85 [[ 7.26005729e-01 6.87613488e-01 -1.01672529e-02 3.34706798e+02] [-6.87541633e-01 7.26076882e-01 9.94305238e-03 -1.41165123e+02] [ 1.42191842e-02 -2.28303351e-04 9.99898876e-01 1.85340633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83232058799996 meters 0.02232177125661089 Centerline is valid? [True, True] Translation: X:334.74, Y:-141.20, Z:1.85 [[ 7.24313185e-01 6.89402891e-01 -9.69867052e-03 3.34741176e+02] [-6.89337183e-01 7.24378085e-01 9.52043766e-03 -1.41196771e+02] [ 1.35889216e-02 -2.10124312e-04 9.99907644e-01 1.85387482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.862320588 meters 0.022622127083418098 Centerline is valid? [True, True] Translation: X:334.78, Y:-141.23, Z:1.86 [[ 7.24067769e-01 6.89661087e-01 -9.66704504e-03 3.34776228e+02] [-6.89595338e-01 7.24132261e-01 9.52565038e-03 -1.41227643e+02] [ 1.35696896e-02 -2.30867221e-04 9.99907901e-01 1.85502291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89232058799996 meters 0.022915460108106817 Centerline is valid? [True, True] Translation: X:334.81, Y:-141.26, Z:1.86 [[ 7.22835329e-01 6.90941777e-01 -1.04186186e-02 3.34811038e+02] [-6.90864950e-01 7.22910366e-01 1.03065002e-02 -1.41258568e+02] [ 1.46529189e-02 -2.52044025e-04 9.99892608e-01 1.85662676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.922320588 meters 0.022592107770432454 Centerline is valid? [True, True] Translation: X:334.84, Y:-141.29, Z:1.86 [[ 7.20818007e-01 6.93044585e-01 -1.05168462e-02 3.34844996e+02] [-6.92965933e-01 7.20894684e-01 1.04436680e-02 -1.41290711e+02] [ 1.48194661e-02 -2.40167820e-04 9.99890157e-01 1.85742604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95232058799996 meters 0.022728602099476206 Centerline is valid? [True, True] Translation: X:334.88, Y:-141.32, Z:1.86 [[ 7.19373708e-01 6.94550555e-01 -1.00496250e-02 3.34878815e+02] [-6.94478349e-01 7.19443865e-01 1.00174026e-02 -1.41322113e+02] [ 1.41877336e-02 -2.27009050e-04 9.99899323e-01 1.85700719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98232058799994 meters 0.0206831904222484 Centerline is valid? [True, True] Translation: X:334.91, Y:-141.36, Z:1.86 [[ 7.12669589e-01 7.01443142e-01 -8.92047727e-03 3.34912270e+02] [-7.01386367e-01 7.12725408e-01 8.92508316e-03 -1.41355175e+02] [ 1.26182892e-02 -1.03934205e-04 9.99920381e-01 1.85673018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01232058799997 meters 0.020529377339845174 Centerline is valid? [True, True] Translation: X:336.16, Y:-140.13, Z:3.61 [[ 7.58134234e-01 -6.52087994e-01 -3.70549693e-03 3.36157527e+02] [-6.52082468e-01 -7.58143203e-01 2.70895791e-03 -1.40127298e+02] [-4.57577624e-03 3.62535847e-04 -9.99989465e-01 3.61293076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04232058799994 meters 0.02006631629820719 Centerline is valid? [True, True] Translation: X:335.05, Y:-141.49, Z:1.86 [[ 7.63747721e-01 6.45412206e-01 -1.15110275e-02 3.35048056e+02] [-6.45337981e-01 7.63834460e-01 9.78816252e-03 -1.41494094e+02] [ 1.51099191e-02 -4.71835428e-05 9.99885838e-01 1.85996668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07232058799997 meters 0.02010013956219032 Centerline is valid? [True, True] Translation: X:335.09, Y:-141.52, Z:1.86 [[ 7.61135485e-01 6.48512580e-01 -1.02081846e-02 3.35088262e+02] [-6.48454010e-01 7.61203937e-01 8.71571373e-03 -1.41524128e+02] [ 1.34227603e-02 -1.43007725e-05 9.99909911e-01 1.85800558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10232058799994 meters 0.019884653867900105 Centerline is valid? [True, True] Translation: X:335.13, Y:-141.55, Z:1.86 [[ 7.60126100e-01 6.49735099e-01 -7.25348512e-03 3.35125203e+02] [-6.49705362e-01 7.60160708e-01 6.21622487e-03 -1.41550274e+02] [ 9.55271386e-03 -1.24865986e-05 9.99954372e-01 1.85610748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13232058799997 meters 0.01990147666837927 Centerline is valid? [True, True] Translation: X:335.16, Y:-141.58, Z:1.86 [[ 7.58693761e-01 6.51430766e-01 -4.66198101e-03 3.35161249e+02] [-6.51418439e-01 7.58708084e-01 4.00743589e-03 -1.41578709e+02] [ 6.14764972e-03 -3.51621375e-06 9.99981103e-01 1.85542636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16232058799994 meters 0.019754723120776432 Centerline is valid? [True, True] Translation: X:335.20, Y:-141.61, Z:1.86 [[ 7.58385463e-01 6.51797317e-01 -3.42733653e-03 3.35197258e+02] [-6.51790615e-01 7.58393207e-01 2.95594756e-03 -1.41606630e+02] [ 4.52594744e-03 -7.84187918e-06 9.99989758e-01 1.85546016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.192320588 meters 0.020109479601483515 Centerline is valid? [True, True] Translation: X:335.23, Y:-141.63, Z:1.85 [[ 7.59218104e-01 6.50824400e-01 -3.93331479e-03 3.35234677e+02] [-6.50815484e-01 7.59228292e-01 3.40684679e-03 -1.41633058e+02] [ 5.20354289e-03 -2.66775888e-05 9.99986461e-01 1.85411170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22232058799995 meters 0.020490166785814612 Centerline is valid? [True, True] Translation: X:335.27, Y:-141.66, Z:1.85 [[ 7.59552538e-01 6.50435398e-01 -3.70618210e-03 3.35271034e+02] [-6.50427420e-01 7.59561579e-01 3.22174737e-03 -1.41660237e+02] [ 4.91061206e-03 -3.64839334e-05 9.99987942e-01 1.85347553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.252320588 meters 0.02098530975814046 Centerline is valid? [True, True] Translation: X:335.31, Y:-141.69, Z:1.85 [[ 7.61071894e-01 6.48666783e-01 -9.87885798e-04 3.35307311e+02] [-6.48666220e-01 7.61072535e-01 8.54734706e-04 -1.41687420e+02] [ 1.30629076e-03 -9.70641507e-06 9.99999147e-01 1.85220512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28232058799995 meters 0.021435214891597467 Centerline is valid? [True, True] Translation: X:335.34, Y:-141.72, Z:1.85 [[ 7.61356968e-01 6.48332134e-01 1.00596661e-03 3.35342640e+02] [-6.48331519e-01 7.61357632e-01 -8.93306385e-04 -1.41715748e+02] [-1.34505959e-03 2.79251797e-05 9.99999095e-01 1.85196820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.312320588 meters 0.021802482925896118 Centerline is valid? [True, True] Translation: X:335.38, Y:-141.74, Z:1.85 [[ 7.61413698e-01 6.48261793e-01 2.41419946e-03 3.35377630e+02] [-6.48258272e-01 7.61417523e-01 -2.13764322e-03 -1.41743503e+02] [-3.22396620e-03 6.26060628e-05 9.99994801e-01 1.85160337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34232058799995 meters 0.022723631501741358 Centerline is valid? [True, True] Translation: X:335.41, Y:-141.77, Z:1.85 [[ 7.63006660e-01 6.46379498e-01 3.79225072e-03 3.35413938e+02] [-6.46370754e-01 7.63016076e-01 -3.36410306e-03 -1.41770416e+02] [-5.06803551e-03 1.15633083e-04 9.99987151e-01 1.84885233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.372320588 meters 0.023284104173463844 Centerline is valid? [True, True] Translation: X:335.45, Y:-141.80, Z:1.85 [[ 7.63221725e-01 6.46121137e-01 4.48059687e-03 3.35448974e+02] [-6.46108850e-01 7.63234862e-01 -3.98739141e-03 -1.41798950e+02] [-5.99608560e-03 1.48310458e-04 9.99982012e-01 1.84939235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40232058799995 meters 0.024728182841089724 Centerline is valid? [True, True] Translation: X:335.48, Y:-141.83, Z:1.85 [[ 7.65231652e-01 6.43697639e-01 8.59467796e-03 3.35484496e+02] [-6.43652067e-01 7.65279842e-01 -7.66676434e-03 -1.41826787e+02] [-1.15124119e-02 3.34868502e-04 9.99933674e-01 1.84814684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.432320588 meters 0.024983141886038673 Centerline is valid? [True, True] Translation: X:335.52, Y:-141.86, Z:1.85 [[ 7.64353160e-01 6.44742127e-01 8.47563648e-03 3.35518473e+02] [-6.44697569e-01 7.64400077e-01 -7.58724407e-03 -1.41856068e+02] [-1.13705931e-02 3.35111743e-04 9.99935297e-01 1.84878798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46232058799995 meters 0.025497870451093863 Centerline is valid? [True, True] Translation: X:335.55, Y:-141.88, Z:1.85 [[ 7.64143829e-01 6.44969447e-01 9.93082897e-03 3.35553603e+02] [-6.44907905e-01 7.64208246e-01 -8.91913836e-03 -1.41883593e+02] [-1.33417931e-02 4.11034436e-04 9.99910910e-01 1.84718705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.492320588 meters 0.026298292824091112 Centerline is valid? [True, True] Translation: X:335.59, Y:-141.91, Z:1.85 [[ 7.64613078e-01 6.44417356e-01 9.64948283e-03 3.35587949e+02] [-6.44358814e-01 7.64673842e-01 -8.69676378e-03 -1.41911897e+02] [-1.29830526e-02 4.31930008e-04 9.99915623e-01 1.84622142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52232058799996 meters 0.02661202031679094 Centerline is valid? [True, True] Translation: X:335.62, Y:-141.94, Z:1.85 [[ 7.63895710e-01 6.45256767e-01 1.03464587e-02 3.35621693e+02] [-6.45189097e-01 7.63965629e-01 -9.35667106e-03 -1.41941950e+02] [-1.39417942e-02 4.72098522e-04 9.99902697e-01 1.84628014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.552320588 meters 0.02674194436217326 Centerline is valid? [True, True] Translation: X:335.66, Y:-141.97, Z:1.85 [[ 7.62832697e-01 6.46513480e-01 1.03245574e-02 3.35655310e+02] [-6.46445759e-01 7.62902416e-01 -9.36934586e-03 -1.41971987e+02] [-1.39340382e-02 4.72977023e-04 9.99902805e-01 1.84826464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58232058799996 meters 0.02656589473976369 Centerline is valid? [True, True] Translation: X:335.69, Y:-142.00, Z:1.85 [[ 7.61574871e-01 6.47973495e-01 1.15786339e-02 3.35690254e+02] [-6.47887910e-01 7.61662701e-01 -1.05444834e-02 -1.42002176e+02] [-1.56515593e-02 5.28756610e-04 9.99877367e-01 1.84727732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.612320588 meters 0.02570262112399237 Centerline is valid? [True, True] Translation: X:335.73, Y:-142.04, Z:1.85 [[ 7.59158174e-01 6.50816770e-01 1.07888684e-02 3.35730716e+02] [-6.50741801e-01 7.59234677e-01 -9.89008975e-03 -1.42036755e+02] [-1.46279192e-02 4.87374840e-04 9.99892887e-01 1.84687195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64232058799996 meters 0.02520402706595416 Centerline is valid? [True, True] Translation: X:335.79, Y:-142.09, Z:1.85 [[ 7.53847385e-01 6.56976192e-01 9.81852223e-03 3.35790643e+02] [-6.56912565e-01 7.53911188e-01 -9.15437715e-03 -1.42085944e+02] [-1.34165016e-02 4.51092649e-04 9.99909893e-01 1.84892704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.672320588 meters 0.024166100041506447 Centerline is valid? [True, True] Translation: X:335.82, Y:-142.12, Z:1.85 [[ 7.51809229e-01 6.59326430e-01 8.45820780e-03 3.35822802e+02] [-6.59279300e-01 7.51856723e-01 -7.89129170e-03 -1.42116731e+02] [-1.15622976e-02 3.56424610e-04 9.99933091e-01 1.85174977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70232058799996 meters 0.0252105158927791 Centerline is valid? [True, True] Translation: X:335.86, Y:-142.14, Z:1.85 [[ 7.50745838e-01 6.60532893e-01 8.77403248e-03 3.35858694e+02] [-6.60481904e-01 7.50797016e-01 -8.21559489e-03 -1.42144358e+02] [-1.20141881e-02 3.72733995e-04 9.99927758e-01 1.84935609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73232058799994 meters 0.025374459297588657 Centerline is valid? [True, True] Translation: X:335.89, Y:-142.17, Z:1.85 [[ 7.49958899e-01 6.61402345e-01 1.04205781e-02 3.35894684e+02] [-6.61330007e-01 7.50031155e-01 -9.79222233e-03 -1.42174144e+02] [-1.42923571e-02 4.52323251e-04 9.99897757e-01 1.84819552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76232058799997 meters 0.02582461837348082 Centerline is valid? [True, True] Translation: X:335.94, Y:-142.21, Z:1.85 [[ 7.48135739e-01 6.63458623e-01 1.07504714e-02 3.35941925e+02] [-6.63380439e-01 7.48212810e-01 -1.01972780e-02 -1.42214353e+02] [-1.48091124e-02 4.97295678e-04 9.99890215e-01 1.85000453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79232058799994 meters 0.02582461837348082 Centerline is valid? [True, True] Translation: X:335.98, Y:-142.24, Z:1.85 [[ 7.46928043e-01 6.64818162e-01 1.07382854e-02 3.35975790e+02] [-6.64739934e-01 7.47005070e-01 -1.02101087e-02 -1.42244457e+02] [-1.48094193e-02 4.88049370e-04 9.99890215e-01 1.85020396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82232058799997 meters 0.026041464635457562 Centerline is valid? [True, True] Translation: X:336.01, Y:-142.28, Z:1.85 [[ 7.45698717e-01 6.66209161e-01 9.93869430e-03 3.36009830e+02] [-6.66141793e-01 7.45764808e-01 -9.48485640e-03 -1.42275138e+02] [-1.37308267e-02 4.52265615e-04 9.99905625e-01 1.85001063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85232058799994 meters 0.026533699399952926 Centerline is valid? [True, True] Translation: X:336.05, Y:-142.30, Z:1.85 [[ 7.45255536e-01 6.66703593e-01 1.00252100e-02 3.36045987e+02] [-6.66634595e-01 7.45322812e-01 -9.60322205e-03 -1.42304620e+02] [-1.38745204e-02 4.73702568e-04 9.99903632e-01 1.84796905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88232058799997 meters 0.026816083080080023 Centerline is valid? [True, True] Translation: X:336.08, Y:-142.34, Z:1.85 [[ 7.44369086e-01 6.67702198e-01 9.40420192e-03 3.36081057e+02] [-6.67641116e-01 7.44428351e-01 -9.04267806e-03 -1.42335043e+02] [-1.30385706e-02 4.52458129e-04 9.99914892e-01 1.84713598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91232058799994 meters 0.026303580761386773 Centerline is valid? [True, True] Translation: X:336.11, Y:-142.37, Z:1.85 [[ 7.42545599e-01 6.69728279e-01 9.49032756e-03 3.36114513e+02] [-6.69665793e-01 7.42606110e-01 -9.15925520e-03 -1.42367633e+02] [-1.31817874e-02 4.45816904e-04 9.99913017e-01 1.84906338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.942320588 meters 0.026727108255615747 Centerline is valid? [True, True] Translation: X:336.15, Y:-142.40, Z:1.85 [[ 7.41632258e-01 6.70740362e-01 9.43184866e-03 3.36148522e+02] [-6.70678299e-01 7.41692096e-01 -9.13533434e-03 -1.42397873e+02] [-1.31229651e-02 4.49322423e-04 9.99913789e-01 1.84944031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97232058799995 meters 0.027010995596284837 Centerline is valid? [True, True] Translation: X:336.19, Y:-142.43, Z:1.85 [[ 7.40839396e-01 6.71629271e-01 8.43278819e-03 3.36185625e+02] [-6.71579234e-01 7.40887271e-01 -8.20879898e-03 -1.42429859e+02] [-1.17610151e-02 4.18116248e-04 9.99930749e-01 1.85022556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.002320588 meters 0.027262497171482596 Centerline is valid? [True, True] Translation: X:336.22, Y:-142.46, Z:1.85 [[ 7.39610604e-01 6.72987595e-01 7.99066854e-03 3.36220805e+02] [-6.72942373e-01 7.39653660e-01 -7.81194530e-03 -1.42460720e+02] [-1.11676695e-02 4.00538136e-04 9.99937559e-01 1.84950119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03232058799995 meters 0.026966100897203246 Centerline is valid? [True, True] Translation: X:336.25, Y:-142.49, Z:1.85 [[ 7.37783408e-01 6.74991745e-01 7.86043530e-03 3.36254700e+02] [-6.74947799e-01 7.37825180e-01 -7.71180591e-03 -1.42492671e+02] [-1.10050324e-02 3.84258941e-04 9.99939369e-01 1.84973499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.062320588 meters 0.027102585727247993 Centerline is valid? [True, True] Translation: X:336.29, Y:-142.52, Z:1.85 [[ 7.37144646e-01 6.75681560e-01 8.49704240e-03 3.36289165e+02] [-6.75629898e-01 7.37193494e-01 -8.36616973e-03 -1.42523447e+02] [-1.19168310e-02 4.26221335e-04 9.99928901e-01 1.84955088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09232058799995 meters 0.027420912940251337 Centerline is valid? [True, True] Translation: X:336.32, Y:-142.55, Z:1.85 [[ 7.36197855e-01 6.76707973e-01 8.89028087e-03 3.36323147e+02] [-6.76651106e-01 7.36251394e-01 -8.78441483e-03 -1.42554307e+02] [-1.24899652e-02 4.51448975e-04 9.99921895e-01 1.84820379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.122320588 meters 0.02737421792438988 Centerline is valid? [True, True] Translation: X:336.36, Y:-142.59, Z:1.85 [[ 7.34903580e-01 6.78117339e-01 8.57919637e-03 3.36356870e+02] [-6.78064087e-01 7.34953525e-01 -8.50937820e-03 -1.42586297e+02] [-1.20756675e-02 4.36327549e-04 9.99926991e-01 1.84926461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15232058799995 meters 0.02753771318218916 Centerline is valid? [True, True] Translation: X:336.39, Y:-142.62, Z:1.85 [[ 7.33448373e-01 6.79684324e-01 9.09417245e-03 3.36391590e+02] [-6.79624095e-01 7.33504604e-01 -9.06014143e-03 -1.42618763e+02] [-1.28286535e-02 4.64527276e-04 9.99917602e-01 1.85061497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.182320588 meters 0.027458854216252965 Centerline is valid? [True, True] Translation: X:336.43, Y:-142.65, Z:1.85 [[ 7.31970514e-01 6.81281797e-01 8.61861931e-03 3.36426300e+02] [-6.81227357e-01 7.32021119e-01 -8.62374624e-03 -1.42650930e+02] [-1.21842127e-02 4.41088713e-04 9.99925672e-01 1.85119920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21232058799995 meters 0.027875831552976085 Centerline is valid? [True, True] Translation: X:336.46, Y:-142.68, Z:1.85 [[ 7.31367203e-01 6.81939589e-01 7.77252880e-03 3.36461490e+02] [-6.81895040e-01 7.31408388e-01 -7.80538603e-03 -1.42682037e+02] [-1.10076945e-02 4.08554509e-04 9.99939330e-01 1.84986672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.242320588 meters 0.028026347977924252 Centerline is valid? [True, True] Translation: X:337.69, Y:-141.49, Z:3.64 [[ 7.36996697e-01 -6.75750453e-01 1.40425331e-02 3.37692231e+02] [-6.75636862e-01 -7.37130382e-01 -1.23947520e-02 -1.41493384e+02] [ 1.87269371e-02 -3.52761686e-04 -9.99824573e-01 3.63729917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27232058799996 meters 0.027633206548377618 Centerline is valid? [True, True] Translation: X:336.60, Y:-142.83, Z:1.85 [[ 7.83982945e-01 6.20700374e-01 1.00889725e-02 3.36604966e+02] [-6.20640974e-01 7.84047712e-01 -8.60037145e-03 -1.42831770e+02] [-1.32484896e-02 4.80914811e-04 9.99912119e-01 1.85134901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.302320588 meters 0.027499475851071847 Centerline is valid? [True, True] Translation: X:336.64, Y:-142.86, Z:1.85 [[ 7.82594491e-01 6.22466626e-01 9.00901855e-03 3.36639637e+02] [-6.22418986e-01 7.82646226e-01 -7.71301475e-03 -1.42859852e+02] [-1.18519686e-02 4.28778658e-04 9.99929671e-01 1.85315702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33232058799996 meters 0.02743738044788465 Centerline is valid? [True, True] Translation: X:336.67, Y:-142.89, Z:1.85 [[ 7.81506221e-01 6.23828476e-01 9.27676233e-03 3.36674297e+02] [-6.23777732e-01 7.81561154e-01 -7.96889661e-03 -1.42887560e+02] [-1.22215817e-02 4.41104507e-04 9.99925216e-01 1.85265324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.362320588 meters 0.027478617368687785 Centerline is valid? [True, True] Translation: X:336.71, Y:-142.91, Z:1.85 [[ 7.80491499e-01 6.25123185e-01 7.35004959e-03 3.36709933e+02] [-6.25091162e-01 7.80526027e-01 -6.33716834e-03 -1.42914360e+02] [-9.69841587e-03 3.51654974e-04 9.99952907e-01 1.85268102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39232058799996 meters 0.02701198698359291 Centerline is valid? [True, True] Translation: X:336.74, Y:-142.94, Z:1.85 [[ 7.78851685e-01 6.27167816e-01 7.11217733e-03 3.36744949e+02] [-6.27137699e-01 7.78884086e-01 -6.15527566e-03 -1.42944216e+02] [-9.39995253e-03 3.33732293e-04 9.99955764e-01 1.85244908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.422320588 meters 0.026893081036600278 Centerline is valid? [True, True] Translation: X:336.78, Y:-142.97, Z:1.85 [[ 7.77678226e-01 6.28603032e-01 8.64898340e-03 3.36778659e+02] [-6.28558320e-01 7.77726216e-01 -7.50816327e-03 -1.42973332e+02] [-1.14461953e-02 4.02544621e-04 9.99934409e-01 1.85287828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45232058799996 meters 0.027036853116517524 Centerline is valid? [True, True] Translation: X:336.81, Y:-143.00, Z:1.86 [[ 7.76716840e-01 6.29802486e-01 7.73165604e-03 3.36812433e+02] [-6.29766573e-01 7.76755236e-01 -6.73551913e-03 -1.43001333e+02] [-1.02476510e-02 3.62452613e-04 9.99947426e-01 1.85512947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48232058799994 meters 0.027066747250703342 Centerline is valid? [True, True] Translation: X:336.85, Y:-143.03, Z:1.86 [[ 7.75625639e-01 6.31141068e-01 8.11292390e-03 3.36846560e+02] [-6.31101347e-01 7.75667975e-01 -7.09101340e-03 -1.43029392e+02] [-1.07683650e-02 3.79894598e-04 9.99941947e-01 1.85543691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51232058799997 meters 0.027391679468638918 Centerline is valid? [True, True] Translation: X:336.88, Y:-143.06, Z:1.85 [[ 7.75235343e-01 6.31625055e-01 7.74298239e-03 3.36881623e+02] [-6.31588658e-01 7.75273920e-01 -6.79095039e-03 -1.43057128e+02] [-1.02922667e-02 3.74204897e-04 9.99946963e-01 1.85487910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54232058799994 meters 0.02714620181796209 Centerline is valid? [True, True] Translation: X:336.92, Y:-143.09, Z:1.86 [[ 7.73763534e-01 6.33434580e-01 7.11517978e-03 3.36915296e+02] [-6.33403715e-01 7.73796173e-01 -6.26225403e-03 -1.43085114e+02] [-9.47242714e-03 3.38722504e-04 9.99955078e-01 1.85525756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57232058799997 meters 0.026214083834752277 Centerline is valid? [True, True] Translation: X:336.95, Y:-143.11, Z:1.85 [[ 7.71577611e-01 6.36094394e-01 7.20496895e-03 3.36948869e+02] [-6.36062651e-01 7.71611181e-01 -6.36306280e-03 -1.43114472e+02] [-9.60694318e-03 3.26785141e-04 9.99953799e-01 1.85496728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60232058799994 meters 0.025922481257571264 Centerline is valid? [True, True] Translation: X:336.98, Y:-143.14, Z:1.85 [[ 7.70036074e-01 6.37953707e-01 7.71441900e-03 3.36982829e+02] [-6.37917184e-01 7.70074640e-01 -6.83488217e-03 -1.43143542e+02] [-1.03010169e-02 3.41945394e-04 9.99946885e-01 1.85430270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63232058799997 meters 0.025752442535936147 Centerline is valid? [True, True] Translation: X:337.02, Y:-143.17, Z:1.85 [[ 7.68282187e-01 6.40067810e-01 7.46190314e-03 3.37016987e+02] [-6.40033497e-01 7.68318355e-01 -6.63529580e-03 -1.43172536e+02] [-9.98015640e-03 3.21911601e-04 9.99950145e-01 1.85481091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66232058799994 meters 0.025752442535936147 Centerline is valid? [True, True] Translation: X:337.05, Y:-143.20, Z:1.85 [[ 7.67153891e-01 6.41419833e-01 7.45018349e-03 3.37051175e+02] [-6.41385457e-01 7.67189998e-01 -6.64846158e-03 -1.43201034e+02] [-9.98016138e-03 3.21953829e-04 9.99950145e-01 1.85499821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.692320588 meters 0.02502406290439542 Centerline is valid? [True, True] Translation: X:337.08, Y:-143.23, Z:1.86 [[ 7.65298332e-01 6.43629494e-01 7.71609598e-03 3.37084085e+02] [-6.43592488e-01 7.65337162e-01 -6.90927271e-03 -1.43231307e+02] [-1.03524267e-02 3.21633472e-04 9.99946360e-01 1.85590678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72232058799995 meters 0.025486531702564947 Centerline is valid? [True, True] Translation: X:337.12, Y:-143.26, Z:1.86 [[ 7.64469118e-01 6.44616335e-01 7.53317069e-03 3.37118587e+02] [-6.44580868e-01 7.64506167e-01 -6.76950826e-03 -1.43259746e+02] [-1.01228910e-02 3.19342301e-04 9.99948711e-01 1.85602644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.752320588 meters 0.025200887659960945 Centerline is valid? [True, True] Translation: X:337.15, Y:-143.29, Z:1.85 [[ 7.62970558e-01 6.46391353e-01 7.35849132e-03 3.37154629e+02] [-6.46357349e-01 7.63005979e-01 -6.63723007e-03 -1.43288641e+02] [-9.90482100e-03 3.07796186e-04 9.99950899e-01 1.85465217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78232058799995 meters 0.025184228519838574 Centerline is valid? [True, True] Translation: X:337.19, Y:-143.32, Z:1.85 [[ 7.61692146e-01 6.47895994e-01 7.47365821e-03 3.37188643e+02] [-6.47860753e-01 7.61728748e-01 -6.76463408e-03 -1.43318004e+02] [-1.00756796e-02 3.10678818e-04 9.99949191e-01 1.85379906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.812320588 meters 0.02421656908133404 Centerline is valid? [True, True] Translation: X:337.23, Y:-143.35, Z:1.85 [[ 7.58314483e-01 6.51835380e-01 8.35363433e-03 3.37225940e+02] [-6.51791079e-01 7.58360425e-01 -7.60626050e-03 -1.43352631e+02] [-1.12930954e-02 3.23113161e-04 9.99936179e-01 1.85440437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84232058799995 meters 0.02440171459552003 Centerline is valid? [True, True] Translation: X:337.26, Y:-143.38, Z:1.86 [[ 7.57330854e-01 6.52981217e-01 8.09368788e-03 3.37261085e+02] [-6.52939447e-01 7.57374037e-01 -7.39227407e-03 -1.43381811e+02] [-1.09569652e-02 3.13709143e-04 9.99939921e-01 1.85500298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.872320588 meters 0.023815919188011965 Centerline is valid? [True, True] Translation: X:337.29, Y:-143.41, Z:1.86 [[ 7.55143644e-01 6.55513053e-01 7.79198788e-03 3.37294826e+02] [-6.55474196e-01 7.55183789e-01 -7.14305368e-03 -1.43412159e+02] [-1.05667479e-02 2.86584590e-04 9.99944129e-01 1.85533990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90232058799995 meters 0.02350899097954291 Centerline is valid? [True, True] Translation: X:337.33, Y:-143.44, Z:1.86 [[ 7.53693171e-01 6.57194829e-01 6.44678221e-03 3.37329828e+02] [-6.57168087e-01 7.53720706e-01 -5.93327903e-03 -1.43442217e+02] [-8.75839353e-03 2.35252359e-04 9.99961617e-01 1.85613810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.932320588 meters 0.023431971727685765 Centerline is valid? [True, True] Translation: X:337.36, Y:-143.47, Z:1.86 [[ 7.52547623e-01 6.58508598e-01 6.20501224e-03 3.37364772e+02] [-6.58483688e-01 7.52573169e-01 -5.73213358e-03 -1.43471875e+02] [-8.44438497e-03 2.27804152e-04 9.99964320e-01 1.85602090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96232058799995 meters 0.02283662587710423 Centerline is valid? [True, True] Translation: X:337.40, Y:-143.50, Z:1.85 [[ 7.49997007e-01 6.61407001e-01 6.72821435e-03 3.37398324e+02] [-6.61377628e-01 7.50027151e-01 -6.23750399e-03 -1.43502539e+02] [-9.17187225e-03 2.28218880e-04 9.99957911e-01 1.85450329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.992320588 meters 0.022538886958941327 Centerline is valid? [True, True] Translation: X:337.43, Y:-143.53, Z:1.86 [[ 7.47886749e-01 6.63796317e-01 6.31342959e-03 3.37432075e+02] [-6.63770347e-01 7.47913369e-01 -5.87523092e-03 -1.43532837e+02] [-8.62185505e-03 2.03340002e-04 9.99962810e-01 1.85567370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02232058799996 meters 0.02247171071465072 Centerline is valid? [True, True] Translation: X:337.47, Y:-143.57, Z:1.86 [[ 7.46443032e-01 6.65404172e-01 7.75165344e-03 3.37469204e+02] [-6.65364747e-01 7.46483238e-01 -7.24768398e-03 -1.43565012e+02] [-1.06091185e-02 2.52306275e-04 9.99943690e-01 1.85516313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.052320588 meters 0.022015876448414635 Centerline is valid? [True, True] Translation: X:337.50, Y:-143.60, Z:1.86 [[ 7.44203593e-01 6.67910375e-01 7.53281810e-03 3.37503312e+02] [-6.67873031e-01 7.44241680e-01 -7.06652716e-03 -1.43596092e+02] [-1.03260440e-02 2.27968848e-04 9.99946659e-01 1.85783251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08232058799996 meters 0.021851678276347472 Centerline is valid? [True, True] Translation: X:337.54, Y:-143.63, Z:1.86 [[ 7.42824687e-01 6.69445639e-01 7.34993204e-03 3.37538481e+02] [-6.69409892e-01 7.42861015e-01 -6.92163364e-03 -1.43626407e+02] [-1.00936354e-02 2.21443124e-04 9.99949033e-01 1.85747103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.112320588 meters 0.022020469985066984 Centerline is valid? [True, True] Translation: X:337.58, Y:-143.66, Z:1.86 [[ 7.41336875e-01 6.71092630e-01 7.37017523e-03 3.37575895e+02] [-6.71056415e-01 7.41373476e-01 -6.97545962e-03 -1.43658223e+02] [-1.01452320e-02 2.25362064e-04 9.99948510e-01 1.85712951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14232058799996 meters 0.02242799888269304 Centerline is valid? [True, True] Translation: X:337.61, Y:-143.69, Z:1.86 [[ 7.41043406e-01 6.71413225e-01 7.67805375e-03 3.37610984e+02] [-6.71373678e-01 7.41083140e-01 -7.29134926e-03 -1.43689388e+02] [-1.05855845e-02 2.48363098e-04 9.99943940e-01 1.85597768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.172320588 meters 0.022490960007056072 Centerline is valid? [True, True] Translation: X:337.64, Y:-143.72, Z:1.86 [[ 7.40019930e-01 6.72542860e-01 7.52361016e-03 3.37644946e+02] [-6.72504663e-01 7.40058133e-01 -7.17202970e-03 -1.43721228e+02] [-1.03914063e-02 2.47782008e-04 9.99945977e-01 1.85706104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20232058799996 meters 0.02296047095618462 Centerline is valid? [True, True] Translation: X:337.68, Y:-143.75, Z:1.86 [[ 7.39330372e-01 6.73291288e-01 8.33316682e-03 3.37679910e+02] [-6.73244138e-01 7.39377279e-01 -7.97313235e-03 -1.43752197e+02] [-1.15295948e-02 2.84523196e-04 9.99933492e-01 1.85749280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23232058799994 meters 0.02324722136971551 Centerline is valid? [True, True] Translation: X:337.72, Y:-143.79, Z:1.86 [[ 7.37921960e-01 6.74837778e-01 8.07189174e-03 3.37717417e+02] [-6.74793185e-01 7.37966053e-01 -7.76291037e-03 -1.43785127e+02] [-1.11954873e-02 2.81564498e-04 9.99937289e-01 1.85733444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26232058799997 meters 0.02292498775420773 Centerline is valid? [True, True] Translation: X:337.75, Y:-143.82, Z:1.86 [[ 7.35996076e-01 6.76930912e-01 8.62070221e-03 3.37752186e+02] [-6.76879860e-01 7.36046506e-01 -8.31842500e-03 -1.43816738e+02] [-1.19762368e-02 2.87148451e-04 9.99928241e-01 1.85634090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29232058799994 meters 0.022780693571744233 Centerline is valid? [True, True] Translation: X:337.79, Y:-143.85, Z:1.86 [[ 7.34155319e-01 6.78941624e-01 7.36469508e-03 3.37786500e+02] [-6.78904175e-01 7.34192219e-01 -7.13490119e-03 -1.43847786e+02] [-1.02512832e-02 2.38203423e-04 9.99947426e-01 1.85677129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32232058799997 meters 0.022643394124572242 Centerline is valid? [True, True] Translation: X:337.82, Y:-143.88, Z:1.86 [[ 7.32727135e-01 6.80473748e-01 8.15011013e-03 3.37821762e+02] [-6.80427653e-01 7.32772414e-01 -7.92456799e-03 -1.43878812e+02] [-1.13646364e-02 2.60985691e-04 9.99935386e-01 1.85520667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35232058799994 meters 0.022702552520597396 Centerline is valid? [True, True] Translation: X:337.86, Y:-143.91, Z:1.86 [[ 7.31421241e-01 6.81870297e-01 8.71007391e-03 3.37856108e+02] [-6.81817366e-01 7.31473048e-01 -8.50056329e-03 -1.43910657e+02] [-1.21674659e-02 2.78812903e-04 9.99925935e-01 1.85546846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38232058799997 meters 0.023077293897280263 Centerline is valid? [True, True] Translation: X:337.89, Y:-143.94, Z:1.86 [[ 7.31040615e-01 6.82277837e-01 8.75054298e-03 3.37890533e+02] [-6.82224048e-01 7.31092925e-01 -8.57221762e-03 -1.43942287e+02] [-1.22460942e-02 2.96808388e-04 9.99924970e-01 1.85647691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41232058799994 meters 0.022786365891206684 Centerline is valid? [True, True] Translation: X:337.92, Y:-143.97, Z:1.86 [[ 7.29462770e-01 6.83975054e-01 7.88621689e-03 3.37924689e+02] [-6.83931131e-01 7.29505350e-01 -7.75582894e-03 -1.43974155e+02] [-1.10578309e-02 2.63959227e-04 9.99938825e-01 1.85793768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.442320588 meters 0.02290088833041678 Centerline is valid? [True, True] Translation: X:337.96, Y:-144.01, Z:1.86 [[ 7.28229063e-01 6.85295755e-01 7.22214083e-03 3.37959557e+02] [-6.85258699e-01 7.28264834e-01 -7.13069127e-03 -1.44005347e+02] [-1.01462637e-02 2.43741794e-04 9.99948496e-01 1.85809054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47232058799995 meters 0.023398408498641343 Centerline is valid? [True, True] Translation: X:337.99, Y:-144.04, Z:1.86 [[ 7.27980906e-01 6.85542846e-01 8.64911182e-03 3.37994753e+02] [-6.85489347e-01 7.28032218e-01 -8.56999192e-03 -1.44036158e+02] [-1.21719287e-02 3.09916476e-04 9.99925871e-01 1.85604234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.502320588 meters 0.02351967111055069 Centerline is valid? [True, True] Translation: X:338.03, Y:-144.07, Z:1.86 [[ 7.26326394e-01 6.87301717e-01 8.14361801e-03 3.38031015e+02] [-6.87253924e-01 7.26371986e-01 -8.11056382e-03 -1.44069391e+02] [-1.14897004e-02 2.94183144e-04 9.99933948e-01 1.85677512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53232058799995 meters 0.024503052856168394 Centerline is valid? [True, True] Translation: X:338.07, Y:-144.10, Z:1.86 [[ 7.27172872e-01 6.86405638e-01 8.18012601e-03 3.38067563e+02] [-6.86357037e-01 7.27218806e-01 -8.17471374e-03 -1.44099012e+02] [-1.15599111e-02 3.29943022e-04 9.99933128e-01 1.85528961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.562320588 meters 0.024907201801327817 Centerline is valid? [True, True] Translation: X:338.10, Y:-144.13, Z:1.85 [[ 7.26661574e-01 6.86943085e-01 8.49437325e-03 3.38102238e+02] [-6.86890339e-01 7.26711133e-01 -8.52008821e-03 -1.44130591e+02] [-1.20257713e-02 3.56517786e-04 9.99927624e-01 1.85491385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59232058799995 meters 0.02550901737377427 Centerline is valid? [True, True] Translation: X:339.33, Y:-142.92, Z:3.65 [[ 7.41391280e-01 -6.70893393e-01 1.55249912e-02 3.39326889e+02] [-6.70754867e-01 -7.41553749e-01 -1.36361729e-02 -1.42918446e+02] [ 2.06610337e-02 -3.03723740e-04 -9.99786492e-01 3.64921405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.622320588 meters 0.02545351150703055 Centerline is valid? [True, True] Translation: X:338.23, Y:-144.27, Z:1.86 [[ 7.80936118e-01 6.24545931e-01 9.00888314e-03 3.38233605e+02] [-6.24498960e-01 7.80987995e-01 -7.66810562e-03 -1.44265021e+02] [-1.18249137e-02 3.62262481e-04 9.99930018e-01 1.85873549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65232058799995 meters 0.025514566835297056 Centerline is valid? [True, True] Translation: X:338.27, Y:-144.29, Z:1.86 [[ 7.79888026e-01 6.25862378e-01 8.42320126e-03 3.38268323e+02] [-6.25821042e-01 7.79933436e-01 -7.20125028e-03 -1.44292505e+02] [-1.10765279e-02 3.44752275e-04 9.99938594e-01 1.85927031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.682320588 meters 0.02558411003573967 Centerline is valid? [True, True] Translation: X:338.32, Y:-144.33, Z:1.86 [[ 7.77669429e-01 6.28629807e-01 7.40440933e-03 3.38315301e+02] [-6.28597449e-01 7.77704616e-01 -6.38579145e-03 -1.44326179e+02] [-9.77274215e-03 3.11641981e-04 9.99952197e-01 1.85766688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71232058799995 meters 0.025529183972350294 Centerline is valid? [True, True] Translation: X:338.35, Y:-144.35, Z:1.86 [[ 7.76655298e-01 6.29889520e-01 6.76315035e-03 3.38349662e+02] [-6.29862467e-01 7.76684694e-01 -5.84448909e-03 -1.44353495e+02] [-8.93421779e-03 2.79298855e-04 9.99960050e-01 1.85807473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.742320588 meters 0.02611756421906374 Centerline is valid? [True, True] Translation: X:338.38, Y:-144.38, Z:1.86 [[ 7.76888610e-01 6.29601008e-01 6.83065807e-03 3.38384821e+02] [-6.29573219e-01 7.76918580e-01 -5.92296390e-03 -1.44379826e+02] [-9.03596921e-03 3.01083799e-04 9.99959129e-01 1.85829892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77232058799996 meters 0.026277598148336738 Centerline is valid? [True, True] Translation: X:338.42, Y:-144.41, Z:1.86 [[ 7.75939972e-01 6.30752423e-01 8.27890587e-03 3.38417942e+02] [-6.30711425e-01 7.75984051e-01 -7.20073983e-03 -1.44408359e+02] [-1.09661830e-02 3.65741336e-04 9.99939803e-01 1.85863730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.802320588 meters 0.027202936297586282 Centerline is valid? [True, True] Translation: X:338.45, Y:-144.44, Z:1.86 [[ 7.76513387e-01 6.30038280e-01 8.87279290e-03 3.38452668e+02] [-6.29990845e-01 7.76563962e-01 -7.74255376e-03 -1.44435048e+02] [-1.17683965e-02 4.22418339e-04 9.99930661e-01 1.85842667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83232058799996 meters 0.027252988117367906 Centerline is valid? [True, True] Translation: X:338.49, Y:-144.46, Z:1.86 [[ 7.75301323e-01 6.31524541e-01 9.19856135e-03 3.38487217e+02] [-6.31473332e-01 7.75355767e-01 -8.05399585e-03 -1.44462836e+02] [-1.22184536e-02 4.35627458e-04 9.99925257e-01 1.85764087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.862320588 meters 0.027099086956255854 Centerline is valid? [True, True] Translation: X:338.52, Y:-144.49, Z:1.86 [[ 7.74034579e-01 6.33087189e-01 8.43099613e-03 3.38521785e+02] [-6.33043973e-01 7.74080392e-01 -7.40772608e-03 -1.44491039e+02] [-1.12160053e-02 3.96644843e-04 9.99937020e-01 1.85873402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89232058799996 meters 0.026839861579184048 Centerline is valid? [True, True] Translation: X:338.56, Y:-144.52, Z:1.86 [[ 7.72286739e-01 6.35224986e-01 7.90000051e-03 3.38555428e+02] [-6.35186901e-01 7.72327059e-01 -6.96522571e-03 -1.44519939e+02] [-1.05258696e-02 3.61174606e-04 9.99944536e-01 1.85979574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.922320588 meters 0.02677290914753471 Centerline is valid? [True, True] Translation: X:338.59, Y:-144.55, Z:1.86 [[ 7.71411612e-01 6.36290218e-01 7.67354771e-03 3.38590161e+02] [-6.36254099e-01 7.71449696e-01 -6.78883361e-03 -1.44547815e+02] [-1.02394245e-02 3.54658898e-04 9.99947513e-01 1.85984055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95232058799996 meters 0.0262851309532245 Centerline is valid? [True, True] Translation: X:338.62, Y:-144.58, Z:1.86 [[ 7.69355147e-01 6.38776186e-01 7.59226135e-03 3.38624105e+02] [-6.38740710e-01 7.69392534e-01 -6.74051042e-03 -1.44577016e+02] [-1.01471067e-02 3.36359980e-04 9.99948460e-01 1.85978766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98232058799994 meters 0.026212679009517122 Centerline is valid? [True, True] Translation: X:338.66, Y:-144.61, Z:1.86 [[ 7.68313666e-01 6.40042387e-01 6.31291573e-03 3.38657553e+02] [-6.40017730e-01 7.68339549e-01 -5.62511163e-03 -1.44606517e+02] [-8.45077271e-03 2.81472139e-04 9.99964252e-01 1.86049911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01232058799997 meters 0.02627909075607574 Centerline is valid? [True, True] Translation: X:338.69, Y:-144.64, Z:1.86 [[ 7.67543388e-01 6.40957052e-01 7.15573709e-03 3.38691165e+02] [-6.40925217e-01 7.67576675e-01 -6.39642036e-03 -1.44635724e+02] [-9.59240762e-03 3.23237817e-04 9.99953940e-01 1.86032876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04232058799994 meters 0.026138614998946826 Centerline is valid? [True, True] Translation: X:338.73, Y:-144.66, Z:1.86 [[ 7.65865762e-01 6.42952292e-01 7.87307502e-03 3.38725449e+02] [-6.42913615e-01 7.65906150e-01 -7.06066536e-03 -1.44663835e+02] [-1.05697076e-02 3.45814737e-04 9.99944079e-01 1.85964395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07232058799997 meters 0.02618453388498853 Centerline is valid? [True, True] Translation: X:338.76, Y:-144.69, Z:1.86 [[ 7.65182669e-01 6.43780040e-01 6.53777304e-03 3.38761285e+02] [-6.43753203e-01 7.65210541e-01 -5.88562545e-03 -1.44691894e+02] [-8.79182104e-03 2.94866253e-04 9.99961308e-01 1.86044144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10232058799994 meters 0.02568272538410152 Centerline is valid? [True, True] Translation: X:338.80, Y:-144.72, Z:1.86 [[ 7.62575850e-01 6.46869383e-01 6.17040504e-03 3.38796130e+02] [-6.46845394e-01 7.62600769e-01 -5.57700607e-03 -1.44722764e+02] [-8.31315010e-03 2.61592065e-04 9.99965411e-01 1.85924175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13232058799997 meters 0.02526929009719026 Centerline is valid? [True, True] Translation: X:338.83, Y:-144.75, Z:1.86 [[ 7.61598973e-01 6.48008964e-01 7.16841074e-03 3.38829644e+02] [-6.47976439e-01 7.61632647e-01 -6.49961958e-03 -1.44752388e+02] [-9.67150740e-03 3.05142333e-04 9.99953183e-01 1.85900584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16232058799994 meters 0.025517143359282974 Centerline is valid? [True, True] Translation: X:338.86, Y:-144.78, Z:1.86 [[ 7.60773038e-01 6.48966489e-01 8.17814514e-03 3.38863742e+02] [-6.48923933e-01 7.60816911e-01 -7.44022604e-03 -1.44781757e+02] [-1.10505285e-02 3.53329257e-04 9.99938879e-01 1.85941109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.192320588 meters 0.025364897284333738 Centerline is valid? [True, True] Translation: X:338.90, Y:-144.81, Z:1.86 [[ 7.59033501e-01 6.50997525e-01 8.38849709e-03 3.38896981e+02] [-6.50952573e-01 7.59079771e-01 -7.65829744e-03 -1.44812385e+02] [-1.13530711e-02 3.52390548e-04 9.99935490e-01 1.85842451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22232058799995 meters 0.025219525457891592 Centerline is valid? [True, True] Translation: X:338.93, Y:-144.84, Z:1.86 [[ 7.57646138e-01 6.52632113e-01 6.60722231e-03 3.38931983e+02] [-6.52604059e-01 7.57674896e-01 -6.05754793e-03 -1.44842783e+02] [-8.95947678e-03 2.77577698e-04 9.99959825e-01 1.85909845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.252320588 meters 0.02414878332726364 Centerline is valid? [True, True] Translation: X:338.97, Y:-144.87, Z:1.86 [[ 7.54695925e-01 6.56031593e-01 7.52388640e-03 3.38966059e+02] [-6.55995144e-01 7.54733374e-01 -6.92137238e-03 -1.44872734e+02] [-1.02191671e-02 2.87898595e-04 9.99947742e-01 1.85707296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28232058799995 meters 0.02405185653929938 Centerline is valid? [True, True] Translation: X:339.00, Y:-144.90, Z:1.86 [[ 7.53432994e-01 6.57473749e-01 8.18487790e-03 3.39000728e+02] [-6.57430402e-01 7.53477386e-01 -7.55611154e-03 -1.44902689e+02] [-1.11350654e-02 3.12036170e-04 9.99937955e-01 1.85755162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.312320588 meters 0.02373827257258331 Centerline is valid? [True, True] Translation: X:339.03, Y:-144.93, Z:1.86 [[ 7.51703113e-01 6.59447196e-01 8.47493166e-03 3.39034567e+02] [-6.59400521e-01 7.51750821e-01 -7.85212227e-03 -1.44933663e+02] [-1.15490969e-02 3.14090402e-04 9.99933258e-01 1.85866941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34232058799995 meters 0.02318231157968697 Centerline is valid? [True, True] Translation: X:339.07, Y:-144.97, Z:1.86 [[ 7.49229247e-01 6.62239259e-01 9.73137093e-03 3.39069440e+02] [-6.62177420e-01 7.49292364e-01 -9.05632101e-03 -1.44965808e+02] [-1.32890932e-02 3.41366467e-04 9.99911638e-01 1.85762431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.372320588 meters 0.02239315018977199 Centerline is valid? [True, True] Translation: X:339.11, Y:-145.00, Z:1.86 [[ 7.45922001e-01 6.65970383e-01 9.15516356e-03 3.39108030e+02] [-6.65915276e-01 7.45978123e-01 -8.57234438e-03 -1.45000211e+02] [-1.25384792e-02 2.97737006e-04 9.99921346e-01 1.85872670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40232058799995 meters 0.021271908103240596 Centerline is valid? [True, True] Translation: X:339.14, Y:-145.03, Z:1.86 [[ 7.42274550e-01 6.70045724e-01 8.19884106e-03 3.39141688e+02] [-6.70001492e-01 7.42319795e-01 -7.70208462e-03 -1.45032075e+02] [-1.12469109e-02 2.23825646e-04 9.99936726e-01 1.86026068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.432320588 meters 0.021179260881352444 Centerline is valid? [True, True] Translation: X:339.18, Y:-145.06, Z:1.86 [[ 7.40770856e-01 6.71703637e-01 8.53008645e-03 3.39176777e+02] [-6.71655513e-01 7.40819932e-01 -8.04368693e-03 -1.45062213e+02] [-1.17222318e-02 2.29249262e-04 9.99931266e-01 1.85967058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46232058799995 meters 0.02074972340094741 Centerline is valid? [True, True] Translation: X:339.21, Y:-145.09, Z:1.86 [[ 7.37831775e-01 6.74940317e-01 7.73562610e-03 3.39212314e+02] [-6.74900542e-01 7.37872302e-01 -7.32972705e-03 -1.45093221e+02] [-1.06550325e-02 1.87327277e-04 9.99943216e-01 1.85942159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.492320588 meters 0.02066905348322004 Centerline is valid? [True, True] Translation: X:339.25, Y:-145.12, Z:1.86 [[ 7.37015484e-01 6.75838884e-01 7.06961466e-03 3.39246840e+02] [-6.75805460e-01 7.37049368e-01 -6.72378590e-03 -1.45123811e+02] [-9.75485098e-03 1.77850134e-04 9.99952404e-01 1.86011333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52232058799996 meters 0.02072355084284681 Centerline is valid? [True, True] Translation: X:339.28, Y:-145.16, Z:1.86 [[ 7.35379694e-01 6.77618357e-01 7.07591398e-03 3.39280816e+02] [-6.77584704e-01 7.35413715e-01 -6.75550511e-03 -1.45155193e+02] [-9.78137846e-03 1.73330205e-04 9.99952146e-01 1.85994748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.552320588 meters 0.02072355084284681 Centerline is valid? [True, True] Translation: X:339.32, Y:-145.19, Z:1.86 [[ 7.34086508e-01 6.79019228e-01 7.06303754e-03 3.39315164e+02] [-6.78985510e-01 7.34120465e-01 -6.76897722e-03 -1.45185857e+02] [-9.78138609e-03 1.73314702e-04 9.99952146e-01 1.86014097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58232058799996 meters 0.020921663795527606 Centerline is valid? [True, True] Translation: X:339.35, Y:-145.22, Z:1.86 [[ 7.33287618e-01 6.79880601e-01 7.18589549e-03 3.39350107e+02] [-6.79845482e-01 7.33322803e-01 -6.91274250e-03 -1.45216236e+02] [-9.96942055e-03 1.83729895e-04 9.99950287e-01 1.85976933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.612320588 meters 0.021064592989456683 Centerline is valid? [True, True] Translation: X:339.39, Y:-145.25, Z:1.86 [[ 7.32568692e-01 6.80655233e-01 7.18082303e-03 3.39385156e+02] [-6.80619940e-01 7.32603860e-01 -6.93408106e-03 -1.45246858e+02] [-9.98041724e-03 1.92279355e-04 9.99950176e-01 1.86046991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64232058799996 meters 0.021350771374655474 Centerline is valid? [True, True] Translation: X:339.42, Y:-145.28, Z:1.86 [[ 7.31929753e-01 6.81331319e-01 8.15296424e-03 3.39419806e+02] [-6.81285539e-01 7.31975124e-01 -7.90144824e-03 -1.45277303e+02] [-1.13512712e-02 2.28808426e-04 9.99935546e-01 1.86033274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.672320588 meters 0.02109275556160112 Centerline is valid? [True, True] Translation: X:339.46, Y:-145.31, Z:1.86 [[ 7.29818583e-01 6.83590476e-01 8.30045481e-03 3.39455888e+02] [-6.83542708e-01 7.29865748e-01 -8.08427876e-03 -1.45310084e+02] [-1.15845536e-02 2.26341511e-04 9.99932871e-01 1.85996948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70232058799996 meters 0.020829566237478024 Centerline is valid? [True, True] Translation: X:339.49, Y:-145.34, Z:1.86 [[ 7.27697614e-01 6.85845314e-01 8.50809518e-03 3.39490488e+02] [-6.85794938e-01 7.27747318e-01 -8.31537837e-03 -1.45341148e+02] [-1.18948067e-02 2.16272400e-04 9.99929231e-01 1.85966109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73232058799994 meters 0.02105140016081841 Centerline is valid? [True, True] Translation: X:339.53, Y:-145.37, Z:1.86 [[ 7.26520575e-01 6.87091780e-01 8.52875834e-03 3.39525282e+02] [-6.87040798e-01 7.26570599e-01 -8.37288610e-03 -1.45371281e+02] [-1.19496863e-02 2.23469085e-04 9.99928575e-01 1.85900146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76232058799997 meters 0.0210307989474272 Centerline is valid? [True, True] Translation: X:339.56, Y:-145.40, Z:1.86 [[ 7.24889161e-01 6.88813868e-01 8.43561908e-03 3.39559450e+02] [-6.88763689e-01 7.24938210e-01 -8.31703615e-03 -1.45402599e+02] [-1.18441924e-02 2.18781240e-04 9.99929831e-01 1.85942152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79232058799994 meters 0.02102476539111328 Centerline is valid? [True, True] Translation: X:339.59, Y:-145.43, Z:1.86 [[ 7.24102278e-01 6.89647788e-01 7.86251580e-03 3.39593739e+02] [-6.89603920e-01 7.24144933e-01 -7.78135874e-03 -1.45433682e+02] [-1.10599978e-02 2.12477876e-04 9.99938814e-01 1.85981626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82232058799997 meters 0.02149813418985249 Centerline is valid? [True, True] Translation: X:339.63, Y:-145.47, Z:1.86 [[ 7.23881551e-01 6.89882189e-01 7.61999617e-03 3.39630081e+02] [-6.89840601e-01 7.23921620e-01 -7.57847202e-03 -1.45465513e+02] [-1.07445328e-02 2.29333347e-04 9.99942250e-01 1.86044104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85232058799994 meters 0.02151420337081882 Centerline is valid? [True, True] Translation: X:339.66, Y:-145.50, Z:1.86 [[ 7.22387041e-01 6.91452136e-01 7.13495073e-03 3.39664592e+02] [-6.91415493e-01 7.22422245e-01 -7.12151747e-03 -1.45496596e+02] [-1.00786356e-02 2.11276448e-04 9.99949187e-01 1.86045797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88232058799997 meters 0.021962332520861463 Centerline is valid? [True, True] Translation: X:339.70, Y:-145.53, Z:1.86 [[ 7.21855213e-01 6.92002617e-01 7.57823181e-03 3.39699460e+02] [-6.91961011e-01 7.21894952e-01 -7.59191919e-03 -1.45528088e+02] [-1.07243152e-02 2.36425493e-04 9.99942465e-01 1.85995094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91232058799994 meters 0.021925602184533655 Centerline is valid? [True, True] Translation: X:340.93, Y:-144.32, Z:3.66 [[ 7.48465503e-01 -6.63029845e-01 1.38135849e-02 3.40931229e+02] [-6.62918297e-01 -7.48592961e-01 -1.21618361e-02 -1.44316761e+02] [ 1.84044127e-02 -5.45633851e-05 -9.99830623e-01 3.66113848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.942320588 meters 0.022335034758742132 Centerline is valid? [True, True] Translation: X:339.84, Y:-145.67, Z:1.86 [[ 7.76323502e-01 6.30282333e-01 8.12405014e-03 3.39837306e+02] [-6.30244557e-01 7.76365972e-01 -6.90478068e-03 -1.45667193e+02] [-1.06591974e-02 2.40205139e-04 9.99943160e-01 1.86006529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97232058799995 meters 0.02245297702714403 Centerline is valid? [True, True] Translation: X:339.87, Y:-145.69, Z:1.86 [[ 7.75828259e-01 6.30900327e-01 7.43575099e-03 3.39872752e+02] [-6.30868426e-01 7.75863856e-01 -6.34875260e-03 -1.45693635e+02] [-9.77456052e-03 2.34561154e-04 9.99952200e-01 1.85844763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.002320588 meters 0.022757704269034087 Centerline is valid? [True, True] Translation: X:339.91, Y:-145.72, Z:1.86 [[ 7.75386801e-01 6.31438985e-01 7.75347027e-03 3.39909992e+02] [-6.31404060e-01 7.75425523e-01 -6.64618725e-03 -1.45722342e+02] [-1.02089005e-02 2.57793272e-04 9.99947855e-01 1.85922251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03232058799995 meters 0.022974650937765035 Centerline is valid? [True, True] Translation: X:339.95, Y:-145.76, Z:1.86 [[ 7.73870566e-01 6.33292474e-01 8.06160770e-03 3.39952030e+02] [-6.33254332e-01 7.73912505e-01 -6.95607601e-03 -1.45755165e+02] [-1.06442096e-02 2.78054482e-04 9.99943310e-01 1.86049327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.062320588 meters 0.02291374440976544 Centerline is valid? [True, True] Translation: X:339.99, Y:-145.78, Z:1.86 [[ 7.72365478e-01 6.35105034e-01 9.65219998e-03 3.39986130e+02] [-6.35050238e-01 7.72425721e-01 -8.34868904e-03 -1.45783746e+02] [-1.27579020e-02 3.18607310e-04 9.99918564e-01 1.86058937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09232058799995 meters 0.0231257847544897 Centerline is valid? [True, True] Translation: X:340.02, Y:-145.81, Z:1.86 [[ 7.71598229e-01 6.36024696e-01 1.04287838e-02 3.40021249e+02] [-6.35960378e-01 7.71668622e-01 -9.05177352e-03 -1.45811471e+02] [-1.38047167e-02 3.52039132e-04 9.99904648e-01 1.85992778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.122320588 meters 0.023342244745015134 Centerline is valid? [True, True] Translation: X:340.06, Y:-145.84, Z:1.86 [[ 7.70906442e-01 6.36888326e-01 8.74744614e-03 3.40056487e+02] [-6.36842805e-01 7.70956009e-01 -7.62058250e-03 -1.45839373e+02] [-1.15973562e-02 3.04008002e-04 9.99932702e-01 1.86119999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15232058799995 meters 0.02352903770132541 Centerline is valid? [True, True] Translation: X:340.09, Y:-145.87, Z:1.86 [[ 7.70334288e-01 6.37574141e-01 9.18143650e-03 3.40091894e+02] [-6.37523700e-01 7.70388931e-01 -8.02662871e-03 -1.45867201e+02] [-1.21908480e-02 3.29803944e-04 9.99925634e-01 1.86044942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.182320588 meters 0.02336519402070485 Centerline is valid? [True, True] Translation: X:340.13, Y:-145.90, Z:1.86 [[ 7.68622250e-01 6.39633311e-01 9.43740895e-03 3.40125891e+02] [-6.39579810e-01 7.68680116e-01 -8.27921192e-03 -1.45896358e+02] [-1.25500083e-02 3.27610266e-04 9.99921192e-01 1.86140913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21232058799995 meters 0.023549566867131718 Centerline is valid? [True, True] Translation: X:340.16, Y:-145.92, Z:1.86 [[ 7.68116718e-01 6.40214440e-01 1.10534492e-02 3.40161223e+02] [-6.40140617e-01 7.68196142e-01 -9.73027212e-03 -1.45923515e+02] [-1.47206778e-02 3.98222877e-04 9.99891566e-01 1.86144850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.242320588 meters 0.023622955389465513 Centerline is valid? [True, True] Translation: X:340.20, Y:-145.95, Z:1.86 [[ 7.67052368e-01 6.41502027e-01 1.02866185e-02 3.40196318e+02] [-6.41437763e-01 7.67121249e-01 -9.08760617e-03 -1.45951594e+02] [-1.37208014e-02 3.72444254e-04 9.99905796e-01 1.86250752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27232058799996 meters 0.02430971175357351 Centerline is valid? [True, True] Translation: X:340.23, Y:-145.98, Z:1.86 [[ 7.67087568e-01 6.41477871e-01 9.09969631e-03 3.40232209e+02] [-6.41427220e-01 7.67141458e-01 -8.06872846e-03 -1.45979468e+02] [-1.21566651e-02 3.52628376e-04 9.99926043e-01 1.86264404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.302320588 meters 0.024634787207265276 Centerline is valid? [True, True] Translation: X:340.27, Y:-146.01, Z:1.86 [[ 7.67423163e-01 6.41079556e-01 8.87085296e-03 3.40267238e+02] [-6.41031072e-01 7.67474342e-01 -7.89291817e-03 -1.46006719e+02] [-1.18681405e-02 3.70715849e-04 9.99929502e-01 1.86285085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33232058799996 meters 0.02490063035581651 Centerline is valid? [True, True] Translation: X:340.30, Y:-146.04, Z:1.86 [[ 7.66040190e-01 6.42720508e-01 9.63208602e-03 3.40300846e+02] [-6.42663112e-01 7.66100641e-01 -8.59841753e-03 -1.46035058e+02] [-1.29055266e-02 3.96547022e-04 9.99916642e-01 1.86165443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.362320588 meters 0.025818087107147784 Centerline is valid? [True, True] Translation: X:340.34, Y:-146.06, Z:1.86 [[ 7.66337037e-01 6.42337487e-01 1.14060733e-02 3.40336592e+02] [-6.42256443e-01 7.66421750e-01 -1.02157671e-02 -1.46062661e+02] [-1.53038328e-02 5.03096580e-04 9.99882763e-01 1.86213806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39232058799996 meters 0.026265758093326225 Centerline is valid? [True, True] Translation: X:340.37, Y:-146.09, Z:1.86 [[ 7.66205963e-01 6.42491528e-01 1.15350881e-02 3.40371820e+02] [-6.42408104e-01 7.66292602e-01 -1.03670840e-02 -1.46090796e+02] [-1.55000163e-02 5.33087525e-04 9.99879725e-01 1.86206522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.422320588 meters 0.026580596884823976 Centerline is valid? [True, True] Translation: X:340.41, Y:-146.12, Z:1.86 [[ 7.65241534e-01 6.43656408e-01 1.05746622e-02 3.40406696e+02] [-6.43585923e-01 7.65314436e-01 -9.53802937e-03 -1.46119679e+02] [-1.42321554e-02 4.93192477e-04 9.99898596e-01 1.86245267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45232058799996 meters 0.026837202194825757 Centerline is valid? [True, True] Translation: X:340.44, Y:-146.15, Z:1.86 [[ 7.64958620e-01 6.44006532e-01 9.68998774e-03 3.40442190e+02] [-6.43946966e-01 7.65019847e-01 -8.77149764e-03 -1.46148032e+02] [-1.30619347e-02 4.69994532e-04 9.99914579e-01 1.86285482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48232058799994 meters 0.026932873596892722 Centerline is valid? [True, True] Translation: X:340.48, Y:-146.18, Z:1.86 [[ 7.63646339e-01 6.45564089e-01 9.55387993e-03 3.40477348e+02] [-6.45505894e-01 7.63705961e-01 -8.68023657e-03 -1.46177658e+02] [-1.29000041e-02 4.61545074e-04 9.99916685e-01 1.86260687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51232058799997 meters 0.026822185775101336 Centerline is valid? [True, True] Translation: X:340.51, Y:-146.21, Z:1.86 [[ 7.62424814e-01 6.46971898e-01 1.16518899e-02 3.40511598e+02] [-6.46884972e-01 7.62513639e-01 -1.06199062e-02 -1.46205891e+02] [-1.57555059e-02 5.59447507e-04 9.99875718e-01 1.86095567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54232058799994 meters 0.02717431571038328 Centerline is valid? [True, True] Translation: X:340.55, Y:-146.24, Z:1.86 [[ 7.61621699e-01 6.47922839e-01 1.13305710e-02 3.40546001e+02] [-6.47840166e-01 7.61705775e-01 -1.03649268e-02 -1.46235909e+02] [-1.53462342e-02 5.53754187e-04 9.99882086e-01 1.86139940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57232058799997 meters 0.027265482626793475 Centerline is valid? [True, True] Translation: X:340.58, Y:-146.27, Z:1.86 [[ 7.60889516e-01 6.48801739e-01 1.01709489e-02 3.40580557e+02] [-6.48734724e-01 7.60957322e-01 -9.33874884e-03 -1.46265799e+02] [-1.37986545e-02 5.07508351e-04 9.99904665e-01 1.86205562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60232058799994 meters 0.027624132877082198 Centerline is valid? [True, True] Translation: X:340.61, Y:-146.29, Z:1.86 [[ 7.60093289e-01 6.49751668e-01 8.99790326e-03 3.40614894e+02] [-6.49698923e-01 7.60146408e-01 -8.29147504e-03 -1.46294853e+02] [-1.22271236e-02 4.56366477e-04 9.99925142e-01 1.86298612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63232058799997 meters 0.02796826611686194 Centerline is valid? [True, True] Translation: X:340.65, Y:-146.32, Z:1.86 [[ 7.59427198e-01 6.50505147e-01 1.06482636e-02 3.40649833e+02] [-6.50430890e-01 7.59501647e-01 -9.84411116e-03 -1.46323652e+02] [-1.44910188e-02 5.49926154e-04 9.99894848e-01 1.86118690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66232058799994 meters 0.02747464783267684 Centerline is valid? [True, True] Translation: X:340.68, Y:-146.35, Z:1.86 [[ 7.57697070e-01 6.52506966e-01 1.13934010e-02 3.40683854e+02] [-6.52421592e-01 7.57782507e-01 -1.05706507e-02 -1.46353710e+02] [-1.55311432e-02 5.76050222e-04 9.99879219e-01 1.86124636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.692320588 meters 0.02704022671818911 Centerline is valid? [True, True] Translation: X:340.72, Y:-146.38, Z:1.86 [[ 7.56038010e-01 6.54433772e-01 1.10890159e-02 3.40718201e+02] [-6.54352539e-01 7.56119128e-01 -1.03256509e-02 -1.46384395e+02] [-1.51420717e-02 5.50458850e-04 9.99885201e-01 1.86288556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72232058799995 meters 0.027618434309560177 Centerline is valid? [True, True] Translation: X:340.75, Y:-146.41, Z:1.86 [[ 7.55534470e-01 6.55026046e-01 1.04184162e-02 3.40753487e+02] [-6.54953889e-01 7.55606111e-01 -9.73697917e-03 -1.46414358e+02] [-1.42501939e-02 5.33041193e-04 9.99898319e-01 1.86254740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.752320588 meters 0.027222472687250587 Centerline is valid? [True, True] Translation: X:340.79, Y:-146.45, Z:1.86 [[ 7.53954616e-01 6.56851953e-01 9.89687929e-03 3.40787472e+02] [-6.56786540e-01 7.54019405e-01 -9.28324735e-03 -1.46445638e+02] [-1.35601582e-02 4.99010097e-04 9.99907932e-01 1.86305525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78232058799995 meters 0.027492260647151625 Centerline is valid? [True, True] Translation: X:340.82, Y:-146.47, Z:1.86 [[ 7.53115374e-01 6.57818243e-01 9.61216576e-03 3.40821256e+02] [-6.57756204e-01 7.53176552e-01 -9.04754539e-03 -1.46474985e+02] [-1.31912983e-02 4.91383871e-04 9.99912870e-01 1.86281072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.812320588 meters 0.027857047049156095 Centerline is valid? [True, True] Translation: X:340.86, Y:-146.50, Z:1.86 [[ 7.52550423e-01 6.58450709e-01 1.05130684e-02 3.40855699e+02] [-6.58376072e-01 7.52623652e-01 -9.92909799e-03 -1.46503718e+02] [-1.44502056e-02 5.50594194e-04 9.99895439e-01 1.86169725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84232058799995 meters 0.027586300093990056 Centerline is valid? [True, True] Translation: X:340.89, Y:-146.54, Z:1.86 [[ 7.50842233e-01 6.60391455e-01 1.09118547e-02 3.40889871e+02] [-6.60310582e-01 7.50921305e-01 -1.03503012e-02 -1.46535341e+02] [-1.50291947e-02 5.66230145e-04 9.99886895e-01 1.86301772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.872320588 meters 0.02736569243425804 Centerline is valid? [True, True] Translation: X:340.93, Y:-146.57, Z:1.86 [[ 7.49132880e-01 6.62320742e-01 1.14526006e-02 3.40926915e+02] [-6.62231069e-01 7.49220184e-01 -1.09145473e-02 -1.46568988e+02] [-1.58094506e-02 5.92178309e-04 9.99874847e-01 1.86298764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90232058799995 meters 0.026906302039626708 Centerline is valid? [True, True] Translation: X:340.96, Y:-146.60, Z:1.86 [[ 7.46922722e-01 6.64827508e-01 1.05276673e-02 3.40961167e+02] [-6.64751486e-01 7.46996729e-01 -1.00672648e-02 -1.46599823e+02] [-1.45571276e-02 5.21186345e-04 9.99893904e-01 1.86272271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.932320588 meters 0.02686861088051774 Centerline is valid? [True, True] Translation: X:341.02, Y:-146.65, Z:1.86 [[ 7.42167215e-01 6.70126638e-01 1.08680674e-02 3.41022216e+02] [-6.70043511e-01 7.42246572e-01 -1.05697812e-02 -1.46649817e+02] [-1.51498778e-02 5.62467035e-04 9.99885076e-01 1.86106484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96232058799995 meters 0.026611285436193177 Centerline is valid? [True, True] Translation: X:341.06, Y:-146.68, Z:1.86 [[ 7.41012897e-01 6.71409625e-01 1.04404012e-02 3.41055197e+02] [-6.71332916e-01 7.41086260e-01 -1.01622427e-02 -1.46681045e+02] [-1.45602654e-02 5.21367936e-04 9.99893858e-01 1.86188950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.992320588 meters 0.026759338155432293 Centerline is valid? [True, True] Translation: X:341.09, Y:-146.71, Z:1.86 [[ 7.39852878e-01 6.72689702e-01 1.03093786e-02 3.41089406e+02] [-6.72614501e-01 7.39924521e-01 -1.00715797e-02 -1.46711262e+02] [-1.44032100e-02 5.17249669e-04 9.99896135e-01 1.86247487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02232058799996 meters 0.026573789569593713 Centerline is valid? [True, True] Translation: X:341.13, Y:-146.75, Z:1.86 [[ 7.37321248e-01 6.75469121e-01 9.94200759e-03 3.41128251e+02] [-6.75398612e-01 7.37388111e-01 -9.77186024e-03 -1.46745687e+02] [-1.39317080e-02 4.90182065e-04 9.99902829e-01 1.86126713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.052320588 meters 0.026368446416664717 Centerline is valid? [True, True] Translation: X:341.16, Y:-146.78, Z:1.86 [[ 7.35835618e-01 6.77097335e-01 9.22730056e-03 3.41162273e+02] [-6.77036344e-01 7.35893334e-01 -9.09894366e-03 -1.46777624e+02] [-1.29511795e-02 4.48108999e-04 9.99916030e-01 1.86157761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08232058799996 meters 0.02643653018704094 Centerline is valid? [True, True] Translation: X:341.20, Y:-146.81, Z:1.86 [[ 7.35189534e-01 6.77811937e-01 8.20534087e-03 3.41196449e+02] [-6.77763391e-01 7.35235207e-01 -8.12254386e-03 -1.46809212e+02] [-1.15384127e-02 4.10329580e-04 9.99933346e-01 1.86258168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.112320588 meters 0.026455724194252378 Centerline is valid? [True, True] Translation: X:341.23, Y:-146.84, Z:1.86 [[ 7.33045906e-01 6.80118076e-01 9.11606529e-03 3.41234091e+02] [-6.80057766e-01 7.33102450e-01 -9.06820538e-03 -1.46841922e+02] [-1.28504602e-02 4.47959836e-04 9.99917329e-01 1.86029784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14232058799996 meters 0.02656262946106806 Centerline is valid? [True, True] Translation: X:341.27, Y:-146.87, Z:1.86 [[ 7.32298104e-01 6.80904370e-01 1.04271888e-02 3.41268952e+02] [-6.80825044e-01 7.32372151e-01 -1.04063273e-02 -1.46872529e+02] [-1.47222964e-02 5.21442441e-04 9.99891485e-01 1.85881077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.172320588 meters 0.026983490972843922 Centerline is valid? [True, True] Translation: X:341.30, Y:-146.90, Z:1.86 [[ 7.31331257e-01 6.81932183e-01 1.10945672e-02 3.41303335e+02] [-6.81841853e-01 7.31415190e-01 -1.11133757e-02 -1.46904247e+02] [-1.56933035e-02 5.62818799e-04 9.99876694e-01 1.85839221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20232058799996 meters 0.02716340063958333 Centerline is valid? [True, True] Translation: X:342.52, Y:-145.72, Z:3.68 [[ 7.38145421e-01 -6.74385428e-01 1.85911734e-02 3.42518530e+02] [-6.74190358e-01 -7.38379297e-01 -1.62288289e-02 -1.45720428e+02] [ 2.46718233e-02 -5.54754078e-04 -9.99695450e-01 3.68020286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23232058799994 meters 0.02716438423514389 Centerline is valid? [True, True] Translation: X:341.44, Y:-147.05, Z:1.86 [[ 7.84552579e-01 6.19933834e-01 1.26211000e-02 3.41442464e+02] [-6.19841170e-01 7.84653861e-01 -1.07350503e-02 -1.47048228e+02] [-1.65582158e-02 5.99133944e-04 9.99862724e-01 1.85954802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26232058799997 meters 0.02817075399601217 Centerline is valid? [True, True] Translation: X:341.48, Y:-147.07, Z:1.86 [[ 7.84857854e-01 6.19562889e-01 1.18311143e-02 3.41477659e+02] [-6.19480828e-01 7.84946793e-01 -1.01012616e-02 -1.47073266e+02] [-1.55451620e-02 5.98905977e-04 9.99878987e-01 1.85908849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29232058799994 meters 0.028379375122383373 Centerline is valid? [True, True] Translation: X:341.51, Y:-147.10, Z:1.86 [[ 7.84063312e-01 6.20557960e-01 1.23507788e-02 3.41511841e+02] [-6.20468101e-01 7.84160328e-01 -1.05790247e-02 -1.47100094e+02] [-1.62498887e-02 6.31360877e-04 9.99867763e-01 1.85795202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32232058799997 meters 0.028658176695108874 Centerline is valid? [True, True] Translation: X:341.55, Y:-147.13, Z:1.86 [[ 7.83496193e-01 6.21301918e-01 1.08463028e-02 3.41545457e+02] [-6.21232241e-01 7.83571060e-01 -9.32182398e-03 -1.47128141e+02] [-1.42905161e-02 5.65540581e-04 9.99897725e-01 1.85916172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35232058799994 meters 0.028136373934109647 Centerline is valid? [True, True] Translation: X:341.58, Y:-147.16, Z:1.86 [[ 7.81953636e-01 6.23246857e-01 1.05767031e-02 3.41577867e+02] [-6.23180365e-01 7.82024976e-01 -9.11973811e-03 -1.47156895e+02] [-1.39550941e-02 5.40018672e-04 9.99902477e-01 1.85990013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38232058799997 meters 0.027494486251928924 Centerline is valid? [True, True] Translation: X:341.64, Y:-147.21, Z:1.86 [[ 7.76106151e-01 6.30501153e-01 1.12933074e-02 3.41644097e+02] [-6.30423370e-01 7.76188096e-01 -9.92041452e-03 -1.47206746e+02] [-1.50205635e-02 5.79729843e-04 9.99887017e-01 1.85954062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41232058799994 meters 0.02714106784492036 Centerline is valid? [True, True] Translation: X:341.68, Y:-147.24, Z:1.86 [[ 7.74275612e-01 6.32753268e-01 1.09807932e-02 3.41679596e+02] [-6.32679784e-01 7.74353292e-01 -9.65767494e-03 -1.47236264e+02] [-1.46139387e-02 5.30376305e-04 9.99893070e-01 1.85969658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.442320588 meters 0.026892986159358073 Centerline is valid? [True, True] Translation: X:341.71, Y:-147.27, Z:1.86 [[ 7.72852682e-01 6.34499889e-01 1.04222394e-02 3.41712963e+02] [-6.34433439e-01 7.72922795e-01 -9.19593152e-03 -1.47265856e+02] [-1.38904039e-02 4.94883165e-04 9.99903401e-01 1.86079069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47232058799995 meters 0.026892986159358073 Centerline is valid? [True, True] Translation: X:341.75, Y:-147.29, Z:1.86 [[ 7.71788056e-01 6.35794696e-01 1.04068220e-02 3.41746656e+02] [-6.35728129e-01 7.71858057e-01 -9.21338398e-03 -1.47293767e+02] [-1.38904100e-02 4.94870258e-04 9.99903401e-01 1.86097272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.502320588 meters 0.026493690774233282 Centerline is valid? [True, True] Translation: X:341.78, Y:-147.32, Z:1.86 [[ 7.69898990e-01 6.38067650e-01 1.11901663e-02 3.41780659e+02] [-6.37990414e-01 7.69980136e-01 -9.94094640e-03 -1.47322773e+02] [-1.49592021e-02 5.14305749e-04 9.99887973e-01 1.86016263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53232058799995 meters 0.02623761003013032 Centerline is valid? [True, True] Translation: X:341.81, Y:-147.35, Z:1.86 [[ 7.68381744e-01 6.39906602e-01 1.04420461e-02 3.41813582e+02] [-6.39839074e-01 7.68452548e-01 -9.30810244e-03 -1.47351647e+02] [-1.39805331e-02 4.70946882e-04 9.99902157e-01 1.86145547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.562320588 meters 0.02558820629390848 Centerline is valid? [True, True] Translation: X:341.85, Y:-147.38, Z:1.86 [[ 7.66287876e-01 6.42399916e-01 1.11910150e-02 3.41846309e+02] [-6.42322122e-01 7.66369438e-01 -1.00087947e-02 -1.47381542e+02] [-1.50061008e-02 4.81381575e-04 9.99887286e-01 1.86069423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59232058799995 meters 0.025128502801681177 Centerline is valid? [True, True] Translation: X:341.88, Y:-147.41, Z:1.86 [[ 7.65074443e-01 6.43862198e-01 1.01275174e-02 3.41880498e+02] [-6.43798171e-01 7.65141347e-01 -9.09030568e-03 -1.47410350e+02] [-1.36018865e-02 4.34683377e-04 9.99907396e-01 1.86146219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.622320588 meters 0.024712235706212823 Centerline is valid? [True, True] Translation: X:341.91, Y:-147.44, Z:1.86 [[ 7.62862636e-01 6.46487938e-01 9.69245618e-03 3.41913862e+02] [-6.46429104e-01 7.62924105e-01 -8.73058393e-03 -1.47440091e+02] [-1.30388257e-02 3.94750507e-04 9.99914913e-01 1.86100828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65232058799995 meters 0.024281018241096852 Centerline is valid? [True, True] Translation: X:341.95, Y:-147.47, Z:1.86 [[ 7.60953605e-01 6.48727307e-01 1.01238743e-02 3.41947880e+02] [-6.48662859e-01 7.61020843e-01 -9.15270848e-03 -1.47471065e+02] [-1.36420913e-02 3.97805256e-04 9.99906863e-01 1.86149357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.682320588 meters 0.023682281965735127 Centerline is valid? [True, True] Translation: X:341.98, Y:-147.50, Z:1.86 [[ 7.58276104e-01 6.51835804e-01 1.12887102e-02 3.41980727e+02] [-6.51755463e-01 7.58360018e-01 -1.02420518e-02 -1.47503164e+02] [-1.52370426e-02 4.08824616e-04 9.99883826e-01 1.86173952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71232058799995 meters 0.023800509905741136 Centerline is valid? [True, True] Translation: X:342.02, Y:-147.53, Z:1.86 [[ 7.56896652e-01 6.53445621e-01 1.07832531e-02 3.42018391e+02] [-6.53371774e-01 7.56973357e-01 -9.83165418e-03 -1.47533747e+02] [-1.45870866e-02 3.96072963e-04 9.99893524e-01 1.86119282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.742320588 meters 0.02329232532344764 Centerline is valid? [True, True] Translation: X:342.05, Y:-147.56, Z:1.86 [[ 7.54964094e-01 6.55691785e-01 9.87416630e-03 3.42052988e+02] [-6.55629637e-01 7.55028584e-01 -9.03418868e-03 -1.47563611e+02] [-1.33789211e-02 3.46692001e-04 9.99910438e-01 1.86058980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77232058799996 meters 0.022605658310429724 Centerline is valid? [True, True] Translation: X:342.09, Y:-147.59, Z:1.86 [[ 7.52479686e-01 6.58547048e-01 9.49247908e-03 3.42088051e+02] [-6.58489399e-01 7.52539493e-01 -8.71908070e-03 -1.47594893e+02] [-1.28853903e-02 3.10234266e-04 9.99916932e-01 1.85978436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.802320588 meters 0.022662453925890245 Centerline is valid? [True, True] Translation: X:342.12, Y:-147.62, Z:1.86 [[ 7.51253238e-01 6.59926975e-01 1.07219886e-02 3.42122187e+02] [-6.59853061e-01 7.51329665e-01 -9.88292783e-03 -1.47624719e+02] [-1.45777587e-02 3.49644554e-04 9.99893678e-01 1.85975908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83232058799996 meters 0.022606684667903724 Centerline is valid? [True, True] Translation: X:342.16, Y:-147.66, Z:1.86 [[ 7.49208668e-01 6.62235043e-01 1.14507207e-02 3.42159940e+02] [-6.62150189e-01 7.49296080e-01 -1.06071936e-02 -1.47657293e+02] [-1.56044355e-02 3.64904501e-04 9.99878177e-01 1.86069035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.862320588 meters 0.022615436464008216 Centerline is valid? [True, True] Translation: X:342.19, Y:-147.69, Z:1.86 [[ 7.47939798e-01 6.63677404e-01 1.08794511e-02 3.42194611e+02] [-6.63600442e-01 7.48018840e-01 -1.01127233e-02 -1.47687459e+02] [-1.48496203e-02 3.44099708e-04 9.99889679e-01 1.86104551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89232058799996 meters 0.022918066890414406 Centerline is valid? [True, True] Translation: X:342.23, Y:-147.72, Z:1.86 [[ 7.47594824e-01 6.64085857e-01 9.58926939e-03 3.42228974e+02] [-6.64025654e-01 7.47656252e-01 -8.94758640e-03 -1.47718039e+02] [-1.31114428e-02 3.21648399e-04 9.99913990e-01 1.86177506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.922320588 meters 0.022989581247827788 Centerline is valid? [True, True] Translation: X:342.26, Y:-147.75, Z:1.86 [[ 7.46464583e-01 6.65363845e-01 9.03223309e-03 3.42263116e+02] [-6.65310138e-01 7.46519163e-01 -8.45923307e-03 -1.47748732e+02] [-1.23712029e-02 3.05281634e-04 9.99923427e-01 1.86259066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95232058799996 meters 0.023157100732175803 Centerline is valid? [True, True] Translation: X:342.30, Y:-147.78, Z:1.86 [[ 7.44712062e-01 6.67318256e-01 9.50214093e-03 3.42302940e+02] [-6.67258264e-01 7.44772609e-01 -8.95383566e-03 -1.47781773e+02] [-1.30519923e-02 3.27647355e-04 9.99914765e-01 1.86126706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98232058799994 meters 0.023288252078503734 Centerline is valid? [True, True] Translation: X:342.34, Y:-147.81, Z:1.86 [[ 7.44104291e-01 6.67994783e-01 9.57984566e-03 3.42339242e+02] [-6.67933501e-01 7.44165878e-01 -9.05447389e-03 -1.47810562e+02] [-1.31773356e-02 3.38773025e-04 9.99913118e-01 1.86001480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01232058799997 meters 0.023874569218072888 Centerline is valid? [True, True] Translation: X:342.37, Y:-147.84, Z:1.86 [[ 7.43883398e-01 6.68222882e-01 1.07549905e-02 3.42374316e+02] [-6.68145112e-01 7.43961032e-01 -1.02025980e-02 -1.47840725e+02] [-1.48189032e-02 4.03648907e-04 9.99890113e-01 1.85947836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04232058799994 meters 0.024137800674581194 Centerline is valid? [True, True] Translation: X:342.41, Y:-147.87, Z:1.86 [[ 7.43402463e-01 6.68765697e-01 1.02576983e-02 3.42407933e+02] [-6.68694482e-01 7.43473120e-01 -9.76779952e-03 -1.47872363e+02] [-1.41586922e-02 4.02139983e-04 9.99899680e-01 1.86167567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07232058799997 meters 0.024316725410996425 Centerline is valid? [True, True] Translation: X:342.46, Y:-147.92, Z:1.86 [[ 7.40217166e-01 6.72292562e-01 1.00626863e-02 3.42462003e+02] [-6.72222586e-01 7.40285440e-01 -9.70888148e-03 -1.47915812e+02] [-1.39764689e-02 4.22315762e-04 9.99902235e-01 1.86162205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10232058799994 meters 0.02430949363176479 Centerline is valid? [True, True] Translation: X:342.50, Y:-147.95, Z:1.86 [[ 7.38513152e-01 6.74176115e-01 9.21359427e-03 3.42497425e+02] [-6.74117396e-01 7.38570533e-01 -8.90525286e-03 -1.47946009e+02] [-1.28085980e-02 3.65602179e-04 9.99917900e-01 1.85942417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13232058799997 meters 0.024368071010373395 Centerline is valid? [True, True] Translation: X:342.55, Y:-147.99, Z:1.86 [[ 7.34756547e-01 6.78270763e-01 9.03263778e-03 3.42550750e+02] [-6.78213143e-01 7.34811970e-01 -8.84878339e-03 -1.47990922e+02] [-1.26391614e-02 3.75647863e-04 9.99920052e-01 1.85948619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16232058799994 meters 0.024580495771446866 Centerline is valid? [True, True] Translation: X:342.59, Y:-148.02, Z:1.86 [[ 7.33937557e-01 6.79144553e-01 9.91654311e-03 3.42585012e+02] [-6.79075008e-01 7.34004436e-01 -9.72735190e-03 -1.48023054e+02] [-1.38850647e-02 4.05192293e-04 9.99903516e-01 1.85985417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.192320588 meters 0.024516786549980827 Centerline is valid? [True, True] Translation: X:342.62, Y:-148.05, Z:1.86 [[ 7.32481312e-01 6.80704459e-01 1.06097746e-02 3.42619455e+02] [-6.80624443e-01 7.32558022e-01 -1.04457126e-02 -1.48054407e+02] [-1.48827186e-02 4.30017359e-04 9.99889154e-01 1.85906046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22232058799995 meters 0.024982179246675867 Centerline is valid? [True, True] Translation: X:342.65, Y:-148.08, Z:1.86 [[ 7.31948428e-01 6.81272244e-01 1.09374842e-02 3.42654557e+02] [-6.81186656e-01 7.32029997e-01 -1.08084399e-02 -1.48084848e+02] [-1.53700566e-02 4.60752289e-04 9.99881768e-01 1.85859142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.252320588 meters 0.024911068907735468 Centerline is valid? [True, True] Translation: X:342.69, Y:-148.12, Z:1.86 [[ 7.30718791e-01 6.82609748e-01 9.69434179e-03 3.42689277e+02] [-6.82542114e-01 7.30782980e-01 -9.61763376e-03 -1.48116580e+02] [-1.36495505e-02 4.10989175e-04 9.99906756e-01 1.85844253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28232058799995 meters 0.024818977579314037 Centerline is valid? [True, True] Translation: X:342.72, Y:-148.15, Z:1.86 [[ 7.29044723e-01 6.84382164e-01 1.07166000e-02 3.42723934e+02] [-6.84299120e-01 7.29123347e-01 -1.06704785e-02 -1.48147461e+02] [-1.51164085e-02 4.45896083e-04 9.99885641e-01 1.85677981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.312320588 meters 0.024391612999829927 Centerline is valid? [True, True] Translation: X:342.76, Y:-148.18, Z:1.86 [[ 7.26391036e-01 6.87201400e-01 1.05023364e-02 3.42760852e+02] [-6.87121046e-01 7.26466831e-01 -1.05172029e-02 -1.48181525e+02] [-1.48570356e-02 4.23225537e-04 9.99889539e-01 1.85631535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34232058799995 meters 0.024117417666833906 Centerline is valid? [True, True] Translation: X:342.79, Y:-148.21, Z:1.86 [[ 7.24625966e-01 6.89072967e-01 9.78040451e-03 3.42794434e+02] [-6.89002988e-01 7.24691866e-01 -9.82763554e-03 -1.48213560e+02] [-1.38597376e-02 3.82631969e-04 9.99903876e-01 1.85739310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.372320588 meters 0.02450766544122131 Centerline is valid? [True, True] Translation: X:344.01, Y:-147.01, Z:3.70 [[ 7.42672483e-01 -6.69448277e-01 1.66308848e-02 3.44013402e+02] [-6.69289085e-01 -7.42858615e-01 -1.46013349e-02 -1.47010287e+02] [ 2.21292346e-02 -2.86860021e-04 -9.99755077e-01 3.69808920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40232058799995 meters 0.024743535923840067 Centerline is valid? [True, True] Translation: X:342.93, Y:-148.35, Z:1.86 [[ 7.78879098e-01 6.27084000e-01 1.06304994e-02 3.42927608e+02] [-6.27018574e-01 7.78951539e-01 -9.06686399e-03 -1.48346040e+02] [-1.39663292e-02 3.96470287e-04 9.99902387e-01 1.85854012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.432320588 meters 0.024914234856794552 Centerline is valid? [True, True] Translation: X:342.97, Y:-148.37, Z:1.86 [[ 7.78189214e-01 6.27920666e-01 1.17125658e-02 3.42965021e+02] [-6.27840639e-01 7.78277219e-01 -1.00351099e-02 -1.48373755e+02] [-1.54168760e-02 4.55589484e-04 9.99881049e-01 1.85804710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46232058799995 meters 0.024940649733677905 Centerline is valid? [True, True] Translation: X:343.00, Y:-148.40, Z:1.86 [[ 7.76454532e-01 6.30065498e-01 1.16545118e-02 3.43004290e+02] [-6.29985642e-01 7.76541861e-01 -1.00414098e-02 -1.48403565e+02] [-1.53769621e-02 4.54523022e-04 9.99881664e-01 1.85788411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.492320588 meters 0.02520567285036663 Centerline is valid? [True, True] Translation: X:343.04, Y:-148.43, Z:1.86 [[ 7.76019281e-01 6.30580534e-01 1.27383535e-02 3.43038983e+02] [-6.30484675e-01 7.76123657e-01 -1.10065399e-02 -1.48431270e+02] [-1.68270473e-02 5.09950452e-04 9.99858285e-01 1.85710870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52232058799996 meters 0.026152607173149076 Centerline is valid? [True, True] Translation: X:343.07, Y:-148.46, Z:1.86 [[ 7.76443265e-01 6.30070038e-01 1.21491897e-02 3.43074484e+02] [-6.29982197e-01 7.76538132e-01 -1.05337685e-02 -1.48458359e+02] [-1.60713210e-02 5.25100345e-04 9.99870710e-01 1.85708541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.552320588 meters 0.02655606112874093 Centerline is valid? [True, True] Translation: X:343.11, Y:-148.49, Z:1.86 [[ 7.76015584e-01 6.30601753e-01 1.18845958e-02 3.43108960e+02] [-6.30517217e-01 7.76106403e-01 -1.03387914e-02 -1.48485410e+02] [-1.57433709e-02 5.29620984e-04 9.99875925e-01 1.85695703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58232058799996 meters 0.027799496051495728 Centerline is valid? [True, True] Translation: X:343.14, Y:-148.51, Z:1.86 [[ 7.77003974e-01 6.29375179e-01 1.23170277e-02 3.43144820e+02] [-6.29283638e-01 7.77101358e-01 -1.07508718e-02 -1.48511679e+02] [-1.63379108e-02 6.02566108e-04 9.99866346e-01 1.85579112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.612320588 meters 0.02793645653864674 Centerline is valid? [True, True] Translation: X:343.18, Y:-148.54, Z:1.86 [[ 7.76132384e-01 6.30456416e-01 1.19678396e-02 3.43178876e+02] [-6.30369559e-01 7.76224425e-01 -1.04814423e-02 -1.48540157e+02] [-1.58978220e-02 5.90825051e-04 9.99873447e-01 1.85722430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64232058799996 meters 0.028261117167114932 Centerline is valid? [True, True] Translation: X:343.21, Y:-148.57, Z:1.86 [[ 7.75831094e-01 6.30819197e-01 1.23795948e-02 3.43213089e+02] [-6.30725712e-01 7.75929598e-01 -1.08781928e-02 -1.48568392e+02] [-1.64678669e-02 6.31511489e-04 9.99864196e-01 1.85790901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.672320588 meters 0.02986368835780987 Centerline is valid? [True, True] Translation: X:343.25, Y:-148.59, Z:1.86 [[ 7.76780411e-01 6.29645618e-01 1.25932158e-02 3.43248934e+02] [-6.29548100e-01 7.76882173e-01 -1.11031420e-02 -1.48594669e+02] [-1.67744896e-02 6.96668110e-04 9.99859056e-01 1.85692558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70232058799996 meters 0.030457556242218152 Centerline is valid? [True, True] Translation: X:343.28, Y:-148.62, Z:1.86 [[ 7.76928520e-01 6.29462729e-01 1.25995108e-02 3.43283090e+02] [-6.29364477e-01 7.77030335e-01 -1.11451058e-02 -1.48622049e+02] [-1.68056308e-02 7.29266026e-04 9.99858509e-01 1.85706706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73232058799994 meters 0.030715396382801144 Centerline is valid? [True, True] Translation: X:343.32, Y:-148.65, Z:1.86 [[ 7.75983783e-01 6.30642235e-01 1.18127238e-02 3.43317662e+02] [-6.30555445e-01 7.76073385e-01 -1.04848118e-02 -1.48650346e+02] [-1.57797057e-02 6.87466595e-04 9.99875256e-01 1.85746722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76232058799997 meters 0.030765485579109443 Centerline is valid? [True, True] Translation: X:343.35, Y:-148.68, Z:1.86 [[ 7.75227190e-01 6.31565392e-01 1.21638611e-02 3.43352200e+02] [-6.31472895e-01 7.75322283e-01 -1.08323425e-02 -1.48677463e+02] [-1.62722452e-02 7.16377842e-04 9.99867342e-01 1.85705173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79232058799994 meters 0.03090274322627991 Centerline is valid? [True, True] Translation: X:343.39, Y:-148.71, Z:1.86 [[ 7.74188081e-01 6.32848876e-01 1.16239145e-02 3.43386061e+02] [-6.32764012e-01 7.74275035e-01 -1.03862947e-02 -1.48706110e+02] [-1.55730617e-02 6.85750751e-04 9.99878497e-01 1.85785272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82232058799997 meters 0.03141933790341455 Centerline is valid? [True, True] Translation: X:343.42, Y:-148.73, Z:1.86 [[ 7.73854151e-01 6.33256567e-01 1.16564688e-02 3.43420247e+02] [-6.33170733e-01 7.73941614e-01 -1.04499332e-02 -1.48733720e+02] [-1.56389151e-02 7.06189233e-04 9.99877455e-01 1.85708256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85232058799994 meters 0.03208068237536045 Centerline is valid? [True, True] Translation: X:343.46, Y:-148.76, Z:1.86 [[ 7.74315158e-01 6.32710448e-01 1.06548040e-02 3.43455982e+02] [-6.32638217e-01 7.74388162e-01 -9.58439386e-03 -1.48760218e+02] [-1.43151002e-02 6.80705226e-04 9.99897302e-01 1.85759798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88232058799997 meters 0.03147536810470422 Centerline is valid? [True, True] Translation: X:343.49, Y:-148.79, Z:1.86 [[ 7.71909994e-01 6.35643681e-01 1.05863782e-02 3.43487884e+02] [-6.35572202e-01 7.71982313e-01 -9.55427683e-03 -1.48790899e+02] [-1.42456124e-02 6.46634066e-04 9.99898317e-01 1.85827619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91232058799994 meters 0.031564663427326126 Centerline is valid? [True, True] Translation: X:343.53, Y:-148.83, Z:1.86 [[ 7.70127242e-01 6.37768086e-01 1.24859719e-02 3.43534413e+02] [-6.37667275e-01 7.70228045e-01 -1.13668662e-02 -1.48829498e+02] [-1.68664702e-02 7.92037656e-04 9.99857437e-01 1.85798163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.942320588 meters 0.031216624993904495 Centerline is valid? [True, True] Translation: X:343.57, Y:-148.86, Z:1.86 [[ 7.68166195e-01 6.40114749e-01 1.31834744e-02 3.43568058e+02] [-6.40002219e-01 7.68278897e-01 -1.20289705e-02 -1.48858495e+02] [-1.78285066e-02 8.02795662e-04 9.99840737e-01 1.85683389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97232058799995 meters 0.031049430347140663 Centerline is valid? [True, True] Translation: X:343.60, Y:-148.89, Z:1.86 [[ 7.67185287e-01 6.41295077e-01 1.29367363e-02 3.43601300e+02] [-6.41186196e-01 7.67293945e-01 -1.18433432e-02 -1.48887682e+02] [-1.75213572e-02 7.91181933e-04 9.99846176e-01 1.85715797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.002320588 meters 0.030237466605852387 Centerline is valid? [True, True] Translation: X:343.63, Y:-148.92, Z:1.86 [[ 7.64831993e-01 6.44124173e-01 1.16650316e-02 3.43634736e+02] [-6.44035384e-01 7.64920638e-01 -1.07164246e-02 -1.48917138e+02] [-1.58255315e-02 6.83571292e-04 9.99874535e-01 1.85642496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03232058799995 meters 0.029766937896430895 Centerline is valid? [True, True] Translation: X:343.67, Y:-148.95, Z:1.86 [[ 7.63022169e-01 6.46264614e-01 1.17990787e-02 3.43667407e+02] [-6.46173451e-01 7.63113094e-01 -1.08755252e-02 -1.48946327e+02] [-1.60324986e-02 6.74015414e-04 9.99871244e-01 1.85686949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.062320588 meters 0.028991712611893792 Centerline is valid? [True, True] Translation: X:343.70, Y:-148.98, Z:1.86 [[ 7.60728762e-01 6.48991080e-01 1.01158244e-02 3.43700064e+02] [-6.48923844e-01 7.60795814e-01 -9.35809331e-03 -1.48977168e+02] [-1.37693960e-02 5.54571067e-04 9.99905044e-01 1.85872366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09232058799995 meters 0.02853990549577136 Centerline is valid? [True, True] Translation: X:343.73, Y:-149.01, Z:1.86 [[ 7.58861221e-01 6.51177342e-01 9.88515850e-03 3.43733429e+02] [-6.51112898e-01 7.58925419e-01 -9.17618875e-03 -1.49006402e+02] [-1.34774243e-02 5.27099600e-04 9.99909036e-01 1.85864903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.122320588 meters 0.028646218402044853 Centerline is valid? [True, True] Translation: X:343.77, Y:-149.04, Z:1.86 [[ 7.57576993e-01 6.52656644e-01 1.07891136e-02 3.43767407e+02] [-6.52579527e-01 7.57653600e-01 -1.00490705e-02 -1.49036601e+02] [-1.47330033e-02 5.72189966e-04 9.99891300e-01 1.85773999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15232058799995 meters 0.02829226677057691 Centerline is valid? [True, True] Translation: X:343.80, Y:-149.07, Z:1.86 [[ 7.55915449e-01 6.54596006e-01 9.79302411e-03 3.43801843e+02] [-6.54532162e-01 7.55978709e-01 -9.15646520e-03 -1.49067675e+02] [-1.33971033e-02 5.11664258e-04 9.99910124e-01 1.85769638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.182320588 meters 0.028020661562459723 Centerline is valid? [True, True] Translation: X:343.84, Y:-149.10, Z:1.86 [[ 7.54352980e-01 6.56401664e-01 9.40409356e-03 3.43836267e+02] [-6.56342521e-01 7.54411440e-01 -8.82469350e-03 -1.49097553e+02] [-1.28870993e-02 4.84627364e-04 9.99916840e-01 1.85795661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21232058799995 meters 0.02748975937718264 Centerline is valid? [True, True] Translation: X:343.87, Y:-149.13, Z:1.86 [[ 7.52170665e-01 6.58919544e-01 8.02033956e-03 3.43869808e+02] [-6.58876352e-01 7.52213318e-01 -7.55489638e-03 -1.49128878e+02] [-1.10110751e-02 3.98159358e-04 9.99939297e-01 1.85819583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.242320588 meters 0.027311221250157402 Centerline is valid? [True, True] Translation: X:343.96, Y:-149.20, Z:1.86 [[ 7.43294804e-01 6.68907966e-01 8.65836843e-03 3.43961609e+02] [-6.68854665e-01 7.43345066e-01 -8.45876797e-03 -1.49197812e+02] [-1.20942927e-02 4.96168169e-04 9.99926738e-01 1.85820708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27232058799996 meters 0.02699209289000116 Centerline is valid? [True, True] Translation: X:344.00, Y:-149.23, Z:1.86 [[ 7.40938528e-01 6.71502494e-01 9.72102987e-03 3.43995370e+02] [-6.71436107e-01 7.41002140e-01 -9.45423909e-03 -1.49229796e+02] [-1.35518491e-02 4.77959539e-04 9.99908055e-01 1.85821638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.302320588 meters 0.026638314670501328 Centerline is valid? [True, True] Translation: X:344.03, Y:-149.26, Z:1.86 [[ 7.38862981e-01 6.73790358e-01 9.38346087e-03 3.44028658e+02] [-6.73728256e-01 7.38922429e-01 -9.15870725e-03 -1.49261234e+02] [-1.31046983e-02 4.45127006e-04 9.99914031e-01 1.85949830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33232058799996 meters 0.025967887331913086 Centerline is valid? [True, True] Translation: X:344.06, Y:-149.29, Z:1.86 [[ 7.36581234e-01 6.76297524e-01 8.35133045e-03 3.44063127e+02] [-6.76248049e-01 7.36628476e-01 -8.18930635e-03 -1.49293757e+02] [-1.16902354e-02 3.84518450e-04 9.99931593e-01 1.85982666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.362320588 meters 0.025967887331913086 Centerline is valid? [True, True] Translation: X:344.10, Y:-149.32, Z:1.86 [[ 7.35320052e-01 6.77668738e-01 8.33684726e-03 3.44097072e+02] [-6.77619184e-01 7.35367211e-01 -8.20405885e-03 -1.49324989e+02] [-1.16902783e-02 3.83401344e-04 9.99931593e-01 1.86001915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39232058799996 meters 0.02577768764683965 Centerline is valid? [True, True] Translation: X:344.13, Y:-149.36, Z:1.86 [[ 7.33699826e-01 6.79424497e-01 8.18034445e-03 3.44130874e+02] [-6.79376545e-01 7.33745334e-01 -8.08052281e-03 -1.49356869e+02] [-1.14923947e-02 3.71144029e-04 9.99933891e-01 1.85857395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.422320588 meters 0.02551263211158724 Centerline is valid? [True, True] Translation: X:344.16, Y:-149.39, Z:1.86 [[ 7.31867880e-01 6.81388421e-01 8.90093980e-03 3.44164471e+02] [-6.81331393e-01 7.31921898e-01 -8.82426830e-03 -1.49388950e+02] [-1.25275470e-02 3.93708815e-04 9.99921450e-01 1.85794752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45232058799996 meters 0.024747807933555466 Centerline is valid? [True, True] Translation: X:344.20, Y:-149.42, Z:1.86 [[ 7.29482562e-01 6.83933829e-01 9.47154028e-03 3.44197031e+02] [-6.83869009e-01 7.29543940e-01 -9.42434708e-03 -1.49422620e+02] [-1.33555346e-02 3.97603989e-04 9.99910732e-01 1.85883098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48232058799994 meters 0.024314023331140553 Centerline is valid? [True, True] Translation: X:344.23, Y:-149.45, Z:1.86 [[ 7.27348813e-01 6.86211655e-01 8.79026904e-03 3.44230835e+02] [-6.86155570e-01 7.27401842e-01 -8.78032931e-03 -1.49454983e+02] [-1.24192222e-02 3.54870039e-04 9.99922816e-01 1.85982678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51232058799997 meters 0.024014164663766633 Centerline is valid? [True, True] Translation: X:344.26, Y:-149.49, Z:1.86 [[ 7.25478007e-01 6.88185118e-01 9.10520583e-03 3.44264253e+02] [-6.88124665e-01 7.25535055e-01 -9.12847961e-03 -1.49487457e+02] [-1.28882298e-02 3.56994480e-04 9.99916880e-01 1.85990651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54232058799994 meters 0.02352771069528778 Centerline is valid? [True, True] Translation: X:345.47, Y:-148.27, Z:3.71 [[ 7.44996239e-01 -6.66875205e-01 1.60644187e-02 3.45473198e+02] [-6.66726594e-01 -7.45169385e-01 -1.40796386e-02 -1.48274300e+02] [ 2.13600749e-02 -2.21297330e-04 -9.99771823e-01 3.71108998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57232058799997 meters 0.023180077580790742 Centerline is valid? [True, True] Translation: X:344.39, Y:-149.61, Z:1.86 [[ 7.77437654e-01 6.28869279e-01 1.06828287e-02 3.44387473e+02] [-6.28803734e-01 7.77510971e-01 -9.08597388e-03 -1.49614422e+02] [-1.40199063e-02 3.46375664e-04 9.99901656e-01 1.85877739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60232058799994 meters 0.022415123760724798 Centerline is valid? [True, True] Translation: X:344.42, Y:-149.64, Z:1.86 [[ 7.74785403e-01 6.32148512e-01 9.78964873e-03 3.44421321e+02] [-6.32093269e-01 7.74847194e-01 -8.36210816e-03 -1.49642350e+02] [-1.28715761e-02 2.90868273e-04 9.99917116e-01 1.85792034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63232058799997 meters 0.022287435947987197 Centerline is valid? [True, True] Translation: X:344.46, Y:-149.67, Z:1.86 [[ 7.73461067e-01 6.33779238e-01 9.04735931e-03 3.44456397e+02] [-6.33731827e-01 7.73513934e-01 -7.75662425e-03 -1.49670406e+02] [-1.19142459e-02 2.65847324e-04 9.99928988e-01 1.85866060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66232058799994 meters 0.022269163643688177 Centerline is valid? [True, True] Translation: X:344.49, Y:-149.70, Z:1.86 [[ 7.72415109e-01 6.35056337e-01 8.85146546e-03 3.44491089e+02] [-6.35010735e-01 7.72465780e-01 -7.61487463e-03 -1.49697755e+02] [-1.16733285e-02 2.61068631e-04 9.99931830e-01 1.85877666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.692320588 meters 0.02228943003370213 Centerline is valid? [True, True] Translation: X:344.53, Y:-149.73, Z:1.86 [[ 7.71409392e-01 6.36283384e-01 8.42642558e-03 3.44526766e+02] [-6.36241818e-01 7.71455372e-01 -7.27719524e-03 -1.49725782e+02] [-1.11309697e-02 2.52452428e-04 9.99938017e-01 1.85949237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72232058799995 meters 0.022344564379612627 Centerline is valid? [True, True] Translation: X:344.56, Y:-149.75, Z:1.86 [[ 7.70247137e-01 6.37684297e-01 8.83660356e-03 3.44561377e+02] [-6.37638381e-01 7.70297779e-01 -7.65678883e-03 -1.49752780e+02] [-1.16894301e-02 2.63062088e-04 9.99931642e-01 1.85924897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.752320588 meters 0.022595430802975727 Centerline is valid? [True, True] Translation: X:344.60, Y:-149.78, Z:1.86 [[ 7.69626317e-01 6.38435096e-01 8.71554954e-03 3.44596172e+02] [-6.38390178e-01 7.69675618e-01 -7.57791592e-03 -1.49779809e+02] [-1.15461535e-02 2.68242304e-04 9.99933305e-01 1.85945031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78232058799995 meters 0.02312355561070006 Centerline is valid? [True, True] Translation: X:344.63, Y:-149.81, Z:1.86 [[ 7.69740560e-01 6.38286187e-01 9.49807908e-03 3.44632758e+02] [-6.38232471e-01 7.69799092e-01 -8.28673426e-03 -1.49805831e+02] [-1.26009207e-02 3.16652984e-04 9.99920555e-01 1.85724431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.812320588 meters 0.023507598405911028 Centerline is valid? [True, True] Translation: X:344.67, Y:-149.83, Z:1.86 [[ 7.69207548e-01 6.38932745e-01 9.20303236e-03 3.44668419e+02] [-6.38882009e-01 7.69262534e-01 -8.05809421e-03 -1.49832714e+02] [-1.22281282e-02 3.18695089e-04 9.99925183e-01 1.85733262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84232058799995 meters 0.0236364522800425 Centerline is valid? [True, True] Translation: X:344.70, Y:-149.86, Z:1.86 [[ 7.68581735e-01 6.39681306e-01 9.48389026e-03 3.44703103e+02] [-6.39627132e-01 7.68640171e-01 -8.33178657e-03 -1.49860408e+02] [-1.26193871e-02 3.37505445e-04 9.99920315e-01 1.85797666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.872320588 meters 0.024499277966152377 Centerline is valid? [True, True] Translation: X:344.74, Y:-149.89, Z:1.86 [[ 7.68655237e-01 6.39584812e-01 1.00197468e-02 3.44738142e+02] [-6.39523923e-01 7.68720445e-01 -8.83342280e-03 -1.49887850e+02] [-1.33521073e-02 3.81988889e-04 9.99910784e-01 1.85805836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90232058799995 meters 0.0248015632196758 Centerline is valid? [True, True] Translation: X:344.77, Y:-149.92, Z:1.86 [[ 7.68551535e-01 6.39711843e-01 9.86385378e-03 3.44772478e+02] [-6.39652456e-01 7.68614728e-01 -8.72558221e-03 -1.49915192e+02] [-1.31633616e-02 3.96621312e-04 9.99913281e-01 1.85853774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.932320588 meters 0.025721306979954842 Centerline is valid? [True, True] Translation: X:344.81, Y:-149.94, Z:1.86 [[ 7.68481736e-01 6.39795697e-01 9.86342755e-03 3.44809282e+02] [-6.39735849e-01 7.68544915e-01 -8.76108625e-03 -1.49942786e+02] [-1.31857924e-02 4.22746570e-04 9.99912974e-01 1.85850623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96232058799995 meters 0.026266964960933094 Centerline is valid? [True, True] Translation: X:344.85, Y:-149.97, Z:1.86 [[ 7.68331863e-01 6.39954976e-01 1.11254805e-02 3.44845682e+02] [-6.39878342e-01 7.68412245e-01 -9.91610801e-03 -1.49971247e+02] [-1.48948181e-02 4.99907741e-04 9.99888941e-01 1.85745094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.992320588 meters 0.02684483646744446 Centerline is valid? [True, True] Translation: X:344.88, Y:-150.00, Z:1.86 [[ 7.68205583e-01 6.40123204e-01 1.01225507e-02 3.44879641e+02] [-6.40059365e-01 7.68272125e-01 -9.05271532e-03 -1.50000179e+02] [-1.35717267e-02 4.75313058e-04 9.99907787e-01 1.85928230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02232058799996 meters 0.027313004174477094 Centerline is valid? [True, True] Translation: X:344.93, Y:-150.04, Z:1.86 [[ 7.66130724e-01 6.42617269e-01 9.31447438e-03 3.44932816e+02] [-6.42562096e-01 7.66187196e-01 -8.43411541e-03 -1.50041932e+02] [-1.25565392e-02 4.76506765e-04 9.99921050e-01 1.86057583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.052320588 meters 0.028033298059485283 Centerline is valid? [True, True] Translation: X:344.98, Y:-150.08, Z:1.86 [[ 7.64518983e-01 6.44538899e-01 8.96283144e-03 3.44975777e+02] [-6.44487414e-01 7.64571379e-01 -8.15961082e-03 -1.50075993e+02] [-1.21119110e-02 4.61745306e-04 9.99926542e-01 1.86016702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08232058799996 meters 0.02912706161123682 Centerline is valid? [True, True] Translation: X:345.01, Y:-150.10, Z:1.86 [[ 7.64991948e-01 6.43990994e-01 7.93215204e-03 3.45011375e+02] [-6.43950451e-01 7.65032951e-01 -7.23883641e-03 -1.50103182e+02] [-1.07301031e-02 4.29738683e-04 9.99942338e-01 1.85994148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.112320588 meters 0.02969038969310826 Centerline is valid? [True, True] Translation: X:345.05, Y:-150.13, Z:1.86 [[ 7.64769991e-01 6.44243119e-01 8.81276416e-03 3.45045504e+02] [-6.44192785e-01 7.64820607e-01 -8.06817936e-03 -1.50131232e+02] [-1.19380527e-02 4.93182374e-04 9.99928617e-01 1.85916580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14232058799996 meters 0.030211553103458463 Centerline is valid? [True, True] Translation: X:345.08, Y:-150.16, Z:1.86 [[ 7.64883215e-01 6.44081034e-01 1.06437764e-02 3.45078597e+02] [-6.44007156e-01 7.64957015e-01 -9.77486622e-03 -1.50160849e+02] [-1.44378374e-02 6.21962936e-04 9.99895576e-01 1.85993170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.172320588 meters 0.030556891286289693 Centerline is valid? [True, True] Translation: X:345.11, Y:-150.19, Z:1.86 [[ 7.64404073e-01 6.44641513e-01 1.11235014e-02 3.45113048e+02] [-6.44560326e-01 7.64484712e-01 -1.02524311e-02 -1.50191091e+02] [-1.51128894e-02 6.67232384e-04 9.99885571e-01 1.85981545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20232058799996 meters 0.031194619563697994 Centerline is valid? [True, True] Translation: X:345.15, Y:-150.22, Z:1.86 [[ 7.63796723e-01 6.45378280e-01 1.00717940e-02 3.45146666e+02] [-6.45311357e-01 7.63862879e-01 -9.31423397e-03 -1.50220215e+02] [-1.37046738e-02 6.14738358e-04 9.99905898e-01 1.86041573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23232058799994 meters 0.030955792216958357 Centerline is valid? [True, True] Translation: X:345.18, Y:-150.25, Z:1.86 [[ 7.62823328e-01 6.46538726e-01 9.39390727e-03 3.45180080e+02] [-6.46480207e-01 7.62880949e-01 -8.71779976e-03 -1.50249801e+02] [-1.28028280e-02 5.77165915e-04 9.99917874e-01 1.86021322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26232058799997 meters 0.030954174964263562 Centerline is valid? [True, True] Translation: X:345.21, Y:-150.28, Z:1.86 [[ 7.61330789e-01 6.48277353e-01 1.05784592e-02 3.45214340e+02] [-6.48202813e-01 7.61404005e-01 -9.85160733e-03 -1.50279878e+02] [-1.44410552e-02 6.43344946e-04 9.99895516e-01 1.85892618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29232058799994 meters 0.030680962749102456 Centerline is valid? [True, True] Translation: X:345.25, Y:-150.31, Z:1.86 [[ 7.60073064e-01 6.49744423e-01 1.10055303e-02 3.45247571e+02] [-6.49663379e-01 7.60152446e-01 -1.02836251e-02 -1.50310686e+02] [-1.50476088e-02 6.66416416e-04 9.99886556e-01 1.85943350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32232058799997 meters 0.030361422413531323 Centerline is valid? [True, True] Translation: X:345.28, Y:-150.34, Z:1.86 [[ 7.58503188e-01 6.51571032e-01 1.13183159e-02 3.45280529e+02] [-6.51484954e-01 7.58587328e-01 -1.06123221e-02 -1.50340843e+02] [-1.55006127e-02 6.75767670e-04 9.99879630e-01 1.85984585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35232058799994 meters 0.030099377722073068 Centerline is valid? [True, True] Translation: X:345.31, Y:-150.37, Z:1.86 [[ 7.56845401e-01 6.53527338e-01 9.33044623e-03 3.45313551e+02] [-6.53468591e-01 7.56902714e-01 -8.77966909e-03 -1.50370579e+02] [-1.27999938e-02 5.47698625e-04 9.99917927e-01 1.85916550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38232058799997 meters 0.029492371033003686 Centerline is valid? [True, True] Translation: X:345.35, Y:-150.40, Z:1.86 [[ 7.55110826e-01 6.55529981e-01 9.38529255e-03 3.45345823e+02] [-6.55470307e-01 7.55168956e-01 -8.86139772e-03 -1.50401291e+02] [-1.28963935e-02 5.39556770e-04 9.99916692e-01 1.85896892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41232058799994 meters 0.028703215612898125 Centerline is valid? [True, True] Translation: X:345.38, Y:-150.44, Z:1.86 [[ 7.52221798e-01 6.58838519e-01 9.70420475e-03 3.45380193e+02] [-6.58774411e-01 7.52284203e-01 -9.20616552e-03 -1.50435563e+02] [-1.33656964e-02 5.32196613e-04 9.99910533e-01 1.86087471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.442320588 meters 0.0280859374897844 Centerline is valid? [True, True] Translation: X:345.41, Y:-150.47, Z:1.86 [[ 7.50142671e-01 6.61196185e-01 1.02751003e-02 3.45413896e+02] [-6.61124083e-01 7.50212843e-01 -9.77940488e-03 -1.50466447e+02] [-1.41746174e-02 5.42832608e-04 9.99899388e-01 1.86041171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47232058799995 meters 0.02792928389800729 Centerline is valid? [True, True] Translation: X:345.45, Y:-150.50, Z:1.86 [[ 7.48683737e-01 6.62843795e-01 1.05245074e-02 3.45448355e+02] [-6.62767791e-01 7.48757504e-01 -1.00525668e-02 -1.50496810e+02] [-1.45435854e-02 5.50888771e-04 9.99894085e-01 1.86037163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.502320588 meters 0.02746491298755546 Centerline is valid? [True, True] Translation: X:345.48, Y:-150.53, Z:1.86 [[ 7.46948342e-01 6.64810520e-01 9.75432708e-03 3.45481471e+02] [-6.64744938e-01 7.47011862e-01 -9.35124509e-03 -1.50528423e+02] [-1.35034041e-02 5.00757461e-04 9.99908699e-01 1.86046378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53232058799995 meters 0.026935695873066125 Centerline is valid? [True, True] Translation: X:345.51, Y:-150.56, Z:1.86 [[ 7.44690338e-01 6.67331845e-01 1.02229732e-02 3.45513757e+02] [-6.67259549e-01 7.44760334e-01 -9.83556089e-03 -1.50560406e+02] [-1.41772480e-02 5.03070645e-04 9.99899371e-01 1.85975428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.562320588 meters 0.0255667454635149 Centerline is valid? [True, True] Translation: X:345.55, Y:-150.59, Z:1.86 [[ 7.41632245e-01 6.70734765e-01 9.82286653e-03 3.45546658e+02] [-6.70667835e-01 7.41697159e-01 -9.48577756e-03 -1.50592080e+02] [-1.36480330e-02 4.47077882e-04 9.99906761e-01 1.86143230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59232058799995 meters 0.02492099712744026 Centerline is valid? [True, True] Translation: X:345.58, Y:-150.62, Z:1.86 [[ 7.38513701e-01 6.74167011e-01 9.81607734e-03 3.45579972e+02] [-6.74100004e-01 7.38578821e-01 -9.51370327e-03 -1.50623731e+02] [-1.36637717e-02 4.08982437e-04 9.99906563e-01 1.86143791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.622320588 meters 0.024466386003807575 Centerline is valid? [True, True] Translation: X:345.62, Y:-150.66, Z:1.86 [[ 7.36149839e-01 6.76725703e-01 1.12132285e-02 3.45616767e+02] [-6.76637758e-01 7.36235098e-01 -1.09190068e-02 -1.50656539e+02] [-1.56447450e-02 4.50731275e-04 9.99877512e-01 1.85939241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65232058799995 meters 0.023483793113288576 Centerline is valid? [True, True] Translation: X:345.65, Y:-150.69, Z:1.86 [[ 7.32712453e-01 6.80469892e-01 9.65335773e-03 3.45650200e+02] [-6.80404574e-01 7.32775960e-01 -9.43438338e-03 -1.50688947e+02] [-1.34935623e-02 3.44501440e-04 9.99908898e-01 1.86035010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.682320588 meters 0.022695034890435575 Centerline is valid? [True, True] Translation: X:345.68, Y:-150.72, Z:1.86 [[ 7.30709592e-01 6.82637775e-01 8.31624515e-03 3.45683178e+02] [-6.82589059e-01 7.30756859e-01 -8.16028264e-03 -1.50721363e+02] [-1.16476704e-02 2.86218849e-04 9.99932123e-01 1.86173780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71232058799995 meters 0.022494672822857286 Centerline is valid? [True, True] Translation: X:345.72, Y:-150.75, Z:1.86 [[ 7.27600964e-01 6.85943782e-01 8.82978843e-03 3.45718897e+02] [-6.85888569e-01 7.27654485e-01 -8.70754158e-03 -1.50754472e+02] [-1.23979192e-02 2.79364698e-04 9.99923104e-01 1.86217406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.742320588 meters 0.022290067077334483 Centerline is valid? [True, True] Translation: X:345.75, Y:-150.79, Z:1.86 [[ 7.25763664e-01 6.87876292e-01 9.65975674e-03 3.45754019e+02] [-6.87809943e-01 7.25827886e-01 -9.55833182e-03 -1.50785640e+02] [-1.35862707e-02 2.93013186e-04 9.99907659e-01 1.86179171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77232058799996 meters 0.02211644157143303 Centerline is valid? [True, True] Translation: X:345.79, Y:-150.82, Z:1.86 [[ 7.23210280e-01 6.90540736e-01 1.09718624e-02 3.45788225e+02] [-6.90454729e-01 7.23293437e-01 -1.09027941e-02 -1.50816670e+02] [-1.54646996e-02 3.09438499e-04 9.99880367e-01 1.86107850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.802320588 meters 0.02179132580233368 Centerline is valid? [True, True] Translation: X:345.82, Y:-150.85, Z:1.86 [[ 7.20914769e-01 6.92947934e-01 1.02497415e-02 3.45821910e+02] [-6.92872566e-01 7.20987579e-01 -1.02233862e-02 -1.50848672e+02] [-1.44742106e-02 2.68425419e-04 9.99895207e-01 1.86102830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83232058799996 meters 0.021398647747219744 Centerline is valid? [True, True] Translation: X:345.86, Y:-150.88, Z:1.86 [[ 7.18207167e-01 6.95772974e-01 8.85632977e-03 3.45860358e+02] [-6.95716193e-01 7.18261734e-01 -8.89159473e-03 -1.50884567e+02] [-1.25476941e-02 2.24515024e-04 9.99921249e-01 1.86251132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.862320588 meters 0.021136955956464334 Centerline is valid? [True, True] Translation: X:347.08, Y:-149.67, Z:3.73 [[ 7.51286189e-01 -6.59813618e-01 1.46646703e-02 3.47075707e+02] [-6.59687533e-01 -7.51429298e-01 -1.28984249e-02 -1.49672972e+02] [ 1.95300193e-02 1.63083322e-05 -9.99809271e-01 3.72558409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89232058799996 meters 0.02092042206935417 Centerline is valid? [True, True] Translation: X:345.99, Y:-151.01, Z:1.86 [[ 7.70283770e-01 6.37646235e-01 8.37806396e-03 3.45988851e+02] [-6.37606368e-01 7.70329317e-01 -7.13182769e-03 -1.51012874e+02] [-1.10014514e-02 1.51624190e-04 9.99939471e-01 1.86327751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.922320588 meters 0.02082709466801646 Centerline is valid? [True, True] Translation: X:346.02, Y:-151.04, Z:1.86 [[ 7.68546538e-01 6.39738893e-01 8.38849768e-03 3.46023625e+02] [-6.39698684e-01 7.68592302e-01 -7.17403381e-03 -1.51041624e+02] [-1.10368432e-02 1.47467922e-04 9.99939081e-01 1.86406339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95232058799996 meters 0.02053291732506051 Centerline is valid? [True, True] Translation: X:346.06, Y:-151.07, Z:1.87 [[ 7.66744777e-01 6.41902618e-01 7.96722801e-03 3.46059738e+02] [-6.41866172e-01 7.66786158e-01 -6.84139898e-03 -1.51071286e+02] [-1.05006721e-02 1.31712789e-04 9.99944858e-01 1.86508900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98232058799994 meters 0.020492904239560086 Centerline is valid? [True, True] Translation: X:346.09, Y:-151.10, Z:1.86 [[ 7.64667479e-01 6.44370495e-01 8.38519531e-03 3.46094719e+02] [-6.44329997e-01 7.64713443e-01 -7.22532897e-03 -1.51099173e+02] [-1.10680604e-02 1.22141221e-04 9.99938740e-01 1.86474417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01232058799997 meters 0.02053487377268435 Centerline is valid? [True, True] Translation: X:346.13, Y:-151.13, Z:1.86 [[ 7.63434659e-01 6.45823213e-01 8.93860470e-03 3.46130303e+02] [-6.45776965e-01 7.63486975e-01 -7.72985715e-03 -1.51127222e+02] [-1.18166294e-02 1.28895832e-04 9.99930173e-01 1.86380089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04232058799994 meters 0.020521848487880343 Centerline is valid? [True, True] Translation: X:346.17, Y:-151.16, Z:1.86 [[ 7.61404244e-01 6.48214751e-01 9.01186633e-03 3.46165676e+02] [-6.48167554e-01 7.61457565e-01 -7.82299042e-03 -1.51156018e+02] [-1.19331316e-02 1.15258746e-04 9.99928791e-01 1.86338352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07232058799997 meters 0.02053410594894702 Centerline is valid? [True, True] Translation: X:346.20, Y:-151.18, Z:1.86 [[ 7.60564829e-01 6.49196988e-01 9.18763439e-03 3.46201131e+02] [-6.49147653e-01 7.60620310e-01 -8.00430580e-03 -1.51183713e+02] [-1.21846725e-02 1.23662172e-04 9.99925756e-01 1.86360880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10232058799994 meters 0.020445090352721962 Centerline is valid? [True, True] Translation: X:346.24, Y:-151.21, Z:1.86 [[ 7.58948987e-01 6.51083695e-01 9.29824974e-03 3.46236581e+02] [-6.51032926e-01 7.59005935e-01 -8.13148400e-03 -1.51211870e+02] [-1.23517034e-02 1.17914811e-04 9.99923708e-01 1.86382481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13232058799997 meters 0.020527221084195614 Centerline is valid? [True, True] Translation: X:346.27, Y:-151.24, Z:1.86 [[ 7.57008640e-01 6.53347230e-01 8.67846543e-03 3.46271374e+02] [-6.53302813e-01 7.57058378e-01 -7.61888736e-03 -1.51241112e+02] [-1.15478839e-02 9.78976716e-05 9.99933316e-01 1.86417996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16232058799994 meters 0.020153634394212774 Centerline is valid? [True, True] Translation: X:346.31, Y:-151.27, Z:1.87 [[ 7.54632823e-01 6.56104789e-01 7.47045878e-03 3.46307919e+02] [-6.56071677e-01 7.54669795e-01 -6.59204677e-03 -1.51271601e+02] [-9.96280306e-03 7.34184460e-05 9.99950367e-01 1.86609245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.192320588 meters 0.02021342419828355 Centerline is valid? [True, True] Translation: X:346.34, Y:-151.30, Z:1.87 [[ 7.52651546e-01 6.58370653e-01 7.98330991e-03 3.46343610e+02] [-6.58332712e-01 7.52693881e-01 -7.06837647e-03 -1.51300733e+02] [-1.06626002e-02 6.43504168e-05 9.99943151e-01 1.86503839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22232058799995 meters 0.020453393304969952 Centerline is valid? [True, True] Translation: X:346.38, Y:-151.33, Z:1.86 [[ 7.51447725e-01 6.59736764e-01 8.58598664e-03 3.46379616e+02] [-6.59692643e-01 7.51496772e-01 -7.63011876e-03 -1.51328676e+02] [-1.14862111e-02 6.95231620e-05 9.99934029e-01 1.86408491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.252320588 meters 0.020270828159841454 Centerline is valid? [True, True] Translation: X:346.41, Y:-151.36, Z:1.86 [[ 7.49563457e-01 6.61872473e-01 8.91365846e-03 3.46414653e+02] [-6.61824716e-01 7.49616452e-01 -7.95107036e-03 -1.51357824e+02] [-1.19444196e-02 6.05523103e-05 9.99928661e-01 1.86425524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28232058799995 meters 0.020270828159841454 Centerline is valid? [True, True] Translation: X:346.45, Y:-151.39, Z:1.86 [[ 7.48313670e-01 6.63285358e-01 8.89864915e-03 3.46449422e+02] [-6.63237501e-01 7.48366575e-01 -7.96787549e-03 -1.51386764e+02] [-1.19444267e-02 6.05523284e-05 9.99928661e-01 1.86444203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.312320588 meters 0.020271347081526444 Centerline is valid? [True, True] Translation: X:346.48, Y:-151.42, Z:1.87 [[ 7.46393205e-01 6.65456320e-01 8.06654573e-03 3.46483329e+02] [-6.65416813e-01 7.46436792e-01 -7.25123219e-03 -1.51416801e+02] [-1.08465448e-02 4.46552820e-05 9.99941174e-01 1.86717802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34232058799995 meters 0.020363547450307266 Centerline is valid? [True, True] Translation: X:346.57, Y:-151.48, Z:1.87 [[ 7.37978892e-01 6.74778995e-01 7.77574873e-03 3.46567805e+02] [-6.74740326e-01 7.38019851e-01 -7.22438762e-03 -1.51477272e+02] [-1.06135219e-02 8.48343363e-05 9.99943671e-01 1.86825597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.372320588 meters 0.020094210898693166 Centerline is valid? [True, True] Translation: X:346.60, Y:-151.51, Z:1.87 [[ 7.37180324e-01 6.75644915e-01 8.31376070e-03 3.46603687e+02] [-6.75601064e-01 7.37227201e-01 -7.69779719e-03 -1.51506201e+02] [-1.13301081e-02 5.78790508e-05 9.99935811e-01 1.86872904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40232058799995 meters 0.020277704943639552 Centerline is valid? [True, True] Translation: X:346.64, Y:-151.54, Z:1.87 [[ 7.35607667e-01 6.77360081e-01 8.04251111e-03 3.46638952e+02] [-6.77318837e-01 7.35651628e-01 -7.47493762e-03 -1.51536062e+02] [-1.09797107e-02 5.12771513e-05 9.99939720e-01 1.86848437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.432320588 meters 0.02020779730235072 Centerline is valid? [True, True] Translation: X:346.68, Y:-151.57, Z:1.87 [[ 7.32916380e-01 6.80275412e-01 7.67753117e-03 3.46677036e+02] [-6.80237529e-01 7.32956590e-01 -7.17927919e-03 -1.51567440e+02] [-1.05111842e-02 3.92664829e-05 9.99944755e-01 1.86880322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46232058799995 meters 0.02038287075180256 Centerline is valid? [True, True] Translation: X:346.71, Y:-151.60, Z:1.87 [[ 7.31056164e-01 6.82266029e-01 8.36363018e-03 3.46713071e+02] [-6.82220914e-01 7.31104004e-01 -7.84602134e-03 -1.51597443e+02] [-1.14677573e-02 3.00388384e-05 9.99934243e-01 1.86804503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.492320588 meters 0.02050590862176692 Centerline is valid? [True, True] Translation: X:346.75, Y:-151.63, Z:1.87 [[ 7.29507072e-01 6.83918795e-01 8.63218826e-03 3.46748868e+02] [-6.83870411e-01 7.29558141e-01 -8.13506483e-03 -1.51627000e+02] [-1.18614070e-02 3.12891808e-05 9.99929651e-01 1.86842501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52232058799996 meters 0.02052043520585465 Centerline is valid? [True, True] Translation: X:346.78, Y:-151.66, Z:1.87 [[ 7.28274865e-01 6.85236320e-01 8.17969925e-03 3.46784670e+02] [-6.85192570e-01 7.28320798e-01 -7.74321912e-03 -1.51656403e+02] [-1.12633801e-02 3.45227051e-05 9.99936566e-01 1.86939959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.552320588 meters 0.020297940437343346 Centerline is valid? [True, True] Translation: X:346.82, Y:-151.69, Z:1.87 [[ 7.27536574e-01 6.86024781e-01 7.78028473e-03 3.46820759e+02] [-6.85984890e-01 7.27578173e-01 -7.39816104e-03 -1.51686127e+02] [-1.07360872e-02 4.52749787e-05 9.99942366e-01 1.86996621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58232058799996 meters 0.020340761791180734 Centerline is valid? [True, True] Translation: X:346.86, Y:-151.72, Z:1.87 [[ 7.25586654e-01 6.88097140e-01 6.80695150e-03 3.46856739e+02] [-6.88066430e-01 7.25618581e-01 -6.50100792e-03 -1.51716292e+02] [-9.41257544e-03 3.34097642e-05 9.99955700e-01 1.86998172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.612320588 meters 0.020159044373751735 Centerline is valid? [True, True] Translation: X:346.89, Y:-151.75, Z:1.87 [[ 7.24372372e-01 6.89386222e-01 5.59495714e-03 3.46891481e+02] [-6.89365341e-01 7.24393978e-01 -5.36564535e-03 -1.51746941e+02] [-7.75195524e-03 2.97557078e-05 9.99969953e-01 1.87137804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64232058799996 meters 0.02019653414977674 Centerline is valid? [True, True] Translation: X:346.93, Y:-151.78, Z:1.87 [[ 7.22870769e-01 6.90962524e-01 5.35180487e-03 3.46926262e+02] [-6.90943280e-01 7.22890579e-01 -5.15708044e-03 -1.51776909e+02] [-7.43211864e-03 3.01090978e-05 9.99972381e-01 1.87178636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.672320588 meters 0.020213482965313584 Centerline is valid? [True, True] Translation: X:346.96, Y:-151.81, Z:1.87 [[ 7.22174033e-01 6.91692493e-01 5.11485837e-03 3.46962631e+02] [-6.91674775e-01 7.22192145e-01 -4.95090056e-03 -1.51805753e+02] [-7.11841129e-03 3.75933112e-05 9.99974663e-01 1.87260200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70232058799996 meters 0.020443181866387536 Centerline is valid? [True, True] Translation: X:347.00, Y:-151.84, Z:1.87 [[ 7.21394300e-01 6.92497591e-01 6.11154784e-03 3.46999992e+02] [-6.92472106e-01 7.21420185e-01 -5.94125749e-03 -1.51836643e+02] [-8.52330047e-03 5.39128846e-05 9.99963675e-01 1.87145224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73232058799994 meters 0.0203472926235023 Centerline is valid? [True, True] Translation: X:347.03, Y:-151.87, Z:1.87 [[ 7.21018149e-01 6.92892298e-01 5.75259106e-03 3.47034500e+02] [-6.92869568e-01 7.21041094e-01 -5.61270381e-03 -1.51867456e+02] [-8.03685379e-03 6.10660234e-05 9.99967702e-01 1.87326587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76232058799997 meters 0.020550594623607685 Centerline is valid? [True, True] Translation: X:347.07, Y:-151.90, Z:1.87 [[ 7.20293053e-01 6.93650827e-01 5.14276103e-03 3.47068584e+02] [-6.93632531e-01 7.20311409e-01 -5.03842932e-03 -1.51898458e+02] [-7.19930011e-03 6.19592851e-05 9.99974083e-01 1.87473302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79232058799994 meters 0.020634426482212004 Centerline is valid? [True, True] Translation: X:347.10, Y:-151.93, Z:1.88 [[ 7.19229255e-01 6.94752804e-01 5.27456578e-03 3.47103112e+02] [-6.94733442e-01 7.19248592e-01 -5.18723913e-03 -1.51929174e+02] [-7.39757294e-03 6.63968984e-05 9.99972635e-01 1.87502750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82232058799997 meters 0.020851143680461866 Centerline is valid? [True, True] Translation: X:347.14, Y:-151.96, Z:1.87 [[ 7.19002442e-01 6.94987782e-01 5.24140620e-03 3.47140103e+02] [-6.94968521e-01 7.19021542e-01 -5.17470077e-03 -1.51957936e+02] [-7.36503778e-03 7.80101697e-05 9.99972875e-01 1.87379307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85232058799994 meters 0.020748292641055713 Centerline is valid? [True, True] Translation: X:347.17, Y:-151.99, Z:1.87 [[ 7.17805454e-01 6.96219687e-01 5.78598843e-03 3.47174991e+02] [-6.96196084e-01 7.17828767e-01 -5.73349724e-03 -1.51988749e+02] [-8.14512259e-03 8.73530970e-05 9.99966824e-01 1.87421504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88232058799997 meters 0.020871254343660862 Centerline is valid? [True, True] Translation: X:347.21, Y:-152.02, Z:1.87 [[ 7.16599507e-01 6.97453409e-01 6.62495289e-03 3.47209331e+02] [-6.97422296e-01 7.16630123e-01 -6.58855005e-03 -1.52020258e+02] [-9.34284749e-03 1.00961865e-04 9.99956350e-01 1.87459282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91232058799994 meters 0.02093543701153674 Centerline is valid? [True, True] Translation: X:347.24, Y:-152.05, Z:1.87 [[ 7.15799617e-01 6.98276283e-01 6.41408537e-03 3.47244242e+02] [-6.98246927e-01 7.15828346e-01 -6.40372067e-03 -1.52051535e+02] [-9.06295039e-03 1.05165399e-04 9.99958925e-01 1.87490061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.942320588 meters 0.021121829281904897 Centerline is valid? [True, True] Translation: X:347.28, Y:-152.08, Z:1.88 [[ 7.15147874e-01 6.98943147e-01 6.48031186e-03 3.47279999e+02] [-6.98912939e-01 7.15177225e-01 -6.49925717e-03 -1.52081307e+02] [-9.17718271e-03 1.18756145e-04 9.99957882e-01 1.87509025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97232058799995 meters 0.021047966894093623 Centerline is valid? [True, True] Translation: X:348.48, Y:-150.91, Z:3.73 [[ 7.54380016e-01 -6.56315136e-01 1.26978131e-02 3.48476369e+02] [-6.56219386e-01 -7.54486863e-01 -1.12112119e-02 -1.50914238e+02] [ 1.69384213e-02 1.24963071e-04 -9.99856527e-01 3.72724456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.002320588 meters 0.020982868390643852 Centerline is valid? [True, True] Translation: X:347.42, Y:-152.22, Z:1.88 [[ 7.69455736e-01 6.38664111e-01 6.78408804e-03 3.47420020e+02] [-6.38638070e-01 7.69485635e-01 -5.76821063e-03 -1.52220554e+02] [-8.90420740e-03 1.05805860e-04 9.99960351e-01 1.87564910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03232058799995 meters 0.020907134269925968 Centerline is valid? [True, True] Translation: X:347.46, Y:-152.25, Z:1.87 [[ 7.67927375e-01 6.40490449e-01 7.71564006e-03 3.47457291e+02] [-6.40456532e-01 7.67966126e-01 -6.59243711e-03 -1.52247000e+02] [-1.01477432e-02 1.20980848e-04 9.99948503e-01 1.87459854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.062320588 meters 0.020834700041718057 Centerline is valid? [True, True] Translation: X:347.50, Y:-152.28, Z:1.88 [[ 7.66356518e-01 6.42376334e-01 7.09454604e-03 3.47496981e+02] [-6.42347385e-01 7.66389347e-01 -6.09971213e-03 -1.52276131e+02] [-9.35549523e-03 1.17391049e-04 9.99956230e-01 1.87522103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09232058799995 meters 0.020985785681834557 Centerline is valid? [True, True] Translation: X:347.53, Y:-152.30, Z:1.88 [[ 7.64820078e-01 6.44213343e-01 6.27827684e-03 3.47531427e+02] [-6.44190604e-01 7.64845840e-01 -5.41356253e-03 -1.52303321e+02] [-8.28940314e-03 9.59943683e-05 9.99965638e-01 1.87524546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.122320588 meters 0.021054072688708944 Centerline is valid? [True, True] Translation: X:347.57, Y:-152.33, Z:1.88 [[ 7.64415303e-01 6.44696627e-01 5.95848229e-03 3.47566918e+02] [-6.44676005e-01 7.64438518e-01 -5.15748566e-03 -1.52331332e+02] [-7.87990699e-03 1.01170402e-04 9.99968948e-01 1.87628752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15232058799995 meters 0.021230161147360375 Centerline is valid? [True, True] Translation: X:347.60, Y:-152.36, Z:1.88 [[ 7.63465169e-01 6.45813285e-01 6.79240475e-03 3.47602554e+02] [-6.45786351e-01 7.63495375e-01 -5.89932143e-03 -1.52358691e+02] [-8.99582976e-03 1.17484155e-04 9.99959530e-01 1.87763300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.182320588 meters 0.021242865448411863 Centerline is valid? [True, True] Translation: X:347.64, Y:-152.39, Z:1.88 [[ 7.62835316e-01 6.46559374e-01 6.57697084e-03 3.47640371e+02] [-6.46533918e-01 7.62863657e-01 -5.73868018e-03 -1.52386486e+02] [-8.72772950e-03 1.25433173e-04 9.99961905e-01 1.87887298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21232058799995 meters 0.021368637585709994 Centerline is valid? [True, True] Translation: X:347.69, Y:-152.42, Z:1.88 [[ 7.60422496e-01 6.49386279e-01 7.42212957e-03 3.47686137e+02] [-6.49353467e-01 7.60458703e-01 -6.52960389e-03 -1.52420876e+02] [-9.88445820e-03 1.45672110e-04 9.99951137e-01 1.87759501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.242320588 meters 0.021577646019409577 Centerline is valid? [True, True] Translation: X:347.72, Y:-152.45, Z:1.88 [[ 7.60230516e-01 6.49605514e-01 7.88920269e-03 3.47721033e+02] [-6.49568316e-01 7.60271432e-01 -6.95366119e-03 -1.52447490e+02] [-1.05150721e-02 1.61809328e-04 9.99944702e-01 1.87603715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27232058799996 meters 0.021916136458045406 Centerline is valid? [True, True] Translation: X:347.76, Y:-152.47, Z:1.88 [[ 7.59958204e-01 6.49921358e-01 8.10900128e-03 3.47756241e+02] [-6.49881810e-01 7.60001445e-01 -7.17203033e-03 -1.52474500e+02] [-1.08241084e-02 1.80550869e-04 9.99941401e-01 1.87525418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.302320588 meters 0.021952634371017826 Centerline is valid? [True, True] Translation: X:347.79, Y:-152.50, Z:1.88 [[ 7.58882062e-01 6.51176179e-01 8.22198441e-03 3.47791416e+02] [-6.51135287e-01 7.58926577e-01 -7.29990647e-03 -1.52503637e+02] [-1.09934077e-02 1.86143902e-04 9.99939553e-01 1.87640703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33232058799996 meters 0.02189939838416256 Centerline is valid? [True, True] Translation: X:347.83, Y:-152.53, Z:1.88 [[ 7.58066889e-01 6.52125480e-01 8.18236022e-03 3.47826095e+02] [-6.52084763e-01 7.58111023e-01 -7.28966079e-03 -1.52531679e+02] [-1.09569110e-02 1.90458047e-04 9.99939953e-01 1.87754470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.362320588 meters 0.022300684558992392 Centerline is valid? [True, True] Translation: X:347.86, Y:-152.56, Z:1.88 [[ 7.57867953e-01 6.52365724e-01 7.42486992e-03 3.47861332e+02] [-6.52331973e-01 7.57904299e-01 -6.63850963e-03 -1.52559226e+02] [-9.95807698e-03 1.87633659e-04 9.99950400e-01 1.87882352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39232058799996 meters 0.02208817491789628 Centerline is valid? [True, True] Translation: X:347.90, Y:-152.59, Z:1.88 [[ 7.56751313e-01 6.53665691e-01 6.97237160e-03 3.47895707e+02] [-6.53635776e-01 7.56783412e-01 -6.25611490e-03 -1.52587290e+02] [-9.36598284e-03 1.76931648e-04 9.99956123e-01 1.87832818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.422320588 meters 0.02224282020379061 Centerline is valid? [True, True] Translation: X:348.00, Y:-152.66, Z:1.88 [[ 7.45769347e-01 6.66156574e-01 7.96870285e-03 3.47997703e+02] [-6.66114729e-01 7.45811873e-01 -7.47115603e-03 -1.52656775e+02] [-1.09201129e-02 2.63688806e-04 9.99940339e-01 1.87795296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45232058799996 meters 0.02214176215130061 Centerline is valid? [True, True] Translation: X:348.03, Y:-152.69, Z:1.88 [[ 7.44231449e-01 6.67857212e-01 9.28945061e-03 3.48031877e+02] [-6.67801292e-01 7.44289387e-01 -8.64540581e-03 -1.52685946e+02] [-1.26879361e-02 2.30675776e-04 9.99919478e-01 1.87827876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48232058799994 meters 0.02187688613183533 Centerline is valid? [True, True] Translation: X:348.07, Y:-152.72, Z:1.88 [[ 7.41712897e-01 6.70669749e-01 8.00413643e-03 3.48072593e+02] [-6.70627874e-01 7.41756059e-01 -7.49693604e-03 -1.52717590e+02] [-1.09650849e-02 1.92777152e-04 9.99939863e-01 1.87868415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51232058799997 meters 0.0213445922227396 Centerline is valid? [True, True] Translation: X:348.11, Y:-152.75, Z:1.88 [[ 7.39310864e-01 6.73338780e-01 5.85958343e-03 3.48107600e+02] [-6.73316264e-01 7.39334073e-01 -5.50786561e-03 -1.52746920e+02] [-8.04084919e-03 1.26672056e-04 9.99967664e-01 1.87915751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54232058799994 meters 0.021064956022735937 Centerline is valid? [True, True] Translation: X:348.14, Y:-152.78, Z:1.88 [[ 7.37512343e-01 6.75312504e-01 5.34469748e-03 3.48142599e+02] [-6.75293680e-01 7.37531701e-01 -5.04338983e-03 -1.52776482e+02] [-7.34774804e-03 1.10321821e-04 9.99972999e-01 1.87930387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57232058799997 meters 0.021001397243222107 Centerline is valid? [True, True] Translation: X:348.18, Y:-152.81, Z:1.88 [[ 7.35828663e-01 6.77125679e-01 7.54939008e-03 3.48177915e+02] [-6.77087983e-01 7.35867375e-01 -7.14633533e-03 -1.52806224e+02] [-1.03943170e-02 1.46877074e-04 9.99945967e-01 1.87921059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60232058799994 meters 0.021075747145351244 Centerline is valid? [True, True] Translation: X:348.21, Y:-152.84, Z:1.88 [[ 7.33998058e-01 6.79091302e-01 9.04736884e-03 3.48212841e+02] [-6.79036935e-01 7.34053797e-01 -8.59444062e-03 -1.52836235e+02] [-1.24776653e-02 1.64805112e-04 9.99922137e-01 1.87919018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63232058799997 meters 0.020820251366491006 Centerline is valid? [True, True] Translation: X:348.25, Y:-152.86, Z:1.88 [[ 7.32048973e-01 6.81199902e-01 8.42581778e-03 3.48249064e+02] [-6.81152531e-01 7.32097448e-01 -8.03466442e-03 -1.52864511e+02] [-1.16417323e-02 1.42500732e-04 9.99932223e-01 1.88048573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66232058799994 meters 0.020690922226837088 Centerline is valid? [True, True] Translation: X:348.29, Y:-152.89, Z:1.88 [[ 7.31125265e-01 6.82193514e-01 8.23756226e-03 3.48285006e+02] [-6.82147949e-01 7.31171655e-01 -7.88588018e-03 -1.52894039e+02] [-1.14027683e-02 1.46330029e-04 9.99934976e-01 1.88009104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.692320588 meters 0.020618598141808994 Centerline is valid? [True, True] Translation: X:348.32, Y:-152.92, Z:1.88 [[ 7.30255666e-01 6.83129610e-01 7.78457000e-03 3.48320610e+02] [-6.83088668e-01 7.30297142e-01 -7.48041226e-03 -1.52923659e+02] [-1.07951403e-02 1.45061890e-04 9.99941720e-01 1.88014513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72232058799995 meters 0.020691378784878575 Centerline is valid? [True, True] Translation: X:348.36, Y:-152.95, Z:1.88 [[ 7.27660675e-01 6.85873913e-01 9.32300369e-03 3.48355614e+02] [-6.85815003e-01 7.27720382e-01 -8.99047156e-03 -1.52952875e+02] [-1.29508697e-02 1.48156802e-04 9.99916123e-01 1.87869848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.752320588 meters 0.020613057914587205 Centerline is valid? [True, True] Translation: X:348.39, Y:-152.98, Z:1.88 [[ 7.26423310e-01 6.87184327e-01 9.32070698e-03 3.48390841e+02] [-6.87125102e-01 7.26483088e-01 -9.02310679e-03 -1.52983278e+02] [-1.29718736e-02 1.50103368e-04 9.99915850e-01 1.88114651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78232058799995 meters 0.020623269296714073 Centerline is valid? [True, True] Translation: X:348.43, Y:-153.01, Z:1.88 [[ 7.25174374e-01 6.88509558e-01 8.75879103e-03 3.48425665e+02] [-6.88456962e-01 7.25227253e-01 -8.51133118e-03 -1.53013351e+02] [-1.22122468e-02 1.42148596e-04 9.99925418e-01 1.88188879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.812320588 meters 0.02053744671858844 Centerline is valid? [True, True] Translation: X:348.46, Y:-153.04, Z:1.88 [[ 7.24651009e-01 6.89078646e-01 7.17884348e-03 3.48460957e+02] [-6.89043063e-01 7.24686556e-01 -7.00382438e-03 -1.53042834e+02] [-1.00285972e-02 1.28796102e-04 9.99949704e-01 1.88253043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84232058799995 meters 0.020905128036019825 Centerline is valid? [True, True] Translation: X:348.50, Y:-153.07, Z:1.88 [[ 7.24348507e-01 6.89401958e-01 6.64688369e-03 3.48496534e+02] [-6.89371235e-01 7.24378991e-01 -6.50977758e-03 -1.53071409e+02] [-9.30271631e-03 1.33177254e-04 9.99956720e-01 1.88140490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.872320588 meters 0.021021905473349218 Centerline is valid? [True, True] Translation: X:348.53, Y:-153.10, Z:1.88 [[ 7.23710836e-01 6.90065968e-01 7.18233136e-03 3.48531522e+02] [-6.90029862e-01 7.23746459e-01 -7.06063846e-03 -1.53102517e+02] [-1.00704932e-02 1.53837446e-04 9.99949279e-01 1.88116322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90232058799995 meters 0.02121324858958835 Centerline is valid? [True, True] Translation: X:348.57, Y:-153.14, Z:1.88 [[ 7.22331353e-01 6.91501162e-01 7.97237404e-03 3.48571260e+02] [-6.91456190e-01 7.22375323e-01 -7.88860756e-03 -1.53138062e+02] [-1.12140276e-02 1.85641200e-04 9.99937104e-01 1.88165282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.932320588 meters 0.021318637848359343 Centerline is valid? [True, True] Translation: X:348.61, Y:-153.17, Z:1.88 [[ 7.21260076e-01 6.92626725e-01 7.21967056e-03 3.48607934e+02] [-6.92589580e-01 7.21296187e-01 -7.17524900e-03 -1.53170841e+02] [-1.01772901e-02 1.74952036e-04 9.99948195e-01 1.88189930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96232058799995 meters 0.02124084634896268 Centerline is valid? [True, True] Translation: X:348.64, Y:-153.20, Z:1.88 [[ 7.19903253e-01 6.94045906e-01 6.29172107e-03 3.48641676e+02] [-6.94017554e-01 7.19930731e-01 -6.27519835e-03 -1.53201833e+02] [-8.88487907e-03 1.50970841e-04 9.99960517e-01 1.88227027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.992320588 meters 0.02121997325571706 Centerline is valid? [True, True] Translation: X:348.71, Y:-153.26, Z:1.88 [[ 7.13657121e-01 7.00463688e-01 6.64352135e-03 3.48712101e+02] [-7.00430764e-01 7.13688016e-01 -6.79415187e-03 -1.53259476e+02] [-9.50045825e-03 1.95368125e-04 9.99954851e-01 1.88218676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02232058799996 meters 0.021451908132935713 Centerline is valid? [True, True] Translation: X:349.86, Y:-152.16, Z:3.73 [[ 7.45964480e-01 -6.65831664e-01 1.43244108e-02 3.49860264e+02] [-6.65709265e-01 -7.46102000e-01 -1.27663500e-02 -1.52158914e+02] [ 1.91877117e-02 -1.26493180e-05 -9.99815899e-01 3.73499162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.052320588 meters 0.021368561540757596 Centerline is valid? [True, True] Translation: X:348.85, Y:-153.40, Z:1.88 [[ 7.68362163e-01 6.39954465e-01 8.82435743e-03 3.48846158e+02] [-6.39909253e-01 7.68412808e-01 -7.60953032e-03 -1.53397603e+02] [-1.16505022e-02 2.00087208e-04 9.99932111e-01 1.88204213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08232058799996 meters 0.021184159313024392 Centerline is valid? [True, True] Translation: X:348.88, Y:-153.43, Z:1.88 [[ 7.67062485e-01 6.41523232e-01 7.94275915e-03 3.48879715e+02] [-6.41486371e-01 7.67103585e-01 -6.87936760e-03 -1.53425430e+02] [-1.05061932e-02 1.81733071e-04 9.99944792e-01 1.88436634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.112320588 meters 0.02098395740651814 Centerline is valid? [True, True] Translation: X:348.91, Y:-153.45, Z:1.88 [[ 7.65836823e-01 6.42980369e-01 8.37881533e-03 3.48913328e+02] [-6.42939172e-01 7.65882634e-01 -7.28093383e-03 -1.53452590e+02] [-1.10986867e-02 1.88938644e-04 9.99938390e-01 1.88354245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14232058799996 meters 0.020992505890179213 Centerline is valid? [True, True] Translation: X:348.95, Y:-153.48, Z:1.88 [[ 7.63964449e-01 6.45202495e-01 8.48887342e-03 3.48946299e+02] [-6.45160067e-01 7.64011589e-01 -7.40129517e-03 -1.53480188e+02] [-1.12609318e-02 1.77644235e-04 9.99936578e-01 1.88377539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.172320588 meters 0.020992505890179213 Centerline is valid? [True, True] Translation: X:348.98, Y:-153.51, Z:1.88 [[ 7.62853478e-01 6.46515838e-01 8.47598954e-03 3.48980222e+02] [-6.46473327e-01 7.62900544e-01 -7.41605544e-03 -1.53507884e+02] [-1.12609343e-02 1.77862533e-04 9.99936578e-01 1.88395401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20232058799996 meters 0.0206594719667741 Centerline is valid? [True, True] Translation: X:349.01, Y:-153.54, Z:1.89 [[ 7.61352313e-01 6.48287854e-01 8.09407268e-03 3.49014517e+02] [-6.48248918e-01 7.61395318e-01 -7.10699410e-03 -1.53536358e+02] [-1.07701670e-02 1.63952539e-04 9.99941987e-01 1.88519419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23232058799994 meters 0.020555552409616228 Centerline is valid? [True, True] Translation: X:349.05, Y:-153.56, Z:1.89 [[ 7.60038272e-01 6.49827905e-01 8.09433341e-03 3.49048393e+02] [-6.49788784e-01 7.60081356e-01 -7.13219679e-03 -1.53564611e+02] [-1.07870524e-02 1.61135464e-04 9.99941805e-01 1.88538239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26232058799997 meters 0.020320125706524715 Centerline is valid? [True, True] Translation: X:349.08, Y:-153.59, Z:1.89 [[ 7.58452358e-01 6.51673983e-01 8.42852445e-03 3.49082192e+02] [-6.51631391e-01 7.58499172e-01 -7.45229082e-03 -1.53592751e+02] [-1.12494929e-02 1.59916435e-04 9.99936710e-01 1.88633687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29232058799994 meters 0.020681737893304266 Centerline is valid? [True, True] Translation: X:349.12, Y:-153.62, Z:1.88 [[ 7.57900289e-01 6.52303801e-01 9.32213626e-03 3.49116884e+02] [-6.52251400e-01 7.57957595e-01 -8.27018922e-03 -1.53619668e+02] [-1.24604598e-02 1.87602378e-04 9.99922348e-01 1.88396636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32232058799997 meters 0.02046562201687339 Centerline is valid? [True, True] Translation: X:349.15, Y:-153.65, Z:1.88 [[ 7.56560253e-01 6.53873723e-01 8.10793153e-03 3.49150382e+02] [-6.53833889e-01 7.56603680e-01 -7.21918376e-03 -1.53649244e+02] [-1.08549254e-02 1.60507087e-04 9.99941071e-01 1.88437134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35232058799994 meters 0.020164561782214326 Centerline is valid? [True, True] Translation: X:349.18, Y:-153.68, Z:1.89 [[ 7.55075870e-01 6.55598194e-01 7.17210015e-03 3.49184101e+02] [-6.55566877e-01 7.55109918e-01 -6.40941911e-03 -1.53678087e+02] [-9.61772755e-03 1.37806405e-04 9.99953739e-01 1.88564469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38232058799997 meters 0.020204144054311396 Centerline is valid? [True, True] Translation: X:349.22, Y:-153.71, Z:1.89 [[ 7.53320356e-01 6.57613461e-01 7.27856363e-03 3.49217636e+02] [-6.57581081e-01 7.53355506e-01 -6.52714051e-03 -1.53706683e+02] [-9.77568145e-03 1.30782073e-04 9.99952208e-01 1.88599162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41232058799994 meters 0.020136848780355033 Centerline is valid? [True, True] Translation: X:349.25, Y:-153.74, Z:1.89 [[ 7.50984479e-01 6.60265243e-01 8.49237579e-03 3.49250944e+02] [-6.60221046e-01 7.51032483e-01 -7.64067750e-03 -1.53735509e+02] [-1.14229239e-02 1.31184989e-04 9.99934748e-01 1.88564523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.442320588 meters 0.019958976662536033 Centerline is valid? [True, True] Translation: X:349.29, Y:-153.76, Z:1.89 [[ 7.49806158e-01 6.61588754e-01 9.54176177e-03 3.49285014e+02] [-6.61532676e-01 7.49866854e-01 -8.61507422e-03 -1.53764452e+02] [-1.28546871e-02 1.47448507e-04 9.99917364e-01 1.88519587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47232058799995 meters 0.019762538456484086 Centerline is valid? [True, True] Translation: X:349.32, Y:-153.80, Z:1.89 [[ 7.47452499e-01 6.64260345e-01 8.54145030e-03 3.49317156e+02] [-6.64215251e-01 7.47501292e-01 -7.74066239e-03 -1.53795002e+02] [-1.15265602e-02 1.12415883e-04 9.99933561e-01 1.88682610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.502320588 meters 0.019785778915600332 Centerline is valid? [True, True] Translation: X:349.37, Y:-153.84, Z:1.89 [[ 7.42591386e-01 6.69686767e-01 8.81287034e-03 3.49374180e+02] [-6.69637675e-01 7.42643669e-01 -8.10957229e-03 -1.53839670e+02] [-1.19756956e-02 1.20668530e-04 9.99928282e-01 1.88657625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53232058799995 meters 0.01963323665206097 Centerline is valid? [True, True] Translation: X:349.42, Y:-153.87, Z:1.89 [[ 7.39035855e-01 6.73598408e-01 9.54939251e-03 3.49415760e+02] [-6.73540664e-01 7.39097543e-01 -8.82020931e-03 -1.53873302e+02] [-1.29992115e-02 8.65467513e-05 9.99915503e-01 1.88581923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.562320588 meters 0.01965449505192632 Centerline is valid? [True, True] Translation: X:349.45, Y:-153.90, Z:1.89 [[ 7.36896643e-01 6.75927780e-01 1.02456337e-02 3.49450148e+02] [-6.75861133e-01 7.36967863e-01 -9.49196763e-03 -1.53903593e+02] [-1.39665874e-02 6.99734878e-05 9.99902460e-01 1.88573949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59232058799995 meters 0.01960965062989588 Centerline is valid? [True, True] Translation: X:349.48, Y:-153.93, Z:1.89 [[ 7.35349511e-01 6.77611228e-01 1.02039556e-02 3.49483753e+02] [-6.77544788e-01 7.35420301e-01 -9.48899694e-03 -1.53933472e+02] [-1.39340470e-02 6.40923282e-05 9.99902914e-01 1.88730594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.622320588 meters 0.019433856499461645 Centerline is valid? [True, True] Translation: X:349.52, Y:-153.97, Z:1.89 [[ 7.31757590e-01 6.81514989e-01 8.25529158e-03 3.49521574e+02] [-6.81471248e-01 7.31804154e-01 -7.72126421e-03 -1.53965778e+02] [-1.13034140e-02 2.43498316e-05 9.99936114e-01 1.88784479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65232058799995 meters 0.019549343381356193 Centerline is valid? [True, True] Translation: X:349.56, Y:-154.00, Z:1.89 [[ 7.30092598e-01 6.83302480e-01 7.90685148e-03 3.49557178e+02] [-6.83262171e-01 7.30135412e-01 -7.42199838e-03 -1.53995843e+02] [-1.08445422e-02 1.62935783e-05 9.99941196e-01 1.88759075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.682320588 meters 0.019679564918941694 Centerline is valid? [True, True] Translation: X:349.59, Y:-154.03, Z:1.89 [[ 7.28069148e-01 6.85446206e-01 8.87774694e-03 3.49592399e+02] [-6.85395166e-01 7.28123271e-01 -8.36470727e-03 -1.54025854e+02] [-1.21976510e-02 5.32045553e-06 9.99925606e-01 1.88799565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71232058799995 meters 0.0196513894139058 Centerline is valid? [True, True] Translation: X:349.63, Y:-154.06, Z:1.89 [[ 7.26369596e-01 6.87259089e-01 7.88376643e-03 3.49627107e+02] [-6.87218615e-01 7.26412379e-01 -7.45861624e-03 -1.54056289e+02] [-1.08528673e-02 -1.58975305e-07 9.99941106e-01 1.88958286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.742320588 meters 0.01939681369406483 Centerline is valid? [True, True] Translation: X:349.66, Y:-154.09, Z:1.89 [[ 7.24303558e-01 6.89441932e-01 7.36064286e-03 3.49664344e+02] [-6.89406392e-01 7.24340958e-01 -7.00029296e-03 -1.54088347e+02] [-1.01579106e-02 -4.13713772e-06 9.99948407e-01 1.88992598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77232058799996 meters 0.019612964389087956 Centerline is valid? [True, True] Translation: X:349.70, Y:-154.12, Z:1.89 [[ 7.22122118e-01 6.91722645e-01 7.70909385e-03 3.49699667e+02] [-6.91683529e-01 7.22163266e-01 -7.35620868e-03 -1.54118142e+02] [-1.06556805e-02 -2.01722461e-05 9.99943226e-01 1.88903855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.802320588 meters 0.019719119395145847 Centerline is valid? [True, True] Translation: X:349.73, Y:-154.15, Z:1.89 [[ 7.20869486e-01 6.93025013e-01 7.96964829e-03 3.49733966e+02] [-6.92982971e-01 7.20913539e-01 -7.63353775e-03 -1.54147897e+02] [-1.10356600e-02 -2.00461174e-05 9.99939105e-01 1.89027997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83232058799996 meters 0.01988904925234177 Centerline is valid? [True, True] Translation: X:349.77, Y:-154.18, Z:1.89 [[ 7.19469929e-01 6.94465571e-01 8.97730792e-03 3.49770466e+02] [-6.94411895e-01 7.19525935e-01 -8.63417771e-03 -1.54176337e+02] [-1.24555450e-02 -2.19181849e-05 9.99922426e-01 1.88979009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.862320588 meters 0.019991330515814386 Centerline is valid? [True, True] Translation: X:349.81, Y:-154.21, Z:1.89 [[ 7.18511170e-01 6.95453745e-01 9.26219184e-03 3.49805411e+02] [-6.95396269e-01 7.18570866e-01 -8.94091885e-03 -1.54206009e+02] [-1.28735367e-02 -1.67435892e-05 9.99917132e-01 1.88958661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89232058799996 meters 0.019555614552870897 Centerline is valid? [True, True] Translation: X:349.84, Y:-154.24, Z:1.89 [[ 7.17073899e-01 6.96958754e-01 7.31566309e-03 3.49842743e+02] [-6.96922579e-01 7.17111216e-01 -7.10095950e-03 -1.54237703e+02] [-1.01952199e-02 -6.53807117e-06 9.99948027e-01 1.89105996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.922320588 meters 0.019458624883726076 Centerline is valid? [True, True] Translation: X:349.88, Y:-154.27, Z:1.89 [[ 7.16038641e-01 6.98021996e-01 7.34559108e-03 3.49878434e+02] [-6.97985317e-01 7.16076318e-01 -7.15564117e-03 -1.54268137e+02] [-1.02547987e-02 -3.39913841e-06 9.99947418e-01 1.89150408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95232058799996 meters 0.019805609867576585 Centerline is valid? [True, True] Translation: X:349.91, Y:-154.30, Z:1.89 [[ 7.13449401e-01 7.00669165e-01 7.25770348e-03 3.49914078e+02] [-7.00633221e-01 7.13486315e-01 -7.09705097e-03 -1.54297030e+02] [-1.01509569e-02 -2.16014086e-05 9.99948477e-01 1.89099303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98232058799994 meters 0.01989687796244197 Centerline is valid? [True, True] Translation: X:349.95, Y:-154.33, Z:1.89 [[ 7.11436214e-01 7.02695870e-01 8.77657038e-03 3.49953238e+02] [-7.02642828e-01 7.11490347e-01 -8.63380506e-03 -1.54329962e+02] [-1.23113843e-02 -2.43926543e-05 9.99924212e-01 1.88987911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01232058799997 meters 0.01969946739516411 Centerline is valid? [True, True] Translation: X:349.99, Y:-154.36, Z:1.89 [[ 7.10814121e-01 7.03330208e-01 8.36088434e-03 3.49986950e+02] [-7.03281785e-01 7.10863291e-01 -8.25302228e-03 -1.54361559e+02] [-1.17480456e-02 -1.36928884e-05 9.99930989e-01 1.89217802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04232058799994 meters 0.019575637172048563 Centerline is valid? [True, True] Translation: X:350.02, Y:-154.39, Z:1.89 [[ 7.09620638e-01 7.04540461e-01 7.82873630e-03 3.50021644e+02] [-7.04497738e-01 7.09663821e-01 -7.75875173e-03 -1.54392785e+02] [-1.10221254e-02 -9.55666883e-06 9.99939254e-01 1.89352186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07232058799997 meters 0.01958724796908013 Centerline is valid? [True, True] Translation: X:350.06, Y:-154.42, Z:1.89 [[ 7.08352133e-01 7.05827933e-01 6.64716680e-03 3.50058117e+02] [-7.05796931e-01 7.08383321e-01 -6.61540333e-03 -1.54421689e+02] [-9.37807855e-03 -5.51486075e-06 9.99956025e-01 1.89335540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10232058799994 meters 0.019432011672474565 Centerline is valid? [True, True] Translation: X:350.09, Y:-154.45, Z:1.89 [[ 7.07344371e-01 7.06835917e-01 6.85036574e-03 3.50093680e+02] [-7.06802752e-01 7.07377542e-01 -6.84712859e-03 -1.54451190e+02] [-9.68559129e-03 1.42050547e-06 9.99953094e-01 1.89272040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13232058799997 meters 0.019620869997338357 Centerline is valid? [True, True] Translation: X:350.13, Y:-154.48, Z:1.89 [[ 7.06199641e-01 7.07960941e-01 8.56574245e-03 3.50129064e+02] [-7.07908807e-01 7.06251588e-01 -8.59156248e-03 -1.54481585e+02] [-1.21320599e-02 3.59382097e-06 9.99926404e-01 1.89246344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16232058799994 meters 0.019685056853148954 Centerline is valid? [True, True] Translation: X:351.24, Y:-153.39, Z:3.74 [[ 7.62268315e-01 -6.47090296e-01 1.48716079e-02 3.51242363e+02] [-6.46958434e-01 -7.62413296e-01 -1.30671769e-02 -1.53388913e+02] [ 1.97939549e-02 3.39382800e-04 -9.99804023e-01 3.73862311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.192320588 meters 0.019620442570125324 Centerline is valid? [True, True] Translation: X:350.26, Y:-154.61, Z:1.90 [[ 7.61029500e-01 6.48670783e-01 7.76630098e-03 3.50257188e+02] [-6.48637102e-01 7.61069126e-01 -6.61027655e-03 -1.54610119e+02] [-1.01985852e-02 -6.89550522e-06 9.99947993e-01 1.89545549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22232058799995 meters 0.019587837179284803 Centerline is valid? [True, True] Translation: X:350.32, Y:-154.66, Z:1.90 [[ 7.55706811e-01 6.54863216e-01 7.83475703e-03 3.50323150e+02] [-6.54827816e-01 7.55747423e-01 -6.80907464e-03 -1.54656370e+02] [-1.03801100e-02 1.52472545e-05 9.99946125e-01 1.89584702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.252320588 meters 0.019680208151792344 Centerline is valid? [True, True] Translation: X:350.36, Y:-154.68, Z:1.90 [[ 7.54928990e-01 6.55759819e-01 7.82814677e-03 3.50360008e+02] [-6.55724574e-01 7.54969575e-01 -6.79878345e-03 -1.54683217e+02] [-1.03683816e-02 -5.09486820e-07 9.99946247e-01 1.89534331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28232058799995 meters 0.01996517745257081 Centerline is valid? [True, True] Translation: X:350.40, Y:-154.71, Z:1.89 [[ 7.53309502e-01 6.57613068e-01 8.35749723e-03 3.50397343e+02] [-6.57572717e-01 7.53355861e-01 -7.28482857e-03 -1.54709352e+02] [-1.10867680e-02 -7.93158059e-06 9.99938540e-01 1.89410750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.312320588 meters 0.019961115344743003 Centerline is valid? [True, True] Translation: X:350.43, Y:-154.74, Z:1.89 [[ 7.52001231e-01 6.59098588e-01 9.12136141e-03 3.50431905e+02] [-6.59050305e-01 7.52056548e-01 -7.97777057e-03 -1.54736408e+02] [-1.21179169e-02 -1.21427275e-05 9.99926575e-01 1.89350539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34232058799995 meters 0.019942872533374414 Centerline is valid? [True, True] Translation: X:350.47, Y:-154.76, Z:1.90 [[ 7.50657318e-01 6.60637567e-01 8.46147620e-03 3.50465924e+02] [-6.60595809e-01 7.50705006e-01 -7.42774441e-03 -1.54764303e+02] [-1.12591195e-02 -1.39250199e-05 9.99936614e-01 1.89610022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.372320588 meters 0.019914123435541446 Centerline is valid? [True, True] Translation: X:350.50, Y:-154.79, Z:1.90 [[ 7.49087024e-01 6.62422696e-01 8.05002663e-03 3.50500903e+02] [-6.62384727e-01 7.49130277e-01 -7.09237755e-03 -1.54792077e+02] [-1.07286705e-02 -1.94066978e-05 9.99942446e-01 1.89689189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40232058799995 meters 0.019908510684123047 Centerline is valid? [True, True] Translation: X:350.54, Y:-154.82, Z:1.90 [[ 7.47974209e-01 6.63685241e-01 7.51556288e-03 3.50539452e+02] [-6.63651885e-01 7.48011965e-01 -6.65393842e-03 -1.54819077e+02] [-1.00378517e-02 -1.07431504e-05 9.99949619e-01 1.89588046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.432320588 meters 0.019877813260241402 Centerline is valid? [True, True] Translation: X:350.58, Y:-154.85, Z:1.90 [[ 7.46741526e-01 6.65076089e-01 7.13364158e-03 3.50577963e+02] [-6.65045796e-01 7.46775599e-01 -6.34776049e-03 -1.54849062e+02] [-9.54897318e-03 -4.06198443e-06 9.99954408e-01 1.89634912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46232058799995 meters 0.019784461459478563 Centerline is valid? [True, True] Translation: X:350.61, Y:-154.88, Z:1.90 [[ 7.45165619e-01 6.66845448e-01 6.73408857e-03 3.50612930e+02] [-6.66818356e-01 7.45196047e-01 -6.01100512e-03 -1.54876453e+02] [-9.02662758e-03 -1.12195095e-05 9.99959259e-01 1.89815417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.492320588 meters 0.019853483708382042 Centerline is valid? [True, True] Translation: X:350.65, Y:-154.91, Z:1.90 [[ 7.43853952e-01 6.68296991e-01 7.77367368e-03 3.50649926e+02] [-6.68260684e-01 7.43894570e-01 -6.96607061e-03 -1.54905460e+02] [-1.04381977e-02 -1.31013411e-05 9.99945520e-01 1.89739130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52232058799996 meters 0.019870538430906158 Centerline is valid? [True, True] Translation: X:350.69, Y:-154.93, Z:1.90 [[ 7.41510051e-01 6.70904754e-01 7.04674272e-03 3.50685147e+02] [-6.70874824e-01 7.41543533e-01 -6.33714512e-03 -1.54932746e+02] [-9.47708727e-03 -2.84254899e-05 9.99955091e-01 1.89779203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.552320588 meters 0.020048038149751438 Centerline is valid? [True, True] Translation: X:350.72, Y:-154.96, Z:1.90 [[ 7.40150102e-01 6.72403635e-01 7.15397986e-03 3.50719487e+02] [-6.72372638e-01 7.40184674e-01 -6.45630330e-03 -1.54961113e+02] [-9.63650805e-03 -3.15067718e-05 9.99953567e-01 1.89738293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58232058799996 meters 0.019875591001838132 Centerline is valid? [True, True] Translation: X:350.75, Y:-154.99, Z:1.90 [[ 7.38983176e-01 6.73687365e-01 7.01424105e-03 3.50753506e+02] [-6.73657411e-01 7.39016463e-01 -6.35296893e-03 -1.54988949e+02] [-9.46355451e-03 -3.04583053e-05 9.99955219e-01 1.89809100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.612320588 meters 0.02019472410190927 Centerline is valid? [True, True] Translation: X:350.79, Y:-155.02, Z:1.90 [[ 7.37509195e-01 6.75297666e-01 7.29728650e-03 3.50788620e+02] [-6.75265093e-01 7.37545294e-01 -6.63273591e-03 -1.55015442e+02] [-9.86115039e-03 -3.58991222e-05 9.99951377e-01 1.89793706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64232058799996 meters 0.020283570875522263 Centerline is valid? [True, True] Translation: X:350.84, Y:-155.05, Z:1.90 [[ 7.34492272e-01 6.78571407e-01 7.87070962e-03 3.50835772e+02] [-6.78532943e-01 7.34534441e-01 -7.22497803e-03 -1.55052168e+02] [-1.06839708e-02 -3.38452315e-05 9.99942924e-01 1.89828623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.672320588 meters 0.020568400826512217 Centerline is valid? [True, True] Translation: X:350.87, Y:-155.08, Z:1.90 [[ 7.32542898e-01 6.80677654e-01 7.67033722e-03 3.50870390e+02] [-6.80641104e-01 7.32583053e-01 -7.05395930e-03 -1.55079891e+02] [-1.04206315e-02 -5.34190082e-05 9.99945702e-01 1.90056610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70232058799996 meters 0.02035113559424998 Centerline is valid? [True, True] Translation: X:350.91, Y:-155.11, Z:1.90 [[ 7.31197834e-01 6.82118961e-01 7.96552558e-03 3.50906858e+02] [-6.82079257e-01 7.31241219e-01 -7.35980075e-03 -1.55109100e+02] [-1.08449803e-02 -5.16494037e-05 9.99941190e-01 1.90071016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73232058799994 meters 0.020348354027879708 Centerline is valid? [True, True] Translation: X:350.99, Y:-155.17, Z:1.90 [[ 7.22901903e-01 6.90915969e-01 6.92549294e-03 3.50991747e+02] [-6.90884303e-01 7.22935076e-01 -6.61490267e-03 -1.55169556e+02] [-9.57702365e-03 -2.78863379e-06 9.99954139e-01 1.90121129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76232058799997 meters 0.02032197336227731 Centerline is valid? [True, True] Translation: X:351.03, Y:-155.20, Z:1.90 [[ 7.21713943e-01 6.92157432e-01 6.86102333e-03 3.51025817e+02] [-6.92126714e-01 7.21746553e-01 -6.52105068e-03 -1.55198479e+02] [-9.46551363e-03 -4.23643330e-05 9.99955200e-01 1.90178982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79232058799994 meters 0.020438286600241076 Centerline is valid? [True, True] Translation: X:351.06, Y:-155.23, Z:1.90 [[ 7.20146031e-01 6.93778375e-01 7.82691036e-03 3.51062436e+02] [-6.93738118e-01 7.20188562e-01 -7.47383858e-03 -1.55229086e+02] [-1.08220389e-02 -4.75708692e-05 9.99941439e-01 1.90155459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82232058799997 meters 0.02047696981327355 Centerline is valid? [True, True] Translation: X:351.10, Y:-155.26, Z:1.90 [[ 7.19007000e-01 6.94963174e-01 7.42429788e-03 3.51098654e+02] [-6.94926764e-01 7.19045329e-01 -7.11395599e-03 -1.55256445e+02] [-1.02823441e-02 -4.43591390e-05 9.99947134e-01 1.90162840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85232058799994 meters 0.020326236527131513 Centerline is valid? [True, True] Translation: X:351.13, Y:-155.29, Z:1.90 [[ 7.18890321e-01 6.95089003e-01 6.92701983e-03 3.51134787e+02] [-6.95057061e-01 7.18923694e-01 -6.66367304e-03 -1.55285405e+02] [-9.61184453e-03 -2.42239878e-05 9.99953805e-01 1.90101931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88232058799997 meters 0.020145966257247735 Centerline is valid? [True, True] Translation: X:351.17, Y:-155.32, Z:1.90 [[ 7.17820571e-01 6.96201493e-01 6.09168620e-03 3.51168369e+02] [-6.96176641e-01 7.17846418e-01 -5.88255948e-03 -1.55315853e+02] [-8.46834182e-03 -1.82674310e-05 9.99964143e-01 1.90231033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91232058799994 meters 0.020179934693601086 Centerline is valid? [True, True] Translation: X:351.20, Y:-155.35, Z:1.90 [[ 7.15940238e-01 6.98123710e-01 7.27057705e-03 3.51204678e+02] [-6.98088050e-01 7.15977154e-01 -7.05609416e-03 -1.55348379e+02] [-1.01315937e-02 -2.37612272e-05 9.99948674e-01 1.90213137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.942320588 meters 0.020552319706144278 Centerline is valid? [True, True] Translation: X:351.24, Y:-155.38, Z:1.90 [[ 7.15379804e-01 6.98668379e-01 9.70729692e-03 3.51239877e+02] [-6.98604493e-01 7.15445662e-01 -9.44814037e-03 -1.55376824e+02] [-1.35461604e-02 -2.25524299e-05 9.99908246e-01 1.90107658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97232058799995 meters 0.020688480575102947 Centerline is valid? [True, True] Translation: X:351.28, Y:-155.41, Z:1.90 [[ 7.13113868e-01 7.00981305e-01 9.68609679e-03 3.51275309e+02] [-7.00917422e-01 7.13179646e-01 -9.46362356e-03 -1.55406143e+02] [-1.35417503e-02 -4.05127875e-05 9.99908305e-01 1.90100016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.002320588 meters 0.020757398158436313 Centerline is valid? [True, True] Translation: X:351.31, Y:-155.44, Z:1.90 [[ 7.11435237e-01 7.02686838e-01 9.54523761e-03 3.51309134e+02] [-7.02624474e-01 7.11499266e-01 -9.36175785e-03 -1.55436837e+02] [-1.33698136e-02 -4.64331414e-05 9.99910619e-01 1.90094367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03232058799995 meters 0.02081178825021514 Centerline is valid? [True, True] Translation: X:351.34, Y:-155.47, Z:1.90 [[ 7.08835366e-01 7.05318606e-01 8.83673692e-03 3.51342294e+02] [-7.05264943e-01 7.08890443e-01 -8.70055880e-03 -1.55467927e+02] [-1.24009444e-02 -6.49769773e-05 9.99923103e-01 1.90195088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.062320588 meters 0.021516876212554818 Centerline is valid? [True, True] Translation: X:351.38, Y:-155.50, Z:1.90 [[ 7.05872768e-01 7.08265361e-01 1.01888983e-02 3.51376569e+02] [-7.08193802e-01 7.05946292e-01 -1.00683538e-02 -1.55497969e+02] [-1.43238812e-02 -1.08737858e-04 9.99897402e-01 1.90080688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09232058799995 meters 0.021516876212554818 Centerline is valid? [True, True] Translation: X:351.43, Y:-155.54, Z:1.90 [[ 7.01896491e-01 7.12207034e-01 1.01220840e-02 3.51427965e+02] [-7.12134915e-01 7.01969466e-01 -1.01356311e-02 -1.55541928e+02] [-1.43240616e-02 -9.41255113e-05 9.99897401e-01 1.90107863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.122320588 meters 0.021530454959254895 Centerline is valid? [True, True] Translation: X:351.46, Y:-155.57, Z:1.90 [[ 6.99842482e-01 7.14231428e-01 9.69369256e-03 3.51462342e+02] [-7.14165238e-01 6.99909604e-01 -9.72415904e-03 -1.55572315e+02] [-1.37300085e-02 -1.17518647e-04 9.99905732e-01 1.90231961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15232058799995 meters 0.02200916906211064 Centerline is valid? [True, True] Translation: X:352.52, Y:-154.54, Z:3.74 [[ 7.69273765e-01 -6.38707037e-01 1.64680252e-02 3.52520168e+02] [-6.38544328e-01 -7.69449791e-01 -1.44277488e-02 -1.54544230e+02] [ 2.18864232e-02 5.83324513e-04 -9.99760293e-01 3.74364453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.182320588 meters 0.022567537413426056 Centerline is valid? [True, True] Translation: X:351.59, Y:-155.70, Z:1.90 [[ 7.52295952e-01 6.58737062e-01 1.07835302e-02 3.51591205e+02] [-6.58673112e-01 7.52373209e-01 -9.18072204e-03 -1.55698113e+02] [-1.41609211e-02 -1.96201384e-04 9.99899710e-01 1.90210398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21232058799995 meters 0.022671617984791923 Centerline is valid? [True, True] Translation: X:351.63, Y:-155.73, Z:1.90 [[ 7.49546571e-01 6.61873622e-01 1.01610202e-02 3.51632712e+02] [-6.61816410e-01 7.49615413e-01 -8.70472098e-03 -1.55726832e+02] [-1.33782826e-02 -2.00136139e-04 9.99910487e-01 1.90339069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.242320588 meters 0.023046260189633044 Centerline is valid? [True, True] Translation: X:351.67, Y:-155.75, Z:1.90 [[ 7.47890810e-01 6.63746359e-01 1.00054261e-02 3.51667194e+02] [-6.63690709e-01 7.47957704e-01 -8.59745576e-03 -1.55753032e+02] [-1.31901655e-02 -2.10550199e-04 9.99912984e-01 1.90386095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27232058799996 meters 0.022834046495052097 Centerline is valid? [True, True] Translation: X:351.70, Y:-155.78, Z:1.90 [[ 7.46888316e-01 6.64874464e-01 9.98949975e-03 3.51702456e+02] [-6.64818701e-01 7.46955088e-01 -8.61343432e-03 -1.55779366e+02] [-1.31885602e-02 -2.07932782e-04 9.99913006e-01 1.90491477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.302320588 meters 0.022612314865368518 Centerline is valid? [True, True] Translation: X:351.74, Y:-155.80, Z:1.91 [[ 7.45992719e-01 6.65887007e-01 9.45289876e-03 3.51738811e+02] [-6.65836797e-01 7.46052583e-01 -8.17940644e-03 -1.55803443e+02] [-1.24989200e-02 -1.92310185e-04 9.99921867e-01 1.90542193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33232058799996 meters 0.022358230139664148 Centerline is valid? [True, True] Translation: X:351.78, Y:-155.83, Z:1.91 [[ 7.45012676e-01 6.66985728e-01 9.28174678e-03 3.51775558e+02] [-6.66937028e-01 7.45070470e-01 -8.06198089e-03 -1.55830067e+02] [-1.22927816e-02 -1.84062658e-04 9.99924424e-01 1.90517665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.362320588 meters 0.022336825227646857 Centerline is valid? [True, True] Translation: X:351.81, Y:-155.85, Z:1.90 [[ 7.44281927e-01 6.67788779e-01 1.01271787e-02 3.51811586e+02] [-6.67730488e-01 7.44350797e-01 -8.82531794e-03 -1.55854488e+02] [-1.34316218e-02 -1.93701335e-04 9.99909773e-01 1.90412972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39232058799996 meters 0.02213156106257783 Centerline is valid? [True, True] Translation: X:351.85, Y:-155.88, Z:1.90 [[ 7.43296390e-01 6.68888445e-01 9.93601242e-03 3.51846425e+02] [-6.68832036e-01 7.43362773e-01 -8.68877413e-03 -1.55881020e+02] [-1.31978824e-02 -1.87188974e-04 9.99912887e-01 1.90498617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.422320588 meters 0.022048713362855184 Centerline is valid? [True, True] Translation: X:351.88, Y:-155.91, Z:1.91 [[ 7.42143100e-01 6.70175430e-01 9.40806998e-03 3.51883546e+02] [-6.70124564e-01 7.42202710e-01 -8.25874828e-03 -1.55906576e+02] [-1.25175052e-02 -1.75405737e-04 9.99921638e-01 1.90575860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45232058799996 meters 0.022373407296555604 Centerline is valid? [True, True] Translation: X:351.92, Y:-155.93, Z:1.91 [[ 7.40374840e-01 6.72132374e-01 9.11965042e-03 3.51917255e+02] [-6.72084411e-01 7.40430982e-01 -8.03152744e-03 -1.55933395e+02] [-1.21507213e-02 -1.82834037e-04 9.99926161e-01 1.90572252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48232058799994 meters 0.022205218742642027 Centerline is valid? [True, True] Translation: X:351.95, Y:-155.96, Z:1.91 [[ 7.39689892e-01 6.72897130e-01 8.26534095e-03 3.51951362e+02] [-6.72857504e-01 7.39736052e-01 -7.30427591e-03 -1.55959892e+02] [-1.10291970e-02 -1.58497627e-04 9.99939164e-01 1.90612814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51232058799997 meters 0.021994084358821643 Centerline is valid? [True, True] Translation: X:351.99, Y:-155.99, Z:1.91 [[ 7.38502880e-01 6.74211468e-01 7.23828861e-03 3.51987569e+02] [-6.74180905e-01 7.38538338e-01 -6.42109138e-03 -1.55985352e+02] [-9.67492709e-03 -1.37921492e-04 9.99953187e-01 1.90709697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54232058799994 meters 0.02173296182811916 Centerline is valid? [True, True] Translation: X:352.02, Y:-156.01, Z:1.91 [[ 7.38265450e-01 6.74458039e-01 8.39511885e-03 3.52022523e+02] [-6.74416687e-01 7.38313166e-01 -7.46998751e-03 -1.56010753e+02] [-1.12364199e-02 -1.46974552e-04 9.99936859e-01 1.90586636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57232058799997 meters 0.02123532344505733 Centerline is valid? [True, True] Translation: X:352.06, Y:-156.04, Z:1.91 [[ 7.38284973e-01 6.74440204e-01 8.10610619e-03 3.52058831e+02] [-6.74401360e-01 7.38329463e-01 -7.23944038e-03 -1.56037217e+02] [-1.08675467e-02 -1.21998992e-04 9.99940939e-01 1.90666761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60232058799994 meters 0.02088812305002712 Centerline is valid? [True, True] Translation: X:352.09, Y:-156.06, Z:1.91 [[ 7.38141604e-01 6.74594878e-01 8.28987450e-03 3.52092610e+02] [-6.74553998e-01 7.38188146e-01 -7.42734280e-03 -1.56063632e+02] [-1.11299345e-02 -1.09537261e-04 9.99938054e-01 1.90696225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63232058799997 meters 0.0204814122948259 Centerline is valid? [True, True] Translation: X:352.13, Y:-156.09, Z:1.91 [[ 7.38587886e-01 6.74118959e-01 7.18079461e-03 3.52127319e+02] [-6.74088088e-01 7.38622789e-01 -6.45180116e-03 -1.56089005e+02] [-9.65318002e-03 -7.52659259e-05 9.99953404e-01 1.90815473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66232058799994 meters 0.020231296786229917 Centerline is valid? [True, True] Translation: X:352.16, Y:-156.12, Z:1.91 [[ 7.38008082e-01 6.74751254e-01 7.40381224e-03 3.52161329e+02] [-6.74718282e-01 7.38045216e-01 -6.67076488e-03 -1.56115968e+02] [-9.96545517e-03 -7.24090851e-05 9.99950341e-01 1.90840222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.692320588 meters 0.02000078263660641 Centerline is valid? [True, True] Translation: X:352.20, Y:-156.14, Z:1.91 [[ 7.38053702e-01 6.74698879e-01 7.62596689e-03 3.52197912e+02] [-6.74663615e-01 7.38093097e-01 -6.89829371e-03 -1.56143172e+02] [-1.02829446e-02 -5.36511755e-05 9.99947128e-01 1.90884248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72232058799995 meters 0.019965993999008447 Centerline is valid? [True, True] Translation: X:352.23, Y:-156.17, Z:1.91 [[ 7.37761777e-01 6.75026581e-01 6.83192798e-03 3.52231590e+02] [-6.74998143e-01 7.37793408e-01 -6.19622847e-03 -1.56170069e+02] [-9.22317035e-03 -4.01981756e-05 9.99957465e-01 1.90913775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.752320588 meters 0.019908637915990977 Centerline is valid? [True, True] Translation: X:352.27, Y:-156.20, Z:1.91 [[ 7.36821868e-01 6.76053190e-01 6.75423189e-03 3.52265214e+02] [-6.76025278e-01 7.36852823e-01 -6.14334543e-03 -1.56197552e+02] [-9.13010311e-03 -3.94802425e-05 9.99958319e-01 1.90937546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78232058799995 meters 0.019812283212251473 Centerline is valid? [True, True] Translation: X:352.30, Y:-156.22, Z:1.91 [[ 7.35868783e-01 6.77086945e-01 7.09947479e-03 3.52301369e+02] [-6.77055917e-01 7.35903029e-01 -6.48214906e-03 -1.56223600e+02] [-9.61350351e-03 -3.67302721e-05 9.99953789e-01 1.90913641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.812320588 meters 0.019849403539228025 Centerline is valid? [True, True] Translation: X:352.34, Y:-156.25, Z:1.91 [[ 7.35194032e-01 6.77798161e-01 8.91004673e-03 3.52335490e+02] [-6.77749062e-01 7.35248021e-01 -8.15829652e-03 -1.56249087e+02] [-1.20807726e-02 -4.08449019e-05 9.99927024e-01 1.90776348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84232058799995 meters 0.01984049570706105 Centerline is valid? [True, True] Translation: X:352.37, Y:-156.28, Z:1.91 [[ 7.34559135e-01 6.78482177e-01 9.20943978e-03 3.52368321e+02] [-6.78429477e-01 7.34616863e-01 -8.45636045e-03 -1.56275584e+02] [-1.25028996e-02 -3.62585939e-05 9.99921835e-01 1.90799359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.872320588 meters 0.019582746824700396 Centerline is valid? [True, True] Translation: X:352.40, Y:-156.30, Z:1.91 [[ 7.33109900e-01 6.80061542e-01 8.13478921e-03 3.52401991e+02] [-6.80020216e-01 7.33155030e-01 -7.49713019e-03 -1.56302777e+02] [-1.10625715e-02 -3.56007534e-05 9.99938807e-01 1.90886024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90232058799995 meters 0.019617475649942786 Centerline is valid? [True, True] Translation: X:352.44, Y:-156.33, Z:1.91 [[ 7.31827916e-01 6.81450419e-01 7.29575352e-03 3.52436902e+02] [-6.81417011e-01 7.31864281e-01 -6.74778347e-03 -1.56327990e+02] [-9.93778128e-03 -3.32342415e-05 9.99950618e-01 1.90803205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.932320588 meters 0.019492431209438593 Centerline is valid? [True, True] Translation: X:352.47, Y:-156.36, Z:1.91 [[ 7.31009501e-01 6.82330531e-01 7.08207421e-03 3.52470623e+02] [-6.82298924e-01 7.31043805e-01 -6.56753633e-03 -1.56355381e+02] [-9.65853703e-03 -3.11601587e-05 9.99953355e-01 1.90897145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96232058799995 meters 0.019519614336598046 Centerline is valid? [True, True] Translation: X:352.50, Y:-156.38, Z:1.91 [[ 7.30312510e-01 6.83068577e-01 7.80753674e-03 3.52503779e+02] [-6.83030008e-01 7.30354242e-01 -7.25882201e-03 -1.56382032e+02] [-1.06605408e-02 -3.15733559e-05 9.99943174e-01 1.90916629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.992320588 meters 0.019345113079676964 Centerline is valid? [True, True] Translation: X:352.54, Y:-156.41, Z:1.91 [[ 7.29678495e-01 6.83752541e-01 7.19427299e-03 3.52539194e+02] [-6.83719557e-01 7.29713960e-01 -6.71599526e-03 -1.56409364e+02] [-9.84184025e-03 -1.83478341e-05 9.99951568e-01 1.91022453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02232058799996 meters 0.01952547575910539 Centerline is valid? [True, True] Translation: X:352.57, Y:-156.44, Z:1.91 [[ 7.29010544e-01 6.84449747e-01 8.49536899e-03 3.52574467e+02] [-6.84403486e-01 7.29060041e-01 -7.95764055e-03 -1.56437121e+02] [-1.16402391e-02 -1.30562918e-05 9.99932250e-01 1.90867093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.052320588 meters 0.019464369824759017 Centerline is valid? [True, True] Translation: X:352.61, Y:-156.47, Z:1.91 [[ 7.28038079e-01 6.85485213e-01 8.40110460e-03 3.52611028e+02] [-6.85439609e-01 7.28086549e-01 -7.90691657e-03 -1.56465884e+02] [-1.15368056e-02 -1.91350039e-06 9.99933449e-01 1.90850572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08232058799996 meters 0.019129696710174254 Centerline is valid? [True, True] Translation: X:352.64, Y:-156.49, Z:1.91 [[ 7.27854003e-01 6.85697039e-01 6.93687363e-03 3.52644225e+02] [-6.85665801e-01 7.27887059e-01 -6.54520695e-03 -1.56492662e+02] [-9.53728957e-03 7.57806765e-06 9.99954519e-01 1.91001627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.112320588 meters 0.018878522092198147 Centerline is valid? [True, True] Translation: X:352.68, Y:-156.52, Z:1.91 [[ 7.27249642e-01 6.86338625e-01 6.87383923e-03 3.52676251e+02] [-6.86307813e-01 7.27282127e-01 -6.50345411e-03 -1.56520321e+02] [-9.46279217e-03 1.20651114e-05 9.99955227e-01 1.91045013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14232058799996 meters 0.019075390502589096 Centerline is valid? [True, True] Translation: X:352.71, Y:-156.55, Z:1.91 [[ 7.27082082e-01 6.86512840e-01 7.19495866e-03 3.52710477e+02] [-6.86478892e-01 7.27117680e-01 -6.82715236e-03 -1.56547030e+02] [-9.91850940e-03 2.47128954e-05 9.99950810e-01 1.90939403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.172320588 meters 0.019148061813954093 Centerline is valid? [True, True] Translation: X:352.74, Y:-156.57, Z:1.91 [[ 7.26308739e-01 6.87332312e-01 7.06464012e-03 3.52743286e+02] [-6.87299392e-01 7.26343095e-01 -6.72710303e-03 -1.56574318e+02] [-9.75510785e-03 3.04308612e-05 9.99952417e-01 1.90940965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20232058799996 meters 0.01917693189345285 Centerline is valid? [True, True] Translation: X:352.77, Y:-156.60, Z:1.91 [[ 7.26030207e-01 6.87631491e-01 6.56284491e-03 3.52774731e+02] [-6.87602950e-01 7.26059868e-01 -6.26509198e-03 -1.56602375e+02] [-9.07309285e-03 3.60145067e-05 9.99958838e-01 1.91027992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23232058799994 meters 0.019058940850715203 Centerline is valid? [True, True] Translation: X:352.81, Y:-156.63, Z:1.91 [[ 7.25285712e-01 6.88413456e-01 6.89565620e-03 3.52806212e+02] [-6.88381815e-01 7.25318490e-01 -6.60033159e-03 -1.56630023e+02] [-9.54530402e-03 4.02818597e-05 9.99954442e-01 1.91000097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26232058799997 meters 0.01908749276103737 Centerline is valid? [True, True] Translation: X:352.84, Y:-156.66, Z:1.91 [[ 7.24501460e-01 6.89244071e-01 6.34386774e-03 3.52838618e+02] [-6.89217173e-01 7.24529232e-01 -6.08930816e-03 -1.56657727e+02] [-8.79333717e-03 3.94100623e-05 9.99961337e-01 1.91019867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29232058799994 meters 0.018921138975059225 Centerline is valid? [True, True] Translation: X:352.87, Y:-156.68, Z:1.91 [[ 7.23212673e-01 6.90589985e-01 6.99300918e-03 3.52871569e+02] [-6.90557194e-01 7.23246481e-01 -6.72976856e-03 -1.56683805e+02] [-9.70518004e-03 3.79811101e-05 9.99952903e-01 1.90843557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32232058799997 meters 0.0189016138960613 Centerline is valid? [True, True] Translation: X:352.91, Y:-156.72, Z:1.91 [[ 7.20573575e-01 6.93353781e-01 5.85300752e-03 3.52905231e+02] [-6.93330689e-01 7.20597345e-01 -5.65880610e-03 -1.56715052e+02] [-8.14121629e-03 1.95164026e-05 9.99966860e-01 1.91028574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35232058799994 meters 0.01890867010211783 Centerline is valid? [True, True] Translation: X:352.94, Y:-156.74, Z:1.91 [[ 7.19002932e-01 6.94976973e-01 6.46454130e-03 3.52936209e+02] [-6.94948749e-01 7.19031993e-01 -6.26340342e-03 -1.56743727e+02] [-9.00113316e-03 1.08805343e-05 9.99959489e-01 1.91031447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38232058799997 meters 0.01890423155414214 Centerline is valid? [True, True] Translation: X:352.97, Y:-156.77, Z:1.91 [[ 7.17732285e-01 6.96287418e-01 6.64818974e-03 3.52969478e+02] [-6.96257385e-01 7.17763075e-01 -6.46697742e-03 -1.56773247e+02] [-9.27470012e-03 1.27072754e-05 9.99956989e-01 1.91027497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41232058799994 meters 0.018804951375518453 Centerline is valid? [True, True] Translation: X:353.00, Y:-156.80, Z:1.91 [[ 7.15844859e-01 6.98234693e-01 5.86954477e-03 3.53001442e+02] [-6.98211218e-01 7.15868922e-01 -5.72552688e-03 -1.56800574e+02] [-8.19958619e-03 4.06988454e-07 9.99966383e-01 1.91111655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.442320588 meters 0.0186296311748326 Centerline is valid? [True, True] Translation: X:353.03, Y:-156.83, Z:1.91 [[ 7.13905522e-01 7.00221206e-01 5.40068080e-03 3.53033354e+02] [-7.00201241e-01 7.13925950e-01 -5.28773805e-03 -1.56828935e+02] [-7.55827249e-03 -6.61799781e-06 9.99971436e-01 1.91176922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47232058799995 meters 0.018928956586946207 Centerline is valid? [True, True] Translation: X:353.07, Y:-156.86, Z:1.91 [[ 7.11343043e-01 7.02823336e-01 5.51665606e-03 3.53065553e+02] [-7.02802476e-01 7.11364433e-01 -5.41499918e-03 -1.56856958e+02] [-7.73014071e-03 -2.51975496e-05 9.99970122e-01 1.91156553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.502320588 meters 0.01892681016903837 Centerline is valid? [True, True] Translation: X:353.10, Y:-156.88, Z:1.91 [[ 7.10330782e-01 7.03846501e-01 5.50291992e-03 3.53098118e+02] [-7.03825623e-01 7.10352097e-01 -5.42128936e-03 -1.56884752e+02] [-7.72476625e-03 -2.21873322e-05 9.99970163e-01 1.91168386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53232058799995 meters 0.01913111905874075 Centerline is valid? [True, True] Translation: X:353.13, Y:-156.92, Z:1.91 [[ 7.07855794e-01 7.06334016e-01 5.69497322e-03 3.53133216e+02] [-7.06311510e-01 7.07878702e-01 -5.63858766e-03 -1.56915819e+02] [-8.01407651e-03 -3.11181893e-05 9.99967886e-01 1.91156590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.562320588 meters 0.01949973910749353 Centerline is valid? [True, True] Translation: X:353.17, Y:-156.95, Z:1.91 [[ 7.05557668e-01 7.08626448e-01 6.07730411e-03 3.53165656e+02] [-7.08600758e-01 7.05583839e-01 -6.03423197e-03 -1.56945440e+02] [-8.56406394e-03 -4.88836561e-05 9.99963327e-01 1.91154918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59232058799995 meters 0.01943229838925975 Centerline is valid? [True, True] Translation: X:353.20, Y:-156.97, Z:1.91 [[ 7.04338239e-01 7.09837501e-01 6.19419219e-03 3.53197785e+02] [-7.09810678e-01 7.04365473e-01 -6.17104967e-03 -1.56974375e+02] [-8.74341759e-03 -5.01975027e-05 9.99961774e-01 1.91231853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.622320588 meters 0.019471084094208276 Centerline is valid? [True, True] Translation: X:353.23, Y:-157.00, Z:1.91 [[ 7.02772045e-01 7.11387800e-01 6.23313486e-03 3.53231494e+02] [-7.11360546e-01 7.02799684e-01 -6.22724273e-03 -1.57001435e+02] [-8.81062971e-03 -5.76741171e-05 9.99961184e-01 1.91223467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65232058799995 meters 0.01950684240444313 Centerline is valid? [True, True] Translation: X:353.26, Y:-157.03, Z:1.91 [[ 7.01653203e-01 7.12493024e-01 6.03930284e-03 3.53264427e+02] [-7.12467295e-01 7.01679192e-01 -6.05525506e-03 -1.57029140e+02] [-8.55198013e-03 -5.41166439e-05 9.99963430e-01 1.91221131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.682320588 meters 0.019534615539570418 Centerline is valid? [True, True] Translation: X:354.19, Y:-156.14, Z:3.75 [[ 7.66322346e-01 -6.42329575e-01 1.27585272e-02 3.54188870e+02] [-6.42230877e-01 -7.66428420e-01 -1.12684757e-02 -1.56138848e+02] [ 1.70165730e-02 4.41364595e-04 -9.99855110e-01 3.75250796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71232058799995 meters 0.019743386721976976 Centerline is valid? [True, True] Translation: X:353.38, Y:-157.15, Z:1.91 [[ 7.56386297e-01 6.54089981e-01 6.78724463e-03 3.53383937e+02] [-6.54064456e-01 7.56416745e-01 -5.77886448e-03 -1.57147413e+02] [-8.91388285e-03 -6.82415665e-05 9.99960268e-01 1.91222615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.742320588 meters 0.019461836155527823 Centerline is valid? [True, True] Translation: X:353.42, Y:-157.17, Z:1.91 [[ 7.56487704e-01 6.53991752e-01 4.59800793e-03 3.53418321e+02] [-6.53979942e-01 7.56501677e-01 -3.93056944e-03 -1.57171121e+02] [-6.04896071e-03 -3.35775046e-05 9.99981704e-01 1.91366467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77232058799996 meters 0.019182967223393306 Centerline is valid? [True, True] Translation: X:353.45, Y:-157.20, Z:1.91 [[ 7.56233886e-01 6.54279057e-01 5.40599730e-03 3.53452506e+02] [-6.54262659e-01 7.56253208e-01 -4.63238769e-03 -1.57195440e+02] [-7.11917705e-03 -3.37736228e-05 9.99974658e-01 1.91325664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.802320588 meters 0.01897320042010882 Centerline is valid? [True, True] Translation: X:353.49, Y:-157.22, Z:1.92 [[ 7.55725509e-01 6.54852834e-01 6.83526373e-03 3.53486551e+02] [-6.54826500e-01 7.55756419e-01 -5.87283476e-03 -1.57217395e+02] [-9.01163692e-03 -3.76607844e-05 9.99959394e-01 1.91645447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83232058799996 meters 0.01923362707486685 Centerline is valid? [True, True] Translation: X:353.52, Y:-157.24, Z:1.91 [[ 7.55527223e-01 6.55073302e-01 7.58843804e-03 3.53519148e+02] [-6.55040676e-01 7.55565330e-01 -6.53799730e-03 -1.57242157e+02] [-1.00164282e-02 -3.11006428e-05 9.99949834e-01 1.91429875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.862320588 meters 0.018948245594145676 Centerline is valid? [True, True] Translation: X:353.55, Y:-157.26, Z:1.91 [[ 7.56802497e-01 6.53606340e-01 6.98080678e-03 3.53553163e+02] [-6.53578531e-01 7.56834692e-01 -6.02930771e-03 -1.57264600e+02] [-9.22411050e-03 4.89697514e-07 9.99957457e-01 1.91344534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89232058799996 meters 0.018881529663369534 Centerline is valid? [True, True] Translation: X:353.59, Y:-157.29, Z:1.91 [[ 7.57113376e-01 6.53247980e-01 6.81267410e-03 3.53587723e+02] [-6.53221280e-01 7.57144026e-01 -5.90623873e-03 -1.57289671e+02] [-9.01641401e-03 2.15086478e-05 9.99959351e-01 1.91373027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92232058799993 meters 0.018995317225782314 Centerline is valid? [True, True] Translation: X:353.62, Y:-157.31, Z:1.91 [[ 7.59038510e-01 6.51009674e-01 6.85158249e-03 3.53621504e+02] [-6.50982464e-01 7.59069431e-01 -5.95233115e-03 -1.57312516e+02] [-9.07585198e-03 5.77885131e-05 9.99958812e-01 1.91451881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95232058799996 meters 0.018873017150581456 Centerline is valid? [True, True] Translation: X:353.65, Y:-157.34, Z:1.92 [[ 7.60366434e-01 6.49450904e-01 7.51060284e-03 3.53654372e+02] [-6.49417933e-01 7.60403520e-01 -6.54478031e-03 -1.57336757e+02] [-9.96160232e-03 9.89110890e-05 9.99950377e-01 1.91643510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98232058799994 meters 0.018873017150581456 Centerline is valid? [True, True] Translation: X:353.69, Y:-157.36, Z:1.92 [[ 7.59421211e-01 6.50556037e-01 7.50110245e-03 3.53685102e+02] [-6.50523013e-01 7.59458249e-01 -6.55567300e-03 -1.57362418e+02] [-9.96160678e-03 9.88773643e-05 9.99950377e-01 1.91659553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01232058799997 meters 0.01900710736268464 Centerline is valid? [True, True] Translation: X:353.72, Y:-157.39, Z:1.92 [[ 7.59133851e-01 6.50897046e-01 6.98797931e-03 3.53716652e+02] [-6.50868229e-01 7.59166006e-01 -6.12563111e-03 -1.57387775e+02] [-9.29219154e-03 1.01920211e-04 9.99956821e-01 1.91694810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04232058799994 meters 0.0196537122956222 Centerline is valid? [True, True] Translation: X:353.75, Y:-157.41, Z:1.91 [[ 7.58788533e-01 6.51290894e-01 7.75456392e-03 3.53749492e+02] [-6.51255232e-01 7.58828147e-01 -6.81655905e-03 -1.57411902e+02] [-1.03239442e-02 1.22126518e-04 9.99946699e-01 1.91368861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07232058799997 meters 0.01918742173946374 Centerline is valid? [True, True] Translation: X:353.78, Y:-157.44, Z:1.92 [[ 7.59706292e-01 6.50221011e-01 7.68024565e-03 3.53779490e+02] [-6.50185771e-01 7.59745098e-01 -6.77126961e-03 -1.57438965e+02] [-1.02378508e-02 1.50589685e-04 9.99947580e-01 1.91607186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10232058799994 meters 0.020499225081172256 Centerline is valid? [True, True] Translation: X:353.81, Y:-157.46, Z:1.91 [[ 7.59490481e-01 6.50478085e-01 7.24358115e-03 3.53811591e+02] [-6.50446565e-01 7.59525008e-01 -6.40533941e-03 -1.57464160e+02] [-9.66821394e-03 1.53231835e-04 9.99953250e-01 1.91286702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13232058799997 meters 0.019493682263456952 Centerline is valid? [True, True] Translation: X:353.84, Y:-157.49, Z:1.92 [[ 7.59754352e-01 6.50181238e-01 6.13858861e-03 3.53839603e+02] [-6.50158454e-01 7.59779136e-01 -5.44509314e-03 -1.57493212e+02] [-8.20426896e-03 1.45877927e-04 9.99966334e-01 1.91628466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16232058799994 meters 0.019264976437261924 Centerline is valid? [True, True] Translation: X:353.87, Y:-157.52, Z:1.92 [[ 7.58743508e-01 6.51367642e-01 5.33707697e-03 3.53869778e+02] [-6.51350340e-01 7.58762268e-01 -4.74919470e-03 -1.57520444e+02] [-7.14304437e-03 1.27113745e-04 9.99974480e-01 1.91696135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.192320588 meters 0.019264976437261924 Centerline is valid? [True, True] Translation: X:353.90, Y:-157.55, Z:1.92 [[ 7.57689163e-01 6.52593851e-01 5.32899084e-03 3.53901454e+02] [-6.52576516e-01 7.57707892e-01 -4.75827469e-03 -1.57547448e+02] [-7.14303922e-03 1.27718888e-04 9.99974480e-01 1.91712802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22232058799995 meters 0.02058092245936963 Centerline is valid? [True, True] Translation: X:353.93, Y:-157.57, Z:1.92 [[ 7.55940759e-01 6.54617667e-01 5.41105988e-03 3.53933202e+02] [-6.54599748e-01 7.55960115e-01 -4.84500811e-03 -1.57572304e+02] [-7.26217335e-03 1.20460672e-04 9.99973623e-01 1.91525589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.252320588 meters 0.020165769346614765 Centerline is valid? [True, True] Translation: X:353.96, Y:-157.60, Z:1.92 [[ 7.54601930e-01 6.56150179e-01 6.54751341e-03 3.53961118e+02] [-6.56123935e-01 7.54630323e-01 -5.87003848e-03 -1.57599662e+02] [-8.79257896e-03 1.33562102e-04 9.99961336e-01 1.91572681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28232058799995 meters 0.019708614233706644 Centerline is valid? [True, True] Translation: X:353.99, Y:-157.63, Z:1.92 [[ 7.52472923e-01 6.58587012e-01 6.90266952e-03 3.53989295e+02] [-6.58557807e-01 7.52504573e-01 -6.20346808e-03 -1.57627575e+02] [-9.27981388e-03 1.22134865e-04 9.99956934e-01 1.91600705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.312320588 meters 0.018979244961852847 Centerline is valid? [True, True] Translation: X:354.02, Y:-157.66, Z:1.92 [[ 7.50710209e-01 6.60579011e-01 8.33981911e-03 3.54018364e+02] [-6.60536255e-01 7.50756520e-01 -7.51688964e-03 -1.57656457e+02] [-1.12266731e-02 1.34252909e-04 9.99936970e-01 1.91733420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34232058799995 meters 0.018686337013620446 Centerline is valid? [True, True] Translation: X:354.05, Y:-157.69, Z:1.92 [[ 7.47753858e-01 6.63932683e-01 7.58679045e-03 3.54046907e+02] [-6.63897262e-01 7.47792340e-01 -6.85875856e-03 -1.57685512e+02] [-1.02270978e-02 9.18137745e-05 9.99947698e-01 1.91871847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.372320588 meters 0.01905069300736755 Centerline is valid? [True, True] Translation: X:354.08, Y:-157.71, Z:1.92 [[ 7.46219657e-01 6.65654459e-01 7.76945696e-03 3.54078122e+02] [-6.65617189e-01 7.46260098e-01 -7.04439428e-03 -1.57711285e+02] [-1.04871682e-02 8.51813771e-05 9.99945005e-01 1.91592320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40232058799995 meters 0.01898075594135262 Centerline is valid? [True, True] Translation: X:354.11, Y:-157.74, Z:1.91 [[ 7.43699944e-01 6.68459640e-01 8.49141723e-03 3.54108927e+02] [-6.68415102e-01 7.43748416e-01 -7.71657731e-03 -1.57737759e+02] [-1.14736986e-02 6.30266024e-05 9.99934173e-01 1.91431037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.432320588 meters 0.019022652119243647 Centerline is valid? [True, True] Translation: X:354.14, Y:-157.76, Z:1.91 [[ 7.42025266e-01 6.70315410e-01 8.70376834e-03 3.54139106e+02] [-6.70268512e-01 7.42076309e-01 -7.92931784e-03 -1.57764592e+02] [-1.17740042e-02 4.98923272e-05 9.99930683e-01 1.91436598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46232058799995 meters 0.019155663980003065 Centerline is valid? [True, True] Translation: X:354.17, Y:-157.79, Z:1.91 [[ 7.38658623e-01 6.74016535e-01 9.22764467e-03 3.54167912e+02] [-6.73963852e-01 7.38716258e-01 -8.42708479e-03 -1.57793700e+02] [-1.24966056e-02 5.63989606e-06 9.99921914e-01 1.91476213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.492320588 meters 0.019063143803214187 Centerline is valid? [True, True] Translation: X:354.20, Y:-157.82, Z:1.92 [[ 7.36868999e-01 6.75983481e-01 8.39120721e-03 3.54199359e+02] [-6.75939809e-01 7.36916775e-01 -7.68385909e-03 -1.57820866e+02] [-1.13777832e-02 -9.95344386e-06 9.99935271e-01 1.91596984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52232058799996 meters 0.01944715587082882 Centerline is valid? [True, True] Translation: X:354.23, Y:-157.85, Z:1.92 [[ 7.33451973e-01 6.79701076e-01 7.39252747e-03 3.54231062e+02] [-6.79667183e-01 7.33489226e-01 -6.78793303e-03 -1.57846918e+02] [-1.00361046e-02 -4.58354426e-05 9.99949636e-01 1.91566601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.552320588 meters 0.019610290939893263 Centerline is valid? [True, True] Translation: X:354.26, Y:-157.87, Z:1.92 [[ 7.31896914e-01 6.81370070e-01 7.85718401e-03 3.54262152e+02] [-6.81331684e-01 7.31939085e-01 -7.23269771e-03 -1.57873831e+02] [-1.06791238e-02 -5.97592815e-05 9.99942975e-01 1.91603217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58232058799996 meters 0.02001816347065012 Centerline is valid? [True, True] Translation: X:354.29, Y:-157.90, Z:1.92 [[ 7.29062367e-01 6.84405478e-01 7.56358712e-03 3.54293716e+02] [-6.84369874e-01 7.29101594e-01 -6.98143913e-03 -1.57900404e+02] [-1.02927586e-02 -8.63866317e-05 9.99947024e-01 1.91731490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.612320588 meters 0.020482750171941184 Centerline is valid? [True, True] Translation: X:354.33, Y:-157.93, Z:1.92 [[ 7.27082407e-01 6.86493770e-01 8.80212959e-03 3.54325469e+02] [-6.86445461e-01 7.27135675e-01 -8.14490655e-03 -1.57926898e+02] [-1.19917700e-02 -1.20163651e-04 9.99928089e-01 1.91630312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64232058799996 meters 0.019784485360077726 Centerline is valid? [True, True] Translation: X:354.36, Y:-157.95, Z:1.92 [[ 7.25809935e-01 6.87835666e-01 9.05729055e-03 3.54359427e+02] [-6.87784245e-01 7.25866435e-01 -8.41132765e-03 -1.57951501e+02] [-1.23599944e-02 -1.24436565e-04 9.99923605e-01 1.91945958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67232058799993 meters 0.021114771154667082 Centerline is valid? [True, True] Translation: X:354.39, Y:-157.98, Z:1.92 [[ 7.23460055e-01 6.90309557e-01 8.84674615e-03 3.54390574e+02] [-6.90260374e-01 7.23514129e-01 -8.24147415e-03 -1.57980012e+02] [-1.20899142e-02 -1.44180970e-04 9.99926904e-01 1.91891717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70232058799996 meters 0.020715211213358727 Centerline is valid? [True, True] Translation: X:354.42, Y:-158.01, Z:1.92 [[ 7.22790420e-01 6.91026304e-01 7.52701904e-03 3.54424012e+02] [-6.90990553e-01 7.22829602e-01 -7.03006606e-03 -1.58005250e+02] [-1.02987127e-02 -1.19834653e-04 9.99946960e-01 1.92107340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73232058799994 meters 0.020796177934013917 Centerline is valid? [True, True] Translation: X:354.46, Y:-158.03, Z:1.92 [[ 7.21918741e-01 6.91937203e-01 7.49930452e-03 3.54456264e+02] [-6.91901574e-01 7.21957681e-01 -7.02273082e-03 -1.58031858e+02] [-1.02734692e-02 -1.18939604e-04 9.99947219e-01 1.92083263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76232058799997 meters 0.02057686320580632 Centerline is valid? [True, True] Translation: X:354.49, Y:-158.06, Z:1.92 [[ 7.21875098e-01 6.91981984e-01 7.56807391e-03 3.54490319e+02] [-6.91945500e-01 7.21914761e-01 -7.10655312e-03 -1.58057434e+02] [-1.03811110e-02 -1.06650952e-04 9.99946109e-01 1.92014561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79232058799994 meters 0.020641073321427336 Centerline is valid? [True, True] Translation: X:354.52, Y:-158.08, Z:1.92 [[ 7.21761535e-01 6.92098803e-01 7.71583701e-03 3.54521978e+02] [-6.92060689e-01 7.21802770e-01 -7.26388453e-03 -1.58083946e+02] [-1.05966383e-02 -9.70350308e-05 9.99943849e-01 1.92036745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82232058799997 meters 0.020394989949809237 Centerline is valid? [True, True] Translation: X:354.55, Y:-158.11, Z:1.92 [[ 7.21521208e-01 6.92351037e-01 7.56224947e-03 3.54554708e+02] [-6.92314235e-01 7.21560832e-01 -7.13899087e-03 -1.58110940e+02] [-1.03993108e-02 -8.45196381e-05 9.99945922e-01 1.92053812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85232058799994 meters 0.02017726431342085 Centerline is valid? [True, True] Translation: X:354.59, Y:-158.14, Z:1.92 [[ 7.21797640e-01 6.92061298e-01 7.70237968e-03 3.54586980e+02] [-6.92022914e-01 7.21838732e-01 -7.28914956e-03 -1.58136497e+02] [-1.06044143e-02 -6.89322761e-05 9.99943769e-01 1.92202029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88232058799997 meters 0.019983266823549364 Centerline is valid? [True, True] Translation: X:354.62, Y:-158.16, Z:1.92 [[ 7.21975414e-01 6.91886526e-01 6.67355796e-03 3.54618517e+02] [-6.91857539e-01 7.22006256e-01 -6.33341698e-03 -1.58163333e+02] [-9.20035646e-03 -4.45800424e-05 9.99957675e-01 1.92318817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91232058799994 meters 0.019898125973970882 Centerline is valid? [True, True] Translation: X:354.65, Y:-158.19, Z:1.92 [[ 7.21424828e-01 6.92464006e-01 6.31023952e-03 3.54651644e+02] [-6.92437941e-01 7.21452424e-01 -6.00814836e-03 -1.58190924e+02] [-8.71296408e-03 -3.50218642e-05 9.99962041e-01 1.92326639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.942320588 meters 0.020027178594791542 Centerline is valid? [True, True] Translation: X:354.68, Y:-158.22, Z:1.92 [[ 7.20565859e-01 6.93352205e-01 6.89655544e-03 3.54684105e+02] [-6.93320954e-01 7.20598861e-01 -6.58305131e-03 -1.58218796e+02] [-9.53402314e-03 -3.80043746e-05 9.99954549e-01 1.92254981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97232058799995 meters 0.02022219875721487 Centerline is valid? [True, True] Translation: X:354.72, Y:-158.25, Z:1.92 [[ 7.19730505e-01 6.94209584e-01 7.81368648e-03 3.54715551e+02] [-6.94169321e-01 7.19772917e-01 -7.47669829e-03 -1.58245874e+02] [-1.08144755e-02 -4.28136071e-05 9.99941521e-01 1.92187728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.002320588 meters 0.020439006745366466 Centerline is valid? [True, True] Translation: X:354.75, Y:-158.27, Z:1.92 [[ 7.18758531e-01 6.95201082e-01 9.03497083e-03 3.54747292e+02] [-6.95147061e-01 7.18815313e-01 -8.66662778e-03 -1.58273092e+02] [-1.25195244e-02 -5.14207702e-05 9.99921626e-01 1.92300069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03232058799995 meters 0.020357109674167557 Centerline is valid? [True, True] Translation: X:354.79, Y:-158.31, Z:1.92 [[ 7.16784249e-01 6.97243820e-01 8.44965858e-03 3.54786888e+02] [-6.97196037e-01 7.16834049e-01 -8.16282003e-03 -1.58306763e+02] [-1.17484788e-02 -4.00876504e-05 9.99930983e-01 1.92493005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.062320588 meters 0.019845277342938606 Centerline is valid? [True, True] Translation: X:354.82, Y:-158.33, Z:1.93 [[ 7.15878139e-01 6.98175393e-01 8.34329465e-03 3.54818634e+02] [-6.98128669e-01 7.15926755e-01 -8.07727066e-03 -1.58333417e+02] [-1.16125395e-02 -4.23517003e-05 9.99932571e-01 1.92814324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09232058799995 meters 0.020421976536661075 Centerline is valid? [True, True] Translation: X:354.85, Y:-158.36, Z:1.93 [[ 7.14372877e-01 6.99713460e-01 8.51269040e-03 3.54849659e+02] [-6.99664614e-01 7.14423594e-01 -8.26784624e-03 -1.58361363e+02] [-1.18667902e-02 -4.97031285e-05 9.99929586e-01 1.92501352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.122320588 meters 0.020130072312113338 Centerline is valid? [True, True] Translation: X:354.88, Y:-158.39, Z:1.93 [[ 7.13339712e-01 7.00760983e-01 8.97212903e-03 3.54883339e+02] [-7.00706478e-01 7.13396132e-01 -8.74011733e-03 -1.58385623e+02] [-1.25254154e-02 -5.21561490e-05 9.99921553e-01 1.92652981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15232058799995 meters 0.020267013142203926 Centerline is valid? [True, True] Translation: X:354.92, Y:-158.41, Z:1.93 [[ 7.12273095e-01 7.01845975e-01 8.90313315e-03 3.54915232e+02] [-7.01792038e-01 7.12328734e-01 -8.70115175e-03 -1.58413886e+02] [-1.24488259e-02 -5.05516743e-05 9.99922509e-01 1.92697646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.182320588 meters 0.020302690490938094 Centerline is valid? [True, True] Translation: X:354.95, Y:-158.44, Z:1.93 [[ 7.11133474e-01 7.03000552e-01 8.91104235e-03 3.54947680e+02] [-7.02946267e-01 7.11189301e-01 -8.73633831e-03 -1.58441321e+02] [-1.24790886e-02 -5.12813425e-05 9.99922132e-01 1.92909791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21232058799995 meters 0.02007789870253567 Centerline is valid? [True, True] Translation: X:354.98, Y:-158.47, Z:1.93 [[ 7.10924869e-01 7.03224331e-01 7.83394456e-03 3.54981009e+02] [-7.03182120e-01 7.10968029e-01 -7.70501626e-03 -1.58466780e+02] [-1.09880390e-02 -3.10020704e-05 9.99939629e-01 1.92965428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.242320588 meters 0.02017263875509838 Centerline is valid? [True, True] Translation: X:355.01, Y:-158.49, Z:1.93 [[ 7.09909863e-01 7.04254577e-01 7.31280180e-03 3.55013234e+02] [-7.04217528e-01 7.09947526e-01 -7.22381791e-03 -1.58494487e+02] [-1.02791124e-02 -2.15436225e-05 9.99947168e-01 1.93003247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27232058799996 meters 0.02010879501647316 Centerline is valid? [True, True] Translation: X:355.04, Y:-158.52, Z:1.93 [[ 7.09335952e-01 7.04830153e-01 7.54738400e-03 3.55044665e+02] [-7.04790493e-01 7.09376103e-01 -7.47703964e-03 -1.58522145e+02] [-1.06239768e-02 -1.55914654e-05 9.99943564e-01 1.92934293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.302320588 meters 0.020100645649910886 Centerline is valid? [True, True] Translation: X:355.08, Y:-158.55, Z:1.93 [[ 7.09113076e-01 7.05053605e-01 7.61971044e-03 3.55077242e+02] [-7.05012931e-01 7.09154013e-01 -7.57315298e-03 -1.58549809e+02] [-1.07430270e-02 -1.77259654e-06 9.99942292e-01 1.92922983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33232058799996 meters 0.02010346516278737 Centerline is valid? [True, True] Translation: X:355.11, Y:-158.58, Z:1.93 [[ 7.09239632e-01 7.04920565e-01 8.13274907e-03 3.55108845e+02] [-7.04873933e-01 7.09286259e-01 -8.10807312e-03 -1.58578072e+02] [-1.14839946e-02 1.80039725e-05 9.99934057e-01 1.92987594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.362320588 meters 0.02030620043330082 Centerline is valid? [True, True] Translation: X:355.14, Y:-158.61, Z:1.93 [[ 7.09413566e-01 7.04724674e-01 9.77375972e-03 3.55141347e+02] [-7.04656764e-01 7.09480888e-01 -9.78336349e-03 -1.58606583e+02] [-1.38288734e-02 5.33048868e-05 9.99904375e-01 1.92928670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39232058799996 meters 0.020213863914785968 Centerline is valid? [True, True] Translation: X:355.17, Y:-158.63, Z:1.93 [[ 7.09408185e-01 7.04753180e-01 7.93617888e-03 3.55171772e+02] [-7.04708113e-01 7.09452572e-01 -7.97017974e-03 -1.58634714e+02] [-1.12473520e-02 6.14211027e-05 9.99936745e-01 1.93182407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42232058799993 meters 0.02026494685399851 Centerline is valid? [True, True] Translation: X:356.02, Y:-157.85, Z:3.75 [[ 7.55572019e-01 -6.54905923e-01 1.44622411e-02 3.56018196e+02] [-6.54781841e-01 -7.55710398e-01 -1.27489397e-02 -1.57847645e+02] [ 1.92786221e-02 1.63129273e-04 -9.99814137e-01 3.75175586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45232058799996 meters 0.02039056249586534 Centerline is valid? [True, True] Translation: X:355.29, Y:-158.76, Z:1.93 [[ 7.66187074e-01 6.42537035e-01 1.01748032e-02 3.55294321e+02] [-6.42478328e-01 7.66254621e-01 -8.68637801e-03 -1.58757203e+02] [-1.33778095e-02 1.18300023e-04 9.99910506e-01 1.93215660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48232058799994 meters 0.020418708789763457 Centerline is valid? [True, True] Translation: X:355.32, Y:-158.78, Z:1.93 [[ 7.65612499e-01 6.43220976e-01 1.02116912e-02 3.55324536e+02] [-6.43161519e-01 7.65680586e-01 -8.74644403e-03 -1.58781397e+02] [-1.34447900e-02 1.28620024e-04 9.99909606e-01 1.93350335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51232058799997 meters 0.020530508450532746 Centerline is valid? [True, True] Translation: X:355.36, Y:-158.80, Z:1.93 [[ 7.65474356e-01 6.43393638e-01 9.67666874e-03 3.55355426e+02] [-6.43339972e-01 7.65535504e-01 -8.31093244e-03 -1.58804868e+02] [-1.27550345e-02 1.36417853e-04 9.99918642e-01 1.93349427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54232058799994 meters 0.020700386047074287 Centerline is valid? [True, True] Translation: X:355.39, Y:-158.83, Z:1.93 [[ 7.65424630e-01 6.43466088e-01 8.74806346e-03 3.55385801e+02] [-6.43421999e-01 7.65474607e-01 -7.53373590e-03 -1.58829218e+02] [-1.15441240e-02 1.37810535e-04 9.99933355e-01 1.93341718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57232058799997 meters 0.02070147454029825 Centerline is valid? [True, True] Translation: X:355.42, Y:-158.85, Z:1.93 [[ 7.65054689e-01 6.43895055e-01 9.51220713e-03 3.55416046e+02] [-6.43842698e-01 7.65113804e-01 -8.21260028e-03 -1.58853471e+02] [-1.25659737e-02 1.58723250e-04 9.99921032e-01 1.93433146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60232058799994 meters 0.020883823313214023 Centerline is valid? [True, True] Translation: X:355.45, Y:-158.88, Z:1.93 [[ 7.63659455e-01 6.45511322e-01 1.18054817e-02 3.55446574e+02] [-6.45430484e-01 7.63750679e-01 -1.02171340e-02 -1.58877050e+02] [-1.56117203e-02 1.82793185e-04 9.99878113e-01 1.93468870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63232058799997 meters 0.020686969716997104 Centerline is valid? [True, True] Translation: X:355.48, Y:-158.90, Z:1.93 [[ 7.63029257e-01 6.46284336e-01 1.01444916e-02 3.55477214e+02] [-6.46224391e-01 7.63096672e-01 -8.80373276e-03 -1.58901832e+02] [-1.34309424e-02 1.61887733e-04 9.99909788e-01 1.93462370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66232058799994 meters 0.020714009630005376 Centerline is valid? [True, True] Translation: X:355.52, Y:-158.93, Z:1.93 [[ 7.61810850e-01 6.47767311e-01 6.46070261e-03 3.55515242e+02] [-6.47742756e-01 7.61838237e-01 -5.64126595e-03 -1.58930198e+02] [-8.57623795e-03 1.12704291e-04 9.99963217e-01 1.93376537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.692320588 meters 0.020790664046618734 Centerline is valid? [True, True] Translation: X:355.55, Y:-158.96, Z:1.93 [[ 7.60671477e-01 6.49091917e-01 7.65420976e-03 3.55551505e+02] [-6.49057251e-01 7.60709974e-01 -6.70972543e-03 -1.58958122e+02] [-1.01778622e-02 1.35876411e-04 9.99948195e-01 1.93380775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72232058799995 meters 0.020829946483479207 Centerline is valid? [True, True] Translation: X:355.58, Y:-158.98, Z:1.94 [[ 7.59892936e-01 6.49962482e-01 1.05592287e-02 3.55581763e+02] [-6.49896370e-01 7.59966274e-01 -9.27200725e-03 -1.58982877e+02] [-1.40511146e-02 1.83328401e-04 9.99901261e-01 1.93511538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.752320588 meters 0.020908965160229196 Centerline is valid? [True, True] Translation: X:355.62, Y:-159.02, Z:1.94 [[ 7.58159833e-01 6.51970423e-01 1.13240884e-02 3.55624497e+02] [-6.51893157e-01 7.58244363e-01 -1.00397525e-02 -1.59017322e+02] [-1.51320479e-02 2.29641335e-04 9.99885478e-01 1.93664577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78232058799995 meters 0.020895847640940414 Centerline is valid? [True, True] Translation: X:355.65, Y:-159.04, Z:1.94 [[ 7.57889015e-01 6.52307848e-01 9.93541795e-03 3.55654702e+02] [-6.52248251e-01 7.57954108e-01 -8.81977535e-03 -1.59042438e+02] [-1.32837995e-02 2.04051876e-04 9.99911746e-01 1.93767767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.812320588 meters 0.021204841027472415 Centerline is valid? [True, True] Translation: X:355.69, Y:-159.06, Z:1.94 [[ 7.58294581e-01 6.51849989e-01 8.99561975e-03 3.55686719e+02] [-6.51800848e-01 7.58347908e-01 -8.00659136e-03 -1.59064394e+02] [-1.20409059e-02 2.08002249e-04 9.99927484e-01 1.93679049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84232058799995 meters 0.021147891454139756 Centerline is valid? [True, True] Translation: X:355.72, Y:-159.09, Z:1.94 [[ 7.57104623e-01 6.53192671e-01 1.14858310e-02 3.55717511e+02] [-6.53112320e-01 7.57191698e-01 -1.02483961e-02 -1.59088768e+02] [-1.53911531e-02 2.57570310e-04 9.99881516e-01 1.93662195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.872320588 meters 0.02220075285801033 Centerline is valid? [True, True] Translation: X:355.75, Y:-159.11, Z:1.93 [[ 7.55293228e-01 6.55264212e-01 1.26867288e-02 3.55749309e+02] [-6.55165974e-01 7.55399726e-01 -1.13490509e-02 -1.59111633e+02] [-1.70201783e-02 2.59948290e-04 9.99855112e-01 1.93399848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90232058799995 meters 0.02220075285801033 Centerline is valid? [True, True] Translation: X:355.78, Y:-159.14, Z:1.93 [[ 7.54646030e-01 6.56009664e-01 1.26763602e-02 3.55777446e+02] [-6.55911337e-01 7.54752446e-01 -1.13606334e-02 -1.59135698e+02] [-1.70201991e-02 2.58688537e-04 9.99855112e-01 1.93414594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.932320588 meters 0.0206266537457343 Centerline is valid? [True, True] Translation: X:355.81, Y:-159.16, Z:1.94 [[ 7.52625225e-01 6.58370573e-01 1.01715314e-02 3.55807912e+02] [-6.58307121e-01 7.52693932e-01 -9.14220425e-03 -1.59160751e+02] [-1.36750082e-02 1.84662008e-04 9.99906476e-01 1.93955968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96232058799995 meters 0.020592055553746397 Centerline is valid? [True, True] Translation: X:355.84, Y:-159.18, Z:1.94 [[ 7.50256660e-01 6.61044780e-01 1.16079423e-02 3.55843526e+02] [-6.60961968e-01 7.50346432e-01 -1.04646675e-02 -1.59182260e+02] [-1.56275919e-02 1.78778029e-04 9.99877866e-01 1.93776732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.992320588 meters 0.020592055553746397 Centerline is valid? [True, True] Translation: X:355.87, Y:-159.21, Z:1.94 [[ 7.49386562e-01 6.62031227e-01 1.15946313e-02 3.55872658e+02] [-6.61948305e-01 7.49476232e-01 -1.04794185e-02 -1.59207477e+02] [-1.56276029e-02 1.78088834e-04 9.99877866e-01 1.93792103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02232058799996 meters 0.02034757195246897 Centerline is valid? [True, True] Translation: X:355.90, Y:-159.23, Z:1.94 [[ 7.47903044e-01 6.63712076e-01 1.12834553e-02 3.55903097e+02] [-6.63633323e-01 7.47988138e-01 -1.02253994e-02 -1.59232161e+02] [-1.52266118e-02 1.59530456e-04 9.99884056e-01 1.93789331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.052320588 meters 0.02034757195246897 Centerline is valid? [True, True] Translation: X:355.93, Y:-159.26, Z:1.94 [[ 7.47023516e-01 6.64702081e-01 1.12698877e-02 3.55932157e+02] [-6.64623214e-01 7.47108505e-01 -1.02403560e-02 -1.59257451e+02] [-1.52266149e-02 1.59557779e-04 9.99884056e-01 1.93804660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08232058799996 meters 0.02034757195246897 Centerline is valid? [True, True] Translation: X:355.97, Y:-159.29, Z:1.94 [[ 7.44281366e-01 6.67771932e-01 1.12202977e-02 3.55974390e+02] [-6.67692595e-01 7.44365916e-01 -1.02947278e-02 -1.59292471e+02] [-1.52265374e-02 1.70464393e-04 9.99884055e-01 1.93826356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.112320588 meters 0.02034757195246897 Centerline is valid? [True, True] Translation: X:356.00, Y:-159.32, Z:1.94 [[ 7.43396324e-01 6.68757169e-01 1.12140313e-02 3.56003306e+02] [-6.68677841e-01 7.43480883e-01 -1.03015472e-02 -1.59317927e+02] [-1.52266515e-02 1.59558101e-04 9.99884055e-01 1.93842290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14232058799996 meters 0.02033399477680172 Centerline is valid? [True, True] Translation: X:356.03, Y:-159.34, Z:1.94 [[ 7.42829423e-01 6.69400662e-01 1.03538515e-02 3.56033149e+02] [-6.69332736e-01 7.42901562e-01 -9.53718974e-03 -1.59342400e+02] [-1.40760936e-02 1.54333381e-04 9.99900915e-01 1.93976581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17232058799993 meters 0.020392754933549532 Centerline is valid? [True, True] Translation: X:356.06, Y:-159.37, Z:1.94 [[ 7.42635487e-01 6.69627892e-01 9.54038961e-03 3.56062490e+02] [-6.69569934e-01 7.42696750e-01 -8.81145961e-03 -1.59367446e+02] [-1.29860155e-02 1.55744564e-04 9.99915666e-01 1.94155656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20232058799996 meters 0.020735807635122047 Centerline is valid? [True, True] Translation: X:356.09, Y:-159.39, Z:1.94 [[ 7.43520599e-01 6.68614156e-01 1.14991359e-02 3.56093743e+02] [-6.68529416e-01 7.43609480e-01 -1.06471244e-02 -1.59391339e+02] [-1.56696846e-02 2.28845683e-04 9.99877197e-01 1.94166161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23232058799994 meters 0.02086041809000545 Centerline is valid? [True, True] Translation: X:356.12, Y:-159.42, Z:1.94 [[ 7.43027624e-01 6.69167952e-01 1.11445624e-02 3.56124117e+02] [-6.69088000e-01 7.43111161e-01 -1.03465398e-02 -1.59416399e+02] [-1.52052216e-02 2.31071967e-04 9.99884367e-01 1.94182482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26232058799997 meters 0.021134082634430115 Centerline is valid? [True, True] Translation: X:356.15, Y:-159.44, Z:1.94 [[ 7.43050867e-01 6.69141058e-01 1.12095641e-02 3.56154988e+02] [-6.69059748e-01 7.43135372e-01 -1.04341952e-02 -1.59439878e+02] [-1.53121720e-02 2.53269624e-04 9.99882730e-01 1.94207677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29232058799994 meters 0.02104897931247475 Centerline is valid? [True, True] Translation: X:356.18, Y:-159.47, Z:1.94 [[ 7.41975850e-01 6.70343476e-01 1.05575338e-02 3.56184670e+02] [-6.70271096e-01 7.42050921e-01 -9.85339961e-03 -1.59465785e+02] [-1.44393899e-02 2.34574779e-04 9.99895719e-01 1.94252692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32232058799997 meters 0.02103218350679495 Centerline is valid? [True, True] Translation: X:356.21, Y:-159.49, Z:1.94 [[ 7.41116431e-01 6.71278245e-01 1.14870684e-02 3.56214527e+02] [-6.71192234e-01 7.41205405e-01 -1.07486562e-02 -1.59491587e+02] [-1.57296162e-02 2.55974624e-04 9.99876249e-01 1.94205783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35232058799994 meters 0.02106000647707434 Centerline is valid? [True, True] Translation: X:356.24, Y:-159.52, Z:1.94 [[ 7.39914016e-01 6.72606789e-01 1.12852422e-02 3.56244130e+02] [-6.72523498e-01 7.40000032e-01 -1.05876006e-02 -1.59517032e+02] [-1.54723716e-02 2.44323513e-04 9.99880266e-01 1.94269581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38232058799997 meters 0.02085934455183922 Centerline is valid? [True, True] Translation: X:356.27, Y:-159.54, Z:1.94 [[ 7.39365164e-01 6.73213419e-01 1.10836382e-02 3.56273352e+02] [-6.73132711e-01 7.39448193e-01 -1.04270664e-02 -1.59542929e+02] [-1.52154173e-02 2.48650215e-04 9.99884208e-01 1.94375340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41232058799994 meters 0.020927969158028758 Centerline is valid? [True, True] Translation: X:356.31, Y:-159.57, Z:1.94 [[ 7.38139667e-01 6.74586447e-01 9.10807845e-03 3.56305132e+02] [-6.74531683e-01 7.38195830e-01 -8.59794517e-03 -1.59570150e+02] [-1.25236028e-02 2.02796897e-04 9.99921556e-01 1.94444383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.442320588 meters 0.020732894523396994 Centerline is valid? [True, True] Translation: X:356.35, Y:-159.60, Z:1.94 [[ 7.35168880e-01 6.77823735e-01 9.03897641e-03 3.56348522e+02] [-6.77769035e-01 7.35224416e-01 -8.61349637e-03 -1.59603185e+02] [-1.24841084e-02 2.06036155e-04 9.99922049e-01 1.94337376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47232058799995 meters 0.020894000823129685 Centerline is valid? [True, True] Translation: X:356.38, Y:-159.63, Z:1.94 [[ 7.34033257e-01 6.79043057e-01 9.78284588e-03 3.56378994e+02] [-6.78978932e-01 7.34098415e-01 -9.33419443e-03 -1.59629453e+02] [-1.35198916e-02 2.09262885e-04 9.99908580e-01 1.94307161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.502320588 meters 0.020693706694548043 Centerline is valid? [True, True] Translation: X:356.41, Y:-159.66, Z:1.94 [[ 7.32526715e-01 6.80658391e-01 1.04291329e-02 3.56407341e+02] [-6.80585302e-01 7.32600922e-01 -9.97678514e-03 -1.59656257e+02] [-1.44311749e-02 2.10347049e-04 9.99895843e-01 1.94375730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53232058799995 meters 0.02068186365973166 Centerline is valid? [True, True] Translation: X:356.43, Y:-159.68, Z:1.95 [[ 7.30630430e-01 6.82684692e-01 1.09902890e-02 3.56434875e+02] [-6.82603329e-01 7.30713057e-01 -1.05415148e-02 -1.59684287e+02] [-1.52272785e-02 1.99943588e-04 9.99884038e-01 1.94581379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.562320588 meters 0.0206093817298641 Centerline is valid? [True, True] Translation: X:356.46, Y:-159.71, Z:1.95 [[ 7.30087643e-01 6.83267140e-01 1.08650544e-02 3.56464437e+02] [-6.83187264e-01 7.30168455e-01 -1.04493686e-02 -1.59710423e+02] [-1.50730302e-02 2.06088105e-04 9.99886374e-01 1.94633584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59232058799995 meters 0.020529648179523522 Centerline is valid? [True, True] Translation: X:356.49, Y:-159.74, Z:1.94 [[ 7.28625820e-01 6.84828659e-01 1.06828326e-02 3.56494415e+02] [-6.84751240e-01 7.28704105e-01 -1.02988579e-02 -1.59736343e+02] [-1.48375770e-02 1.88930947e-04 9.99889899e-01 1.94489709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.622320588 meters 0.02034051969878563 Centerline is valid? [True, True] Translation: X:356.52, Y:-159.76, Z:1.95 [[ 7.26688418e-01 6.86891364e-01 1.02076914e-02 3.56522540e+02] [-6.86820502e-01 7.26760090e-01 -9.86760546e-03 -1.59763624e+02] [-1.41965157e-02 1.59822872e-04 9.99899212e-01 1.94598363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65232058799995 meters 0.02015671681691767 Centerline is valid? [True, True] Translation: X:356.55, Y:-159.79, Z:1.95 [[ 7.23830378e-01 6.89912705e-01 9.48912025e-03 3.56550724e+02] [-6.89851374e-01 7.23892565e-01 -9.19973865e-03 -1.59792112e+02] [-1.32161202e-02 1.12967657e-04 9.99912657e-01 1.94845366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.682320588 meters 0.02002949380850429 Centerline is valid? [True, True] Translation: X:356.58, Y:-159.82, Z:1.95 [[ 7.21445680e-01 6.92402641e-01 9.73207696e-03 3.56580394e+02] [-6.92337974e-01 7.21511313e-01 -9.46340464e-03 -1.59820479e+02] [-1.35742900e-02 8.94459588e-05 9.99907861e-01 1.94859630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71232058799995 meters 0.020007834164835075 Centerline is valid? [True, True] Translation: X:356.61, Y:-159.85, Z:1.95 [[ 7.17154561e-01 6.96834451e-01 1.05396186e-02 3.56610083e+02] [-6.96758646e-01 7.17232004e-01 -1.02782099e-02 -1.59848865e+02] [-1.47215625e-02 2.74947518e-05 9.99891632e-01 1.94797955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.742320588 meters 0.01985931704619839 Centerline is valid? [True, True] Translation: X:356.64, Y:-159.88, Z:1.95 [[ 7.14156147e-01 6.99916906e-01 9.86517261e-03 3.56639355e+02] [-6.99850390e-01 7.14224281e-01 -9.64926081e-03 -1.59877319e+02] [-1.37996266e-02 -1.30659673e-05 9.99904781e-01 1.94815941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77232058799996 meters 0.019883531731356516 Centerline is valid? [True, True] Translation: X:356.67, Y:-159.91, Z:1.95 [[ 7.10065925e-01 7.04073197e-01 9.34421401e-03 3.56668911e+02] [-7.04013531e-01 7.10127403e-01 -9.16625729e-03 -1.59905027e+02] [-1.30892985e-02 -6.98061324e-05 9.99914329e-01 1.94848791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.802320588 meters 0.020088958504384014 Centerline is valid? [True, True] Translation: X:356.70, Y:-159.93, Z:1.95 [[ 7.07503645e-01 7.06656202e-01 8.69511404e-03 3.56699212e+02] [-7.06604427e-01 7.07557068e-01 -8.55446965e-03 -1.59932742e+02] [-1.21973584e-02 -9.16876235e-05 9.99925605e-01 1.94937269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83232058799996 meters 0.020420061540149293 Centerline is valid? [True, True] Translation: X:356.73, Y:-159.96, Z:1.95 [[ 7.04135653e-01 7.10024083e-01 7.66702704e-03 3.56730095e+02] [-7.09983779e-01 7.04177384e-01 -7.56606551e-03 -1.59959222e+02] [-1.07710358e-02 -1.15928352e-04 9.99941984e-01 1.94950707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.862320588 meters 0.020467525898687985 Centerline is valid? [True, True] Translation: X:356.76, Y:-159.99, Z:1.95 [[ 7.02127890e-01 7.11994430e-01 8.96431290e-03 3.56760222e+02] [-7.11939190e-01 7.02185096e-01 -8.87022250e-03 -1.59986268e+02] [-1.26101559e-02 -1.54015068e-04 9.99920477e-01 1.94970903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89232058799996 meters 0.020837759488410598 Centerline is valid? [True, True] Translation: X:356.79, Y:-160.01, Z:1.95 [[ 6.99666042e-01 7.14410440e-01 9.22787574e-03 3.56789691e+02] [-7.14351777e-01 6.99726868e-01 -9.15695694e-03 -1.60013857e+02] [-1.29988182e-02 -1.85137613e-04 9.99915495e-01 1.95026356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92232058799993 meters 0.021012379470589284 Centerline is valid? [True, True] Translation: X:356.82, Y:-160.04, Z:1.95 [[ 6.97927361e-01 7.16104938e-01 9.54549344e-03 3.56821201e+02] [-7.16041972e-01 6.97992604e-01 -9.49831748e-03 -1.60040431e+02] [-1.34644759e-02 -2.05838297e-04 9.99909329e-01 1.95182534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95232058799996 meters 0.02064990314059767 Centerline is valid? [True, True] Translation: X:356.85, Y:-160.07, Z:1.95 [[ 6.97653076e-01 7.16376769e-01 9.19298474e-03 3.56853355e+02] [-7.16318055e-01 6.97713617e-01 -9.17350712e-03 -1.60066156e+02] [-1.29857580e-02 -1.85175486e-04 9.99915664e-01 1.95184148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98232058799994 meters 0.02057998565076315 Centerline is valid? [True, True] Translation: X:356.88, Y:-160.09, Z:1.95 [[ 6.96791876e-01 7.17220510e-01 8.70755113e-03 3.56884416e+02] [-7.17167594e-01 6.96846260e-01 -8.71394859e-03 -1.60093087e+02] [-1.23176471e-02 -1.72964904e-04 9.99924120e-01 1.95278582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01232058799997 meters 0.02081793660208668 Centerline is valid? [True, True] Translation: X:356.92, Y:-160.12, Z:1.95 [[ 6.96226998e-01 7.17745548e-01 1.04544236e-02 3.56918161e+02] [-7.17668851e-01 6.96305457e-01 -1.04943506e-02 -1.60119349e+02] [-1.48117457e-02 -1.96363964e-04 9.99890281e-01 1.95226194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04232058799994 meters 0.020698272792351858 Centerline is valid? [True, True] Translation: X:357.67, Y:-159.41, Z:3.75 [[ 7.68801538e-01 -6.39248205e-01 1.74908059e-02 3.57672084e+02] [-6.39064446e-01 -7.69000231e-01 -1.53388011e-02 -1.59407634e+02] [ 2.32557348e-02 6.14741690e-04 -9.99729360e-01 3.74903408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07232058799997 meters 0.02024872672321554 Centerline is valid? [True, True] Translation: X:357.03, Y:-160.22, Z:1.95 [[ 7.52558794e-01 6.58429441e-01 1.12219256e-02 3.57026917e+02] [-6.58359670e-01 7.52642439e-01 -9.58667973e-03 -1.60224033e+02] [-1.47582496e-02 -1.73523085e-04 9.99891076e-01 1.95330746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10232058799994 meters 0.02003372824579054 Centerline is valid? [True, True] Translation: X:357.06, Y:-160.25, Z:1.95 [[ 7.52514140e-01 6.58494144e-01 1.03889787e-02 3.57056528e+02] [-6.58434015e-01 7.52585836e-01 -8.89981742e-03 -1.60246351e+02] [-1.36790759e-02 -1.43218490e-04 9.99906427e-01 1.95357219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13232058799997 meters 0.019962535217692697 Centerline is valid? [True, True] Translation: X:357.09, Y:-160.27, Z:1.95 [[ 7.52421792e-01 6.58610330e-01 9.68923861e-03 3.57087390e+02] [-6.58557744e-01 7.52484166e-01 -8.32335611e-03 -1.60269705e+02] [-1.27728469e-02 -1.18248599e-04 9.99918417e-01 1.95354319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16232058799994 meters 0.019775870780744425 Centerline is valid? [True, True] Translation: X:357.12, Y:-160.29, Z:1.95 [[ 7.52980761e-01 6.57958617e-01 1.05086738e-02 3.57119504e+02] [-6.57896477e-01 7.53054080e-01 -9.04310125e-03 -1.60290509e+02] [-1.38635861e-02 -1.04338240e-04 9.99903890e-01 1.95244262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.192320588 meters 0.01948621407129395 Centerline is valid? [True, True] Translation: X:357.15, Y:-160.31, Z:1.95 [[ 7.53936308e-01 6.56864244e-01 1.04598540e-02 3.57149816e+02] [-6.56802318e-01 7.54008859e-01 -9.01974999e-03 -1.60313196e+02] [-1.38115739e-02 -6.97393626e-05 9.99904613e-01 1.95399080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22232058799995 meters 0.019255963609780113 Centerline is valid? [True, True] Translation: X:357.18, Y:-160.34, Z:1.95 [[ 7.54210238e-01 6.56552359e-01 1.02915894e-02 3.57178864e+02] [-6.56492076e-01 7.54280450e-01 -8.89700287e-03 -1.60336764e+02] [-1.36040929e-02 -4.61362334e-05 9.99907459e-01 1.95487935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.252320588 meters 0.01927253778754903 Centerline is valid? [True, True] Translation: X:357.21, Y:-160.36, Z:1.95 [[ 7.53860537e-01 6.56961390e-01 9.79910693e-03 3.57208219e+02] [-6.56906508e-01 7.53924221e-01 -8.49170858e-03 -1.60359899e+02] [-1.29665087e-02 -3.55331175e-05 9.99915931e-01 1.95487400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28232058799995 meters 0.01922016025133349 Centerline is valid? [True, True] Translation: X:357.24, Y:-160.38, Z:1.96 [[ 7.53789129e-01 6.57058933e-01 8.68956345e-03 3.57238914e+02] [-6.57015566e-01 7.53839213e-01 -7.54899922e-03 -1.60382031e+02] [-1.15106710e-02 -1.88249052e-05 9.99933750e-01 1.95502955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.312320588 meters 0.019210419714269726 Centerline is valid? [True, True] Translation: X:357.27, Y:-160.41, Z:1.96 [[ 7.53701114e-01 6.57156206e-01 8.96389478e-03 3.57270322e+02] [-6.57109772e-01 7.53754417e-01 -7.81194573e-03 -1.60407670e+02] [-1.18902439e-02 -2.39065686e-06 9.99929309e-01 1.95526130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34232058799995 meters 0.019149826507999863 Centerline is valid? [True, True] Translation: X:357.30, Y:-160.43, Z:1.96 [[ 7.53331605e-01 6.57585996e-01 8.49412972e-03 3.57300195e+02] [-6.57544111e-01 7.53379491e-01 -7.42190070e-03 -1.60432378e+02] [-1.12798411e-02 5.88738979e-06 9.99936381e-01 1.95644379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.372320588 meters 0.01906439576837635 Centerline is valid? [True, True] Translation: X:357.33, Y:-160.46, Z:1.96 [[ 7.52738863e-01 6.58263649e-01 8.55412754e-03 3.57329291e+02] [-6.58221017e-01 7.52787465e-01 -7.49162222e-03 -1.60456401e+02] [-1.13709026e-02 8.72865655e-06 9.99935349e-01 1.95638848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40232058799995 meters 0.019042644399793727 Centerline is valid? [True, True] Translation: X:357.36, Y:-160.48, Z:1.96 [[ 7.51546784e-01 6.59642440e-01 7.02019384e-03 3.57360459e+02] [-6.59613592e-01 7.51579571e-01 -6.16906346e-03 -1.60482387e+02] [-9.34561035e-03 5.72452605e-06 9.99956329e-01 1.95720117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.432320588 meters 0.018995834541372953 Centerline is valid? [True, True] Translation: X:357.39, Y:-160.51, Z:1.96 [[ 7.50629156e-01 6.60688277e-01 6.84620772e-03 3.57389247e+02] [-6.60660788e-01 7.50660376e-01 -6.02682116e-03 -1.60506637e+02] [-9.12102695e-03 8.86696178e-07 9.99958403e-01 1.95745596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46232058799995 meters 0.01911084713440021 Centerline is valid? [True, True] Translation: X:357.42, Y:-160.53, Z:1.96 [[ 7.48204830e-01 6.63435497e-01 6.54787764e-03 3.57417767e+02] [-6.63410322e-01 7.48233481e-01 -5.77957323e-03 -1.60530730e+02] [-8.73371532e-03 -1.96250099e-05 9.99961860e-01 1.95814655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.492320588 meters 0.01915527475671574 Centerline is valid? [True, True] Translation: X:357.45, Y:-160.56, Z:1.96 [[ 7.47049550e-01 6.64718161e-01 8.16921188e-03 3.57448889e+02] [-6.64678815e-01 7.47094215e-01 -7.23238565e-03 -1.60556602e+02] [-1.09106690e-02 -2.69516178e-05 9.99940477e-01 1.95667966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52232058799996 meters 0.019342632114097286 Centerline is valid? [True, True] Translation: X:357.48, Y:-160.58, Z:1.96 [[ 7.44737176e-01 6.67307699e-01 8.18372824e-03 3.57477850e+02] [-6.67268182e-01 7.44782138e-01 -7.26230674e-03 -1.60581474e+02] [-1.09412878e-02 -5.22316475e-05 9.99940141e-01 1.95713734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.552320588 meters 0.019359199272437465 Centerline is valid? [True, True] Translation: X:357.51, Y:-160.61, Z:1.96 [[ 7.43213779e-01 6.69007152e-01 7.91897468e-03 3.57509282e+02] [-6.68970012e-01 7.43255964e-01 -7.04949910e-03 -1.60607808e+02] [-1.06019905e-02 -5.82717201e-05 9.99943796e-01 1.95669707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58232058799996 meters 0.01949887385634195 Centerline is valid? [True, True] Translation: X:357.54, Y:-160.63, Z:1.96 [[ 7.41894250e-01 6.70470618e-01 7.87852501e-03 3.57537593e+02] [-6.70433778e-01 7.41936079e-01 -7.02876306e-03 -1.60631997e+02] [-1.05579411e-02 -6.74303925e-05 9.99944261e-01 1.95660937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.612320588 meters 0.01951518939695542 Centerline is valid? [True, True] Translation: X:357.57, Y:-160.66, Z:1.96 [[ 7.41348255e-01 6.71069258e-01 8.29557398e-03 3.57566390e+02] [-6.71028299e-01 7.41394663e-01 -7.41459477e-03 -1.60656359e+02] [-1.11260009e-02 -6.97680070e-05 9.99938102e-01 1.95666185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64232058799996 meters 0.019584840916550137 Centerline is valid? [True, True] Translation: X:357.59, Y:-160.68, Z:1.96 [[ 7.39684571e-01 6.72895386e-01 8.86196231e-03 3.57594919e+02] [-6.72848542e-01 7.39737650e-01 -7.94031267e-03 -1.60680895e+02] [-1.18985269e-02 -8.94316416e-05 9.99929206e-01 1.95697071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67232058799993 meters 0.019486720716674552 Centerline is valid? [True, True] Translation: X:357.63, Y:-160.70, Z:1.96 [[ 7.38183525e-01 6.74532400e-01 9.54589990e-03 3.57625812e+02] [-6.74477893e-01 7.38245237e-01 -8.57572772e-03 -1.60704852e+02] [-1.28318213e-02 -1.08037529e-04 9.99917663e-01 1.95777594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70232058799996 meters 0.01950885110130944 Centerline is valid? [True, True] Translation: X:357.65, Y:-160.73, Z:1.96 [[ 7.36852002e-01 6.75981907e-01 9.87874951e-03 3.57654743e+02] [-6.75923444e-01 7.36918209e-01 -8.89112405e-03 -1.60728315e+02] [-1.32900694e-02 -1.25835836e-04 9.99911675e-01 1.95839631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73232058799994 meters 0.0198283629748867 Centerline is valid? [True, True] Translation: X:357.68, Y:-160.75, Z:1.96 [[ 7.35373463e-01 6.77567095e-01 1.13446357e-02 3.57683828e+02] [-6.77489806e-01 7.35460948e-01 -1.02351097e-02 -1.60752396e+02] [-1.52785101e-02 -1.59246963e-04 9.99883264e-01 1.95607901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76232058799997 meters 0.019828951224624088 Centerline is valid? [True, True] Translation: X:357.71, Y:-160.78, Z:1.96 [[ 7.34183463e-01 6.78846723e-01 1.19066537e-02 3.57712279e+02] [-6.78761430e-01 7.34279983e-01 -1.07622979e-02 -1.60776272e+02] [-1.60487681e-02 -1.80276144e-04 9.99871194e-01 1.95641542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79232058799994 meters 0.019828951224624088 Centerline is valid? [True, True] Translation: X:357.74, Y:-160.80, Z:1.96 [[ 7.33340007e-01 6.79758045e-01 1.18926349e-02 3.57740830e+02] [-6.79672620e-01 7.33436411e-01 -1.07777919e-02 -1.60801047e+02] [-1.60487822e-02 -1.79312336e-04 9.99871194e-01 1.95656449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82232058799997 meters 0.0201068476701461 Centerline is valid? [True, True] Translation: X:357.77, Y:-160.83, Z:1.95 [[ 7.32032170e-01 6.81159868e-01 1.22530384e-02 3.57771258e+02] [-6.81068896e-01 7.32134685e-01 -1.11338090e-02 -1.60825569e+02] [-1.65547782e-02 -1.94857009e-04 9.99862941e-01 1.95490189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85232058799994 meters 0.019967071422661478 Centerline is valid? [True, True] Translation: X:357.80, Y:-160.85, Z:1.96 [[ 7.31157005e-01 6.82104053e-01 1.19789695e-02 3.57801184e+02] [-6.82016830e-01 7.31255102e-01 -1.09095958e-02 -1.60849645e+02] [-1.62011621e-02 -1.93231488e-04 9.99868734e-01 1.95545066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88232058799997 meters 0.019793092558544313 Centerline is valid? [True, True] Translation: X:357.83, Y:-160.87, Z:1.96 [[ 7.30101606e-01 6.83233325e-01 1.19945310e-02 3.57831401e+02] [-6.83145604e-01 7.30200099e-01 -1.09498596e-02 -1.60873622e+02] [-1.62397167e-02 -1.99501041e-04 9.99868107e-01 1.95667775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91232058799994 meters 0.020050395897060192 Centerline is valid? [True, True] Translation: X:357.86, Y:-160.90, Z:1.96 [[ 7.28878422e-01 6.84519214e-01 1.30265629e-02 3.57863084e+02] [-6.84415233e-01 7.28994786e-01 -1.19328045e-02 -1.60901030e+02] [-1.76645303e-02 -2.18014379e-04 9.99843946e-01 1.95535885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.942320588 meters 0.019915147545479166 Centerline is valid? [True, True] Translation: X:357.89, Y:-160.93, Z:1.96 [[ 7.28605536e-01 6.84783818e-01 1.43211770e-02 3.57893356e+02] [-6.84657559e-01 7.28746233e-01 -1.31511807e-02 -1.60925636e+02] [-1.94422195e-02 -2.23078986e-04 9.99810957e-01 1.95587678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97232058799995 meters 0.0202125627504981 Centerline is valid? [True, True] Translation: X:357.92, Y:-160.95, Z:1.96 [[ 7.27783697e-01 6.85658101e-01 1.42779340e-02 3.57922724e+02] [-6.85532096e-01 7.27923705e-01 -1.31462937e-02 -1.60950938e+02] [-1.94071094e-02 -2.20323770e-04 9.99811640e-01 1.95623193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.002320588 meters 0.019850577646752278 Centerline is valid? [True, True] Translation: X:357.95, Y:-160.98, Z:1.96 [[ 7.28163186e-01 6.85245130e-01 1.47474510e-02 3.57954371e+02] [-6.85109808e-01 7.28312486e-01 -1.36188851e-02 -1.60976784e+02] [-2.00730274e-02 -1.86852594e-04 9.99798499e-01 1.95674509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03232058799995 meters 0.01964608998911645 Centerline is valid? [True, True] Translation: X:357.98, Y:-161.00, Z:1.96 [[ 7.27790787e-01 6.85653443e-01 1.41395411e-02 3.57984068e+02] [-6.85528470e-01 7.27928107e-01 -1.30915110e-02 -1.61002125e+02] [-1.92688090e-02 -1.65176832e-04 9.99814326e-01 1.95680790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.062320588 meters 0.020012190962588005 Centerline is valid? [True, True] Translation: X:358.01, Y:-161.03, Z:1.96 [[ 7.27041194e-01 6.86470629e-01 1.30068433e-02 3.58013819e+02] [-6.86364437e-01 7.27157516e-01 -1.20750331e-02 -1.61027639e+02] [-1.77471794e-02 -1.48388175e-04 9.99842495e-01 1.95692918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09232058799995 meters 0.019884240019820643 Centerline is valid? [True, True] Translation: X:358.04, Y:-161.05, Z:1.96 [[ 7.26546077e-01 6.86991140e-01 1.31898318e-02 3.58042245e+02] [-6.86881492e-01 7.26665778e-01 -1.22744794e-02 -1.61052593e+02] [-1.80170580e-02 -1.41876468e-04 9.99837670e-01 1.95738511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.122320588 meters 0.020034955781904774 Centerline is valid? [True, True] Translation: X:358.07, Y:-161.08, Z:1.96 [[ 7.25790767e-01 6.87784789e-01 1.34106701e-02 3.58070551e+02] [-6.87671011e-01 7.25914639e-01 -1.25106844e-02 -1.61077989e+02] [-1.83396602e-02 -1.41989822e-04 9.99831804e-01 1.95835890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15232058799995 meters 0.019712898012464657 Centerline is valid? [True, True] Translation: X:358.10, Y:-161.10, Z:1.96 [[ 7.25794550e-01 6.87771498e-01 1.38794194e-02 3.58100890e+02] [-6.87649056e-01 7.25927235e-01 -1.29778613e-02 -1.61102340e+02] [-1.90012517e-02 -1.24908687e-04 9.99819452e-01 1.95743235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.182320588 meters 0.019681335302012434 Centerline is valid? [True, True] Translation: X:358.13, Y:-161.13, Z:1.96 [[ 7.25623493e-01 6.87947144e-01 1.41164372e-02 3.58131081e+02] [-6.87819828e-01 7.25760784e-01 -1.32351481e-02 -1.61127619e+02] [-1.93502389e-02 -1.05831070e-04 9.99812761e-01 1.95623041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21232058799995 meters 0.019629287110490643 Centerline is valid? [True, True] Translation: X:358.16, Y:-161.15, Z:1.96 [[ 7.25270165e-01 6.88304187e-01 1.48504173e-02 3.58159909e+02] [-6.88162619e-01 7.25422179e-01 -1.39596753e-02 -1.61153575e+02] [-2.03813250e-02 -9.49660521e-05 9.99792275e-01 1.95611124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.242320588 meters 0.019549602312320436 Centerline is valid? [True, True] Translation: X:358.19, Y:-161.18, Z:1.96 [[ 7.24842826e-01 6.88766243e-01 1.42807491e-02 3.58188269e+02] [-6.88634707e-01 7.24983487e-01 -1.34604810e-02 -1.61180102e+02] [-1.96244322e-02 -7.74863540e-05 9.99807419e-01 1.95662667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27232058799996 meters 0.020158336413246224 Centerline is valid? [True, True] Translation: X:358.22, Y:-161.21, Z:1.95 [[ 7.25810593e-01 6.87749007e-01 1.41522827e-02 3.58217282e+02] [-6.87618943e-01 7.25948554e-01 -1.33748507e-02 -1.61206792e+02] [-1.94723694e-02 -2.37693421e-05 9.99810395e-01 1.95150429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.302320588 meters 0.019160994510422098 Centerline is valid? [True, True] Translation: X:358.25, Y:-161.24, Z:1.96 [[ 7.25156000e-01 6.88445614e-01 1.38351623e-02 3.58250056e+02] [-6.88320432e-01 7.25287968e-01 -1.31280860e-02 -1.61235003e+02] [-1.90724500e-02 -3.11455381e-06 9.99818104e-01 1.95642285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33232058799996 meters 0.019342923352823557 Centerline is valid? [True, True] Translation: X:358.28, Y:-161.26, Z:1.96 [[ 7.24230903e-01 6.89412003e-01 1.41664846e-02 3.58279155e+02] [-6.89280276e-01 7.24369444e-01 -1.34762992e-02 -1.61261099e+02] [-1.95524910e-02 -4.72603031e-06 9.99808832e-01 1.95619528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.362320588 meters 0.019493120608122912 Centerline is valid? [True, True] Translation: X:358.31, Y:-161.29, Z:1.96 [[ 7.23587119e-01 6.90086719e-01 1.42127101e-02 3.58307456e+02] [-6.89953549e-01 7.23726689e-01 -1.35565494e-02 -1.61287347e+02] [-1.96413124e-02 3.23475867e-06 9.99807091e-01 1.95710625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39232058799996 meters 0.01948774256088836 Centerline is valid? [True, True] Translation: X:358.34, Y:-161.32, Z:1.96 [[ 7.23258849e-01 6.90438297e-01 1.38417816e-02 3.58335104e+02] [-6.90311367e-01 7.23391289e-01 -1.32385515e-02 -1.61315595e+02] [-1.91534272e-02 1.97603090e-05 9.99816556e-01 1.95666840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42232058799993 meters 0.019568460657526612 Centerline is valid? [True, True] Translation: X:358.36, Y:-161.34, Z:1.96 [[ 7.22376801e-01 6.91344273e-01 1.46578598e-02 3.58363004e+02] [-6.91201376e-01 7.22525498e-01 -1.40557060e-02 -1.61342829e+02] [-2.03080092e-02 2.19830676e-05 9.99793771e-01 1.95644285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45232058799996 meters 0.01946170252773878 Centerline is valid? [True, True] Translation: X:358.41, Y:-161.38, Z:1.96 [[ 7.19592386e-01 6.94232804e-01 1.50867994e-02 3.58407150e+02] [-6.94078783e-01 7.19750520e-01 -1.46229988e-02 -1.61381260e+02] [-2.10104971e-02 5.11712536e-05 9.99779254e-01 1.95610599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48232058799994 meters 0.019732237096799866 Centerline is valid? [True, True] Translation: X:358.43, Y:-161.41, Z:1.96 [[ 7.18812421e-01 6.95041332e-01 1.50416196e-02 3.58434911e+02] [-6.94887978e-01 7.18969781e-01 -1.45997300e-02 -1.61408133e+02] [-2.09618857e-02 4.22266858e-05 9.99780275e-01 1.95591246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51232058799997 meters 0.019501914244208846 Centerline is valid? [True, True] Translation: X:358.46, Y:-161.44, Z:1.95 [[ 7.18065352e-01 6.95809461e-01 1.52100130e-02 3.58462829e+02] [-6.95651997e-01 7.18226421e-01 -1.48022546e-02 -1.61435026e+02] [-2.12237821e-02 4.81102386e-05 9.99774749e-01 1.95460508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54232058799994 meters 0.019577984673189313 Centerline is valid? [True, True] Translation: X:358.49, Y:-161.46, Z:1.95 [[ 7.17101402e-01 6.96814775e-01 1.46543080e-02 3.58491975e+02] [-6.96667899e-01 7.17251119e-01 -1.43063493e-02 -1.61464391e+02] [-2.04796943e-02 4.99171962e-05 9.99790268e-01 1.95470337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57232058799997 meters 0.019485048243138823 Centerline is valid? [True, True] Translation: X:358.52, Y:-161.49, Z:1.95 [[ 7.15867546e-01 6.98087719e-01 1.43942040e-02 3.58521425e+02] [-6.97945390e-01 7.16012245e-01 -1.40960561e-02 -1.61493923e+02] [-2.01467100e-02 4.45407883e-05 9.99797033e-01 1.95483129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60232058799994 meters 0.019117012927110832 Centerline is valid? [True, True] Translation: X:358.55, Y:-161.53, Z:1.96 [[ 7.14375148e-01 6.99643352e-01 1.29355360e-02 3.58551575e+02] [-6.99527623e-01 7.14492252e-01 -1.27250235e-02 -1.61527080e+02] [-1.81453183e-02 4.16758165e-05 9.99835359e-01 1.95616881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63232058799997 meters 0.019215370709118273 Centerline is valid? [True, True] Translation: X:358.58, Y:-161.56, Z:1.96 [[ 7.12989390e-01 7.01047974e-01 1.33367392e-02 3.58581031e+02] [-7.00924456e-01 7.13114112e-01 -1.31594065e-02 -1.61557612e+02] [-1.87359922e-02 3.44705231e-05 9.99824465e-01 1.95605626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66232058799994 meters 0.019290756185260903 Centerline is valid? [True, True] Translation: X:358.61, Y:-161.59, Z:1.95 [[ 7.10484283e-01 7.03574124e-01 1.39834419e-02 3.58607307e+02] [-7.03438137e-01 7.10621877e-01 -1.38323765e-02 -1.61586476e+02] [-1.96690419e-02 -8.80018524e-06 9.99806546e-01 1.95490622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.692320588 meters 0.019459449777208038 Centerline is valid? [True, True] Translation: X:358.64, Y:-161.61, Z:1.96 [[ 7.08745866e-01 7.05321460e-01 1.41751329e-02 3.58635037e+02] [-7.05181335e-01 7.08887605e-01 -1.40587611e-02 -1.61614410e+02] [-1.99645219e-02 -3.19502792e-05 9.99800689e-01 1.95507950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72232058799995 meters 0.01933356601373006 Centerline is valid? [True, True] Translation: X:358.66, Y:-161.64, Z:1.95 [[ 7.06270809e-01 7.07828349e-01 1.26717315e-02 3.58661749e+02] [-7.07716139e-01 7.06384473e-01 -1.26032547e-02 -1.61643800e+02] [-1.78720553e-02 -6.66779778e-05 9.99840280e-01 1.95460978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.752320588 meters 0.019240040988861954 Centerline is valid? [True, True] Translation: X:358.69, Y:-161.67, Z:1.96 [[ 7.03931206e-01 7.10174115e-01 1.15578706e-02 3.58689681e+02] [-7.10080516e-01 7.04026078e-01 -1.15300344e-02 -1.61673896e+02] [-1.63253743e-02 -9.06677009e-05 9.99866728e-01 1.95634842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78232058799995 meters 0.019335084200912515 Centerline is valid? [True, True] Translation: X:358.73, Y:-161.71, Z:1.96 [[ 7.00372708e-01 7.13685348e-01 1.14583785e-02 3.58727765e+02] [-7.13592141e-01 7.00466426e-01 -1.15343621e-02 -1.61711927e+02] [-1.62581146e-02 -9.82564337e-05 9.99867823e-01 1.95611976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.812320588 meters 0.01991762089539186 Centerline is valid? [True, True] Translation: X:359.47, Y:-161.02, Z:3.76 [[ 7.66094310e-01 -6.42406851e-01 2.03210914e-02 3.59471410e+02] [-6.42160946e-01 -7.66363562e-01 -1.77823025e-02 -1.61019279e+02] [ 2.69968169e-02 5.73509501e-04 -9.99635355e-01 3.76496317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84232058799995 meters 0.020101667659984477 Centerline is valid? [True, True] Translation: X:358.83, Y:-161.83, Z:1.96 [[ 7.51938079e-01 6.59076346e-01 1.44047082e-02 3.58832530e+02] [-6.58961083e-01 7.52076007e-01 -1.23276181e-02 -1.61827797e+02] [-1.89582769e-02 -2.22536678e-04 9.99820251e-01 1.95620941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.872320588 meters 0.020249194253328457 Centerline is valid? [True, True] Translation: X:358.86, Y:-161.85, Z:1.96 [[ 7.50676112e-01 6.60524264e-01 1.38950508e-02 3.58860945e+02] [-6.60416691e-01 7.50804666e-01 -1.19225927e-02 -1.61852315e+02] [-1.83076307e-02 -2.26517929e-04 9.99832376e-01 1.95631991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90232058799995 meters 0.020232286417219216 Centerline is valid? [True, True] Translation: X:358.89, Y:-161.88, Z:1.96 [[ 7.48402489e-01 6.63129271e-01 1.23808028e-02 3.58889059e+02] [-6.63043878e-01 7.48504850e-01 -1.06444643e-02 -1.61877443e+02] [-1.63257468e-02 -2.42671901e-04 9.99866697e-01 1.95686753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.932320588 meters 0.02092847405948379 Centerline is valid? [True, True] Translation: X:358.92, Y:-161.90, Z:1.96 [[ 7.46239231e-01 6.65553987e-01 1.28413903e-02 3.58918352e+02] [-6.65461966e-01 7.46349657e-01 -1.10707892e-02 -1.61903750e+02] [-1.69523751e-02 -2.83999620e-04 9.99856258e-01 1.95589792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96232058799995 meters 0.020988574655104477 Centerline is valid? [True, True] Translation: X:358.95, Y:-161.93, Z:1.96 [[ 7.44738621e-01 6.67242058e-01 1.23459317e-02 3.58946892e+02] [-6.67156814e-01 7.44840890e-01 -1.06693250e-02 -1.61929354e+02] [-1.63147771e-02 -2.90814100e-04 9.99866863e-01 1.95633490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.992320588 meters 0.021263134553606153 Centerline is valid? [True, True] Translation: X:358.98, Y:-161.96, Z:1.96 [[ 7.42974577e-01 6.69188559e-01 1.32457944e-02 3.58976068e+02] [-6.69090233e-01 7.43092565e-01 -1.14760408e-02 -1.61955504e+02] [-1.75224865e-02 -3.36225105e-04 9.99846413e-01 1.95621593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02232058799996 meters 0.021284225246183463 Centerline is valid? [True, True] Translation: X:359.01, Y:-161.98, Z:1.96 [[ 7.41960116e-01 6.70297230e-01 1.40288951e-02 3.59007823e+02] [-6.70186490e-01 7.42092646e-01 -1.21890183e-02 -1.61980524e+02] [-1.85810051e-02 -3.58210469e-04 9.99827294e-01 1.95569484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.052320588 meters 0.02114840282011609 Centerline is valid? [True, True] Translation: X:359.04, Y:-162.00, Z:1.96 [[ 7.40767777e-01 6.71618984e-01 1.38217889e-02 3.59036812e+02] [-6.71511236e-01 7.40896624e-01 -1.20354731e-02 -1.62004823e+02] [-1.83237689e-02 -3.65995904e-04 9.99832039e-01 1.95624342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08232058799996 meters 0.021717923178271814 Centerline is valid? [True, True] Translation: X:359.07, Y:-162.03, Z:1.96 [[ 7.39650346e-01 6.72844001e-01 1.40824619e-02 3.59065454e+02] [-6.72731782e-01 7.39784297e-01 -1.22940192e-02 -1.62030695e+02] [-1.86899413e-02 -3.80444107e-04 9.99825255e-01 1.95537647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.112320588 meters 0.021495454540526787 Centerline is valid? [True, True] Translation: X:359.10, Y:-162.06, Z:1.96 [[ 7.38616731e-01 6.73995800e-01 1.32282378e-02 3.59095541e+02] [-6.73896447e-01 7.38735088e-01 -1.15779541e-02 -1.62056228e+02] [-1.75756559e-02 -3.62791807e-04 9.99845470e-01 1.95638563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14232058799996 meters 0.020987761932379907 Centerline is valid? [True, True] Translation: X:359.13, Y:-162.08, Z:1.96 [[ 7.38742604e-01 6.73872111e-01 1.24796654e-02 3.59125819e+02] [-6.73783185e-01 7.38847939e-01 -1.09518649e-02 -1.62080476e+02] [-1.66007314e-02 -3.17979453e-04 9.99862148e-01 1.95595395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17232058799993 meters 0.020646777478115438 Centerline is valid? [True, True] Translation: X:359.16, Y:-162.11, Z:1.96 [[ 7.38834178e-01 6.73772713e-01 1.24253121e-02 3.59155582e+02] [-6.73684078e-01 7.38938593e-01 -1.09324313e-02 -1.62105701e+02] [-1.65475166e-02 -2.93481050e-04 9.99863037e-01 1.95687509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20232058799996 meters 0.020395182477549456 Centerline is valid? [True, True] Translation: X:359.19, Y:-162.13, Z:1.96 [[ 7.37978379e-01 6.74706265e-01 1.26241090e-02 3.59190279e+02] [-6.74614022e-01 7.38086294e-01 -1.11599835e-02 -1.62134650e+02] [-1.68473926e-02 -2.80574413e-04 9.99858033e-01 1.95792507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23232058799994 meters 0.02045446886186499 Centerline is valid? [True, True] Translation: X:359.22, Y:-162.16, Z:1.96 [[ 7.39519326e-01 6.73004584e-01 1.32663753e-02 3.59219150e+02] [-6.72901975e-01 7.39638273e-01 -1.17540286e-02 -1.62160742e+02] [-1.77228341e-02 -2.34638854e-04 9.99842911e-01 1.95759345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26232058799997 meters 0.02018131296217245 Centerline is valid? [True, True] Translation: X:359.25, Y:-162.19, Z:1.96 [[ 7.39730402e-01 6.72773733e-01 1.32074498e-02 3.59248833e+02] [-6.72671474e-01 7.39848270e-01 -1.17313855e-02 -1.62185714e+02] [-1.76640769e-02 -2.06212231e-04 9.99843957e-01 1.95665701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29232058799994 meters 0.019571612178546624 Centerline is valid? [True, True] Translation: X:359.28, Y:-162.21, Z:1.96 [[ 7.40876918e-01 6.71531887e-01 1.20961764e-02 3.59278485e+02] [-6.71445488e-01 7.40975644e-01 -1.07727156e-02 -1.62211738e+02] [-1.61971942e-02 -1.40666784e-04 9.99868807e-01 1.95510167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32232058799997 meters 0.01966677955260472 Centerline is valid? [True, True] Translation: X:359.31, Y:-162.24, Z:1.96 [[ 7.40844950e-01 6.71564989e-01 1.22157960e-02 3.59308413e+02] [-6.71476355e-01 7.40945647e-01 -1.09111468e-02 -1.62238679e+02] [-1.63787850e-02 -1.19150137e-04 9.99865852e-01 1.95503150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35232058799994 meters 0.01954896096547302 Centerline is valid? [True, True] Translation: X:359.34, Y:-162.27, Z:1.96 [[ 7.40981560e-01 6.71425674e-01 1.15712009e-02 3.59338063e+02] [-6.71345636e-01 7.41071898e-01 -1.03672464e-02 -1.62268135e+02] [-1.55359272e-02 -8.63368484e-05 9.99879306e-01 1.95506702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38232058799997 meters 0.01970524833533048 Centerline is valid? [True, True] Translation: X:359.37, Y:-162.30, Z:1.96 [[ 7.40230647e-01 6.72253762e-01 1.15528763e-02 3.59366035e+02] [-6.72173676e-01 7.40320790e-01 -1.03767528e-02 -1.62295387e+02] [-1.55286456e-02 -8.43489267e-05 9.99879420e-01 1.95595445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41232058799994 meters 0.01960489762828113 Centerline is valid? [True, True] Translation: X:359.40, Y:-162.32, Z:1.96 [[ 7.39472421e-01 6.73083396e-01 1.18017362e-02 3.59396697e+02] [-6.72999373e-01 7.39566587e-01 -1.06352552e-02 -1.62324138e+02] [-1.58865835e-02 -7.80831794e-05 9.99873797e-01 1.95598668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.442320588 meters 0.019743820746244756 Centerline is valid? [True, True] Translation: X:359.43, Y:-162.35, Z:1.96 [[ 7.39058187e-01 6.73544385e-01 1.14436506e-02 3.59425308e+02] [-6.73465042e-01 7.39146776e-01 -1.03383157e-02 -1.62351317e+02] [-1.54218519e-02 -6.62817776e-05 9.99881074e-01 1.95573836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47232058799995 meters 0.019723621000174954 Centerline is valid? [True, True] Translation: X:359.45, Y:-162.38, Z:1.95 [[ 7.38606039e-01 6.74018181e-01 1.26732839e-02 3.59454200e+02] [-6.73920436e-01 7.38714754e-01 -1.14785411e-02 -1.62376989e+02] [-1.70986871e-02 -6.26652338e-05 9.99853805e-01 1.95444761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.502320588 meters 0.0196478494716532 Centerline is valid? [True, True] Translation: X:359.48, Y:-162.41, Z:1.95 [[ 7.37958557e-01 6.74736555e-01 1.21552533e-02 3.59481483e+02] [-6.74646261e-01 7.38058655e-01 -1.10383044e-02 -1.62405718e+02] [-1.64192374e-02 -5.46850145e-05 9.99865194e-01 1.95476246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53232058799995 meters 0.019788544555042337 Centerline is valid? [True, True] Translation: X:359.51, Y:-162.44, Z:1.95 [[ 7.37039332e-01 6.75748894e-01 1.16813782e-02 3.59509552e+02] [-6.75665125e-01 7.37131894e-01 -1.06399817e-02 -1.62435947e+02] [-1.58006723e-02 -5.06148879e-05 9.99875160e-01 1.95470784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.562320588 meters 0.019699744842763156 Centerline is valid? [True, True] Translation: X:359.54, Y:-162.46, Z:1.96 [[ 7.35993855e-01 6.76890749e-01 1.14873732e-02 3.59540186e+02] [-6.76809350e-01 7.36083495e-01 -1.04972617e-02 -1.62464560e+02] [-1.55611652e-02 -4.88414967e-05 9.99878917e-01 1.95523699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59232058799995 meters 0.01967411106628023 Centerline is valid? [True, True] Translation: X:359.57, Y:-162.49, Z:1.96 [[ 7.35263723e-01 6.77671871e-01 1.21693884e-02 3.59569407e+02] [-6.77580170e-01 7.35364422e-01 -1.11480625e-02 -1.62491071e+02] [-1.65036636e-02 -4.89703344e-05 9.99863804e-01 1.95551231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.622320588 meters 0.01991294305065159 Centerline is valid? [True, True] Translation: X:359.60, Y:-162.52, Z:1.96 [[ 7.33913591e-01 6.79126939e-01 1.25475563e-02 3.59597646e+02] [-6.79029089e-01 7.34020842e-01 -1.15282013e-02 -1.62520421e+02] [-1.70392799e-02 -5.94521127e-05 9.99854819e-01 1.95509512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65232058799995 meters 0.01970861515736092 Centerline is valid? [True, True] Translation: X:359.63, Y:-162.55, Z:1.95 [[ 7.33350724e-01 6.79729427e-01 1.28305145e-02 3.59627515e+02] [-6.79626624e-01 7.33462953e-01 -1.18215468e-02 -1.62548380e+02] [-1.74461603e-02 -5.06193867e-05 9.99847803e-01 1.95437757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.682320588 meters 0.01956521919873341 Centerline is valid? [True, True] Translation: X:359.66, Y:-162.58, Z:1.95 [[ 7.32228496e-01 6.80968034e-01 1.11339919e-02 3.59655880e+02] [-6.80890298e-01 7.32313140e-01 -1.02891759e-02 -1.62577370e+02] [-1.51601685e-02 -4.69992373e-05 9.99885077e-01 1.95411094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71232058799995 meters 0.01956521919873341 Centerline is valid? [True, True] Translation: X:359.69, Y:-162.60, Z:1.95 [[ 7.31286455e-01 6.81979815e-01 1.11199078e-02 3.59685326e+02] [-6.81901965e-01 7.31370993e-01 -1.03044009e-02 -1.62603445e+02] [-1.51601714e-02 -4.72181522e-05 9.99885077e-01 1.95426662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.742320588 meters 0.019636811433930326 Centerline is valid? [True, True] Translation: X:359.71, Y:-162.63, Z:1.95 [[ 7.30126051e-01 6.83205105e-01 1.21133709e-02 3.59714328e+02] [-6.83112350e-01 7.30226527e-01 -1.12577128e-02 -1.62631412e+02] [-1.65368316e-02 -5.52438965e-05 9.99863256e-01 1.95413588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77232058799996 meters 0.019838215546624488 Centerline is valid? [True, True] Translation: X:359.74, Y:-162.66, Z:1.95 [[ 7.28663592e-01 6.84764259e-01 1.21358739e-02 3.59741820e+02] [-6.84670818e-01 7.28764644e-01 -1.13121847e-02 -1.62661238e+02] [-1.65903756e-02 -6.63015621e-05 9.99862368e-01 1.95410801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.802320588 meters 0.01996395124392792 Centerline is valid? [True, True] Translation: X:359.77, Y:-162.69, Z:1.95 [[ 7.26889980e-01 6.86652907e-01 1.17789342e-02 3.59770948e+02] [-6.86564617e-01 7.26985405e-01 -1.10112774e-02 -1.62690180e+02] [-1.61240389e-02 -8.30122623e-05 9.99869996e-01 1.95424389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83232058799996 meters 0.02007447113678602 Centerline is valid? [True, True] Translation: X:359.80, Y:-162.72, Z:1.95 [[ 7.25315132e-01 6.88323546e-01 1.13426864e-02 3.59799638e+02] [-6.88241401e-01 7.25403810e-01 -1.06341719e-02 -1.62719631e+02] [-1.55477788e-02 -9.33805808e-05 9.99879122e-01 1.95412433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.862320588 meters 0.019938767967335437 Centerline is valid? [True, True] Translation: X:359.83, Y:-162.75, Z:1.95 [[ 7.23595150e-01 6.90136187e-01 1.10499690e-02 3.59833303e+02] [-6.90057676e-01 7.23679511e-01 -1.04100932e-02 -1.62750744e+02] [-1.51810181e-02 -9.24229910e-05 9.99884757e-01 1.95480803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89232058799996 meters 0.020134135297235626 Centerline is valid? [True, True] Translation: X:359.86, Y:-162.78, Z:1.95 [[ 7.22075400e-01 6.91717948e-01 1.15497594e-02 3.59861913e+02] [-6.91631953e-01 7.22167756e-01 -1.09075572e-02 -1.62779776e+02] [-1.58858169e-02 -1.12103929e-04 9.99873806e-01 1.95421512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92232058799993 meters 0.0201345684003899 Centerline is valid? [True, True] Translation: X:359.89, Y:-162.81, Z:1.96 [[ 7.20293335e-01 6.93563174e-01 1.21505564e-02 3.59894448e+02] [-6.93467398e-01 7.20395800e-01 -1.15264173e-02 -1.62810379e+02] [-1.67475084e-02 -1.23613161e-04 9.99859743e-01 1.95562161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95232058799996 meters 0.020399432463096435 Centerline is valid? [True, True] Translation: X:359.92, Y:-162.84, Z:1.96 [[ 7.18953918e-01 6.94948343e-01 1.23314150e-02 3.59923421e+02] [-6.94849395e-01 7.19059651e-01 -1.17276280e-02 -1.62838128e+02] [-1.70171186e-02 -1.36852146e-04 9.99855189e-01 1.95512296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98232058799994 meters 0.02044402467806225 Centerline is valid? [True, True] Translation: X:359.95, Y:-162.87, Z:1.95 [[ 7.16492048e-01 6.97507989e-01 1.10340335e-02 3.59953394e+02] [-6.97428583e-01 7.16576989e-01 -1.05257207e-02 -1.62866251e+02] [-1.52485088e-02 -1.53855169e-04 9.99883723e-01 1.95483999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01232058799997 meters 0.0204294419120763 Centerline is valid? [True, True] Translation: X:359.99, Y:-162.90, Z:1.95 [[ 7.14516105e-01 6.99545833e-01 1.01175223e-02 3.59986027e+02] [-6.99478658e-01 7.14587717e-01 -9.69541934e-03 -1.62896217e+02] [-1.40122473e-02 -1.49457641e-04 9.99901812e-01 1.95494197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04232058799994 meters 0.02056984277983537 Centerline is valid? [True, True] Translation: X:360.02, Y:-162.92, Z:1.96 [[ 7.12080621e-01 7.02016432e-01 1.06826348e-02 3.60015749e+02] [-7.01941424e-01 7.12160722e-01 -1.02636763e-02 -1.62924322e+02] [-1.48130223e-02 -1.90018874e-04 9.99890263e-01 1.95625879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07232058799997 meters 0.021119403798952305 Centerline is valid? [True, True] Translation: X:360.05, Y:-162.95, Z:1.96 [[ 7.10462161e-01 7.03632538e-01 1.20320568e-02 3.60045803e+02] [-7.03537059e-01 7.10564001e-01 -1.15934221e-02 -1.62952100e+02] [-1.67070554e-02 -2.28310177e-04 9.99860401e-01 1.95512240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10232058799994 meters 0.022216492718058572 Centerline is valid? [True, True] Translation: X:360.08, Y:-162.98, Z:1.95 [[ 7.09293462e-01 7.04795432e-01 1.28911925e-02 3.60075285e+02] [-7.04685406e-01 7.09410556e-01 -1.24556048e-02 -1.62980001e+02] [-1.79238014e-02 -2.49556180e-04 9.99839325e-01 1.95254027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13232058799997 meters 0.022144226695777394 Centerline is valid? [True, True] Translation: X:360.11, Y:-163.01, Z:1.95 [[ 7.08855668e-01 7.05236747e-01 1.28364067e-02 3.60105300e+02] [-7.05127180e-01 7.08971843e-01 -1.24332516e-02 -1.63007377e+02] [-1.78690368e-02 -2.37918395e-04 9.99840308e-01 1.95204455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16232058799994 meters 0.020953443636383042 Centerline is valid? [True, True] Translation: X:360.14, Y:-163.03, Z:1.96 [[ 7.07857996e-01 7.06244764e-01 1.24655885e-02 3.60137342e+02] [-7.06140956e-01 7.07967712e-01 -1.21107230e-02 -1.63033312e+02] [-1.73783689e-02 -2.29790471e-04 9.99848958e-01 1.95644247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.192320588 meters 0.021058586429249505 Centerline is valid? [True, True] Translation: X:360.17, Y:-163.06, Z:1.96 [[ 7.06936160e-01 7.07156604e-01 1.30692031e-02 3.60169298e+02] [-7.07041906e-01 7.07056916e-01 -1.27381701e-02 -1.63059093e+02] [-1.82485515e-02 -2.35401254e-04 9.99833454e-01 1.95546654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22232058799995 meters 0.020865189659004645 Centerline is valid? [True, True] Translation: X:360.20, Y:-163.09, Z:1.95 [[ 7.06550262e-01 7.07531398e-01 1.36399658e-02 3.60200676e+02] [-7.07405795e-01 7.06681872e-01 -1.33331558e-02 -1.63085770e+02] [-1.90727430e-02 -2.28446152e-04 9.99818073e-01 1.95467540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.252320588 meters 0.020418665859000006 Centerline is valid? [True, True] Translation: X:360.23, Y:-163.11, Z:1.96 [[ 7.06155133e-01 7.07936825e-01 1.30529443e-02 3.60231444e+02] [-7.07821161e-01 7.06275733e-01 -1.27981846e-02 -1.63113087e+02] [-1.82792840e-02 -2.01646420e-04 9.99832900e-01 1.95601735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28232058799995 meters 0.020453137852816997 Centerline is valid? [True, True] Translation: X:360.26, Y:-163.14, Z:1.96 [[ 7.05936581e-01 7.08164084e-01 1.25369341e-02 3.60261281e+02] [-7.08056783e-01 7.06047874e-01 -1.23284912e-02 -1.63140199e+02] [-1.75822704e-02 -1.73728276e-04 9.99845405e-01 1.95511557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.312320588 meters 0.02025780921962642 Centerline is valid? [True, True] Translation: X:360.29, Y:-163.17, Z:1.95 [[ 7.06154007e-01 7.07956411e-01 1.20099211e-02 3.60292292e+02] [-7.07857337e-01 7.06256116e-01 -1.18443831e-02 -1.63166464e+02] [-1.68673872e-02 -1.37352220e-04 9.99857726e-01 1.95457787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34232058799995 meters 0.02003997970949859 Centerline is valid? [True, True] Translation: X:360.32, Y:-163.19, Z:1.95 [[ 7.06589113e-01 7.07489773e-01 1.37857102e-02 3.60322940e+02] [-7.07358412e-01 7.06723572e-01 -1.36333953e-02 -1.63193753e+02] [-1.93881741e-02 -1.18229387e-04 9.99812025e-01 1.95467031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.372320588 meters 0.020074446496097926 Centerline is valid? [True, True] Translation: X:360.35, Y:-163.22, Z:1.96 [[ 7.06328021e-01 7.07752769e-01 1.36654466e-02 3.60352101e+02] [-7.07622991e-01 7.06460196e-01 -1.35533755e-02 -1.63221565e+02] [-1.92465331e-02 -9.68552903e-05 9.99814764e-01 1.95556405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40232058799995 meters 0.019613346625963833 Centerline is valid? [True, True] Translation: X:360.38, Y:-163.25, Z:1.96 [[ 7.07635198e-01 7.06459583e-01 1.29338157e-02 3.60382962e+02] [-7.06342396e-01 7.07753387e-01 -1.28671156e-02 -1.63248316e+02] [-1.82440490e-02 -3.04784687e-05 9.99833563e-01 1.95658123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.432320588 meters 0.019293380808690305 Centerline is valid? [True, True] Translation: X:360.41, Y:-163.28, Z:1.96 [[ 7.08169346e-01 7.05960544e-01 1.07651238e-02 3.60412843e+02] [-7.05878799e-01 7.08251164e-01 -1.07429451e-02 -1.63275639e+02] [-1.52085068e-02 8.95176464e-06 9.99884344e-01 1.95551124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46232058799995 meters 0.019558023525105862 Centerline is valid? [True, True] Translation: X:360.44, Y:-163.30, Z:1.96 [[ 7.07862346e-01 7.06246705e-01 1.21033300e-02 3.60441782e+02] [-7.06142848e-01 7.07965812e-01 -1.21114333e-02 -1.63303690e+02] [-1.71224037e-02 2.65476313e-05 9.99853401e-01 1.95529180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.492320588 meters 0.019496151480448445 Centerline is valid? [True, True] Translation: X:361.24, Y:-162.54, Z:3.78 [[ 7.60134914e-01 -6.49478681e-01 1.92965061e-02 3.61243901e+02] [-6.49260962e-01 -7.60379759e-01 -1.68174341e-02 -1.62542652e+02] [ 2.55952376e-02 2.55050681e-04 -9.99672356e-01 3.78220722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52232058799996 meters 0.01931199712685663 Centerline is valid? [True, True] Translation: X:360.55, Y:-163.42, Z:1.96 [[ 7.63881396e-01 6.45196517e-01 1.43759538e-02 3.60552729e+02] [-6.45080491e-01 7.64016655e-01 -1.22356296e-02 -1.63416415e+02] [-1.88778538e-02 7.29225139e-05 9.99821795e-01 1.95632550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.552320588 meters 0.019140286752594642 Centerline is valid? [True, True] Translation: X:360.58, Y:-163.44, Z:1.96 [[ 7.63653610e-01 6.45467636e-01 1.43071438e-02 3.60581910e+02] [-6.45352063e-01 7.63787615e-01 -1.22144993e-02 -1.63441938e+02] [-1.88116832e-02 9.45017283e-05 9.99823040e-01 1.95581254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58232058799996 meters 0.01904868605492986 Centerline is valid? [True, True] Translation: X:360.61, Y:-163.47, Z:1.96 [[ 7.62663006e-01 6.46627739e-01 1.47548531e-02 3.60613195e+02] [-6.46504258e-01 7.62805714e-01 -1.26367565e-02 -1.63469442e+02] [-1.94263635e-02 9.85113715e-05 9.99811286e-01 1.95559133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.612320588 meters 0.0189726855104046 Centerline is valid? [True, True] Translation: X:360.64, Y:-163.50, Z:1.96 [[ 7.61793542e-01 6.47676988e-01 1.36058579e-02 3.60642417e+02] [-6.47571601e-01 7.61915029e-01 -1.16837590e-02 -1.63495208e+02] [-1.79338094e-02 8.98449567e-05 9.99839172e-01 1.95623956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64232058799996 meters 0.019028188461235423 Centerline is valid? [True, True] Translation: X:360.68, Y:-163.53, Z:1.96 [[ 7.60219926e-01 6.49493946e-01 1.49425017e-02 3.60679963e+02] [-6.49365648e-01 7.60366755e-01 -1.29094247e-02 -1.63525430e+02] [-1.97463747e-02 1.10854617e-04 9.99805015e-01 1.95601359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67232058799993 meters 0.01889574308390913 Centerline is valid? [True, True] Translation: X:360.72, Y:-163.56, Z:1.96 [[ 7.58035810e-01 6.52052370e-01 1.44712747e-02 3.60719519e+02] [-6.51930857e-01 7.58173921e-01 -1.25882099e-02 -1.63557571e+02] [-1.91799151e-02 1.08043372e-04 9.99816043e-01 1.95718440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70232058799996 meters 0.01888907943112198 Centerline is valid? [True, True] Translation: X:360.75, Y:-163.59, Z:1.96 [[ 7.56930947e-01 6.53353743e-01 1.35804172e-02 3.60748315e+02] [-6.53246502e-01 7.57052758e-01 -1.18375851e-02 -1.63585714e+02] [-1.80152229e-02 8.88744491e-05 9.99837709e-01 1.95813212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73232058799994 meters 0.018771159474536867 Centerline is valid? [True, True] Translation: X:360.78, Y:-163.61, Z:1.96 [[ 7.55559116e-01 6.54952996e-01 1.29226472e-02 3.60777557e+02] [-6.54855605e-01 7.55669615e-01 -1.12946743e-02 -1.63611885e+02] [-1.71627326e-02 7.13261670e-05 9.99852707e-01 1.95628684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76232058799997 meters 0.018804091217113114 Centerline is valid? [True, True] Translation: X:360.81, Y:-163.64, Z:1.95 [[ 7.54738968e-01 6.55905343e-01 1.25407542e-02 3.60807183e+02] [-6.55813265e-01 7.54843147e-01 -1.09902660e-02 -1.63637273e+02] [-1.66748766e-02 7.03890706e-05 9.99860962e-01 1.95495421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79232058799994 meters 0.01871260552512241 Centerline is valid? [True, True] Translation: X:360.84, Y:-163.66, Z:1.95 [[ 7.53949015e-01 6.56818088e-01 1.22834215e-02 3.60835629e+02] [-6.56729410e-01 7.54049066e-01 -1.07929542e-02 -1.63663383e+02] [-1.63513101e-02 7.04530892e-05 9.99866306e-01 1.95499874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82232058799997 meters 0.01863845977384729 Centerline is valid? [True, True] Translation: X:360.86, Y:-163.69, Z:1.96 [[ 7.53330413e-01 6.57527165e-01 1.23010438e-02 3.60862467e+02] [-6.57437859e-01 7.53430834e-01 -1.08369877e-02 -1.63691201e+02] [-1.63935995e-02 7.66605160e-05 9.99865613e-01 1.95757403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85232058799994 meters 0.01876961748370703 Centerline is valid? [True, True] Translation: X:360.89, Y:-163.72, Z:1.96 [[ 7.52155599e-01 6.58849691e-01 1.33805649e-02 3.60892954e+02] [-6.58743598e-01 7.52274603e-01 -1.18234185e-02 -1.63717400e+02] [-1.78557148e-02 7.86889931e-05 9.99840571e-01 1.95730430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88232058799997 meters 0.018889925271579476 Centerline is valid? [True, True] Translation: X:360.92, Y:-163.74, Z:1.96 [[ 7.51652837e-01 6.59402713e-01 1.43552770e-02 3.60923785e+02] [-6.59280094e-01 7.51789899e-01 -1.27163443e-02 -1.63741783e+02] [-1.91773442e-02 9.41278555e-05 9.99816093e-01 1.95557945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91232058799994 meters 0.018890860168942796 Centerline is valid? [True, True] Translation: X:360.95, Y:-163.77, Z:1.96 [[ 7.50855000e-01 6.60316807e-01 1.40883984e-02 3.60954023e+02] [-6.60198210e-01 7.50987154e-01 -1.25147327e-02 -1.63767387e+02] [-1.88438945e-02 9.56142286e-05 9.99822433e-01 1.95505776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.942320588 meters 0.018790292300834233 Centerline is valid? [True, True] Translation: X:360.98, Y:-163.79, Z:1.95 [[ 7.50047584e-01 6.61232162e-01 1.41651174e-02 3.60983768e+02] [-6.61111771e-01 7.50181324e-01 -1.26177692e-02 -1.63793368e+02] [-1.89696813e-02 9.92014599e-05 9.99820054e-01 1.95355878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97232058799995 meters 0.018649138663636267 Centerline is valid? [True, True] Translation: X:361.03, Y:-163.83, Z:1.95 [[ 7.47529395e-01 6.64091686e-01 1.34920798e-02 3.61025722e+02] [-6.63980953e-01 7.47651136e-01 -1.21273872e-02 -1.63827630e+02] [-1.81410658e-02 1.07094436e-04 9.99835432e-01 1.95401102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.002320588 meters 0.018927173110041155 Centerline is valid? [True, True] Translation: X:361.06, Y:-163.85, Z:1.95 [[ 7.46227361e-01 6.65513071e-01 1.53973443e-02 3.61056641e+02] [-6.65368653e-01 7.46386188e-01 -1.38641297e-02 -1.63854340e+02] [-2.07191246e-02 1.00882655e-04 9.99785331e-01 1.95453642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03232058799995 meters 0.01894716553233958 Centerline is valid? [True, True] Translation: X:361.09, Y:-163.88, Z:1.95 [[ 7.45260663e-01 6.66620764e-01 1.42583748e-02 3.61089885e+02] [-6.66496085e-01 7.45397039e-01 -1.28927175e-02 -1.63881519e+02] [-1.92227035e-02 1.05284238e-04 9.99815221e-01 1.95493539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.062320588 meters 0.01884768446418427 Centerline is valid? [True, True] Translation: X:361.12, Y:-163.91, Z:1.95 [[ 7.44586802e-01 6.67386833e-01 1.36128301e-02 3.61120593e+02] [-6.67272698e-01 7.44711222e-01 -1.23427307e-02 -1.63907613e+02] [-1.83750033e-02 1.06764557e-04 9.99831160e-01 1.95399664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09232058799995 meters 0.019112281540603307 Centerline is valid? [True, True] Translation: X:361.15, Y:-163.93, Z:1.95 [[ 7.43934182e-01 6.68083514e-01 1.50449680e-02 3.61151661e+02] [-6.67943456e-01 7.44086287e-01 -1.36798290e-02 -1.63933896e+02] [-2.03340226e-02 1.27704438e-04 9.99793234e-01 1.95244161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.122320588 meters 0.019014644654460608 Centerline is valid? [True, True] Translation: X:361.18, Y:-163.96, Z:1.95 [[ 7.43288074e-01 6.68789339e-01 1.56095828e-02 3.61182407e+02] [-6.68637858e-01 7.43451949e-01 -1.42342932e-02 -1.63959898e+02] [-2.11247182e-02 1.43022376e-04 9.99776838e-01 1.95313310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15232058799995 meters 0.019228155746689513 Centerline is valid? [True, True] Translation: X:361.21, Y:-163.99, Z:1.95 [[ 7.44245210e-01 6.67705164e-01 1.63976283e-02 3.61213407e+02] [-6.67536773e-01 7.44425797e-01 -1.49962823e-02 -1.63985828e+02] [-2.22199127e-02 2.14891370e-04 9.99753084e-01 1.95306079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.182320588 meters 0.01935845758818746 Centerline is valid? [True, True] Translation: X:361.24, Y:-164.01, Z:1.95 [[ 7.43987833e-01 6.68001643e-01 1.59971724e-02 3.61243823e+02] [-6.67840505e-01 7.44159762e-01 -1.46734240e-02 -1.64013211e+02] [-2.17063233e-02 2.33289253e-04 9.99764363e-01 1.95276838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21232058799995 meters 0.01979901624002263 Centerline is valid? [True, True] Translation: X:361.28, Y:-164.04, Z:1.95 [[ 7.45429806e-01 6.66380783e-01 1.64638027e-02 3.61275147e+02] [-6.66208749e-01 7.45611527e-01 -1.51444023e-02 -1.64038676e+02] [-2.23675398e-02 3.20759502e-04 9.99749764e-01 1.95263232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.242320588 meters 0.02002069555091886 Centerline is valid? [True, True] Translation: X:361.31, Y:-164.06, Z:1.95 [[ 7.45308792e-01 6.66495722e-01 1.72701305e-02 3.61306397e+02] [-6.66305403e-01 7.45508765e-01 -1.59308284e-02 -1.64064006e+02] [-2.34928626e-02 3.66205212e-04 9.99723938e-01 1.95118059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27232058799996 meters 0.020093321350179747 Centerline is valid? [True, True] Translation: X:361.34, Y:-164.09, Z:1.95 [[ 7.44910550e-01 6.66944963e-01 1.71081822e-02 3.61339835e+02] [-6.66756815e-01 7.45106878e-01 -1.58458302e-02 -1.64091525e+02] [-2.33157209e-02 3.96729006e-04 9.99728073e-01 1.95104475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.302320588 meters 0.020038693134538613 Centerline is valid? [True, True] Translation: X:361.37, Y:-164.12, Z:1.95 [[ 7.44033588e-01 6.67947498e-01 1.61294408e-02 3.61371836e+02] [-6.67779200e-01 7.44208297e-01 -1.49983668e-02 -1.64119790e+02] [-2.20217853e-02 3.88383570e-04 9.99757416e-01 1.95151574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33232058799996 meters 0.019919641831095573 Centerline is valid? [True, True] Translation: X:361.40, Y:-164.15, Z:1.95 [[ 7.43523110e-01 6.68553730e-01 1.44670218e-02 3.61401156e+02] [-6.68417768e-01 7.43663756e-01 -1.34872342e-02 -1.64146692e+02] [-1.97755405e-02 3.58055884e-04 9.99804381e-01 1.95278348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.362320588 meters 0.020007812172701988 Centerline is valid? [True, True] Translation: X:361.43, Y:-164.17, Z:1.95 [[ 7.42974651e-01 6.69137193e-01 1.56232198e-02 3.61431455e+02] [-6.68977914e-01 7.43138787e-01 -1.46045803e-02 -1.64173233e+02] [-2.13826885e-02 3.99243912e-04 9.99771284e-01 1.95253296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39232058799996 meters 0.020610057931582472 Centerline is valid? [True, True] Translation: X:361.46, Y:-164.20, Z:1.95 [[ 7.43454998e-01 6.68582721e-01 1.64867012e-02 3.61462211e+02] [-6.68404197e-01 7.43637629e-01 -1.54565696e-02 -1.64199330e+02] [-2.25941267e-02 4.71483623e-04 9.99744609e-01 1.95254988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42232058799993 meters 0.020569461247202263 Centerline is valid? [True, True] Translation: X:361.49, Y:-164.23, Z:1.95 [[ 7.43294921e-01 6.68772813e-01 1.59870401e-02 3.61492662e+02] [-6.68604037e-01 7.43466671e-01 -1.50316677e-02 -1.64226850e+02] [-2.19386022e-02 4.83962733e-04 9.99759203e-01 1.95331044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45232058799996 meters 0.021151733263108013 Centerline is valid? [True, True] Translation: X:361.52, Y:-164.25, Z:1.95 [[ 7.44506812e-01 6.67444023e-01 1.51024282e-02 3.61521891e+02] [-6.67292377e-01 7.44659791e-01 -1.42365540e-02 -1.64252272e+02] [-2.07482739e-02 5.21476255e-04 9.99784595e-01 1.95261782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48232058799994 meters 0.02120634392144146 Centerline is valid? [True, True] Translation: X:361.55, Y:-164.28, Z:1.95 [[ 7.44257794e-01 6.67719645e-01 1.51924902e-02 3.61551056e+02] [-6.67565463e-01 7.44412640e-01 -1.43587555e-02 -1.64278000e+02] [-2.08971049e-02 5.44633915e-04 9.99781483e-01 1.95160267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51232058799997 meters 0.021189325628096254 Centerline is valid? [True, True] Translation: X:361.58, Y:-164.30, Z:1.95 [[ 7.43979725e-01 6.68038331e-01 1.47971919e-02 3.61579235e+02] [-6.67891385e-01 7.44126660e-01 -1.40218251e-02 -1.64304622e+02] [-2.03781017e-02 5.49036583e-04 9.99792194e-01 1.95303561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54232058799994 meters 0.02102518251727736 Centerline is valid? [True, True] Translation: X:361.61, Y:-164.33, Z:1.95 [[ 7.42918572e-01 6.69225104e-01 1.44829306e-02 3.61608779e+02] [-6.69083740e-01 7.43059535e-01 -1.37650447e-02 -1.64332366e+02] [-1.99735932e-02 5.36013987e-04 9.99800364e-01 1.95427510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57232058799997 meters 0.021136926647558566 Centerline is valid? [True, True] Translation: X:361.64, Y:-164.36, Z:1.95 [[ 7.41129287e-01 6.71225702e-01 1.35439065e-02 3.61639158e+02] [-6.71101661e-01 7.41252876e-01 -1.29125933e-02 -1.64360164e+02] [-1.87067242e-02 4.80562968e-04 9.99824898e-01 1.95365955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60232058799994 meters 0.021136926647558566 Centerline is valid? [True, True] Translation: X:361.67, Y:-164.39, Z:1.95 [[ 7.40210041e-01 6.72239634e-01 1.35266225e-02 3.61668151e+02] [-6.72115431e-01 7.40333468e-01 -1.29307031e-02 -1.64386755e+02] [-1.87067425e-02 4.79984613e-04 9.99824898e-01 1.95381498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63232058799997 meters 0.021110345126060234 Centerline is valid? [True, True] Translation: X:361.70, Y:-164.41, Z:1.95 [[ 7.39459081e-01 6.73063480e-01 1.36315763e-02 3.61697712e+02] [-6.72936808e-01 7.39584555e-01 -1.30667423e-02 -1.64413934e+02] [-1.88764503e-02 4.89131767e-04 9.99821704e-01 1.95288931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66232058799994 meters 0.02125451649721715 Centerline is valid? [True, True] Translation: X:361.73, Y:-164.44, Z:1.95 [[ 7.38688733e-01 6.73900475e-01 1.40394162e-02 3.61726384e+02] [-6.73765545e-01 7.38821961e-01 -1.34944539e-02 -1.64441983e+02] [-1.94665479e-02 5.08926142e-04 9.99810379e-01 1.95336914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.692320588 meters 0.021410053234434963 Centerline is valid? [True, True] Translation: X:361.76, Y:-164.47, Z:1.95 [[ 7.37843428e-01 6.74822706e-01 1.41912077e-02 3.61756193e+02] [-6.74684230e-01 7.37979705e-01 -1.36800792e-02 -1.64470022e+02] [-1.97044514e-02 5.19172505e-04 9.99805714e-01 1.95303680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72232058799995 meters 0.02135718379851988 Centerline is valid? [True, True] Translation: X:361.78, Y:-164.50, Z:1.95 [[ 7.37090693e-01 6.75641328e-01 1.43563617e-02 3.61784716e+02] [-6.75499020e-01 7.37230299e-01 -1.38765777e-02 -1.64497330e+02] [-1.99595343e-02 5.30588018e-04 9.99800648e-01 1.95340814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.752320588 meters 0.021387081589723595 Centerline is valid? [True, True] Translation: X:361.81, Y:-164.53, Z:1.95 [[ 7.35771894e-01 6.77082155e-01 1.41235645e-02 3.61813341e+02] [-6.76943908e-01 7.35907258e-01 -1.36913745e-02 -1.64525516e+02] [-1.96638190e-02 5.12867589e-04 9.99806517e-01 1.95380756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78232058799995 meters 0.021444162647153063 Centerline is valid? [True, True] Translation: X:361.84, Y:-164.55, Z:1.95 [[ 7.35822651e-01 6.77019534e-01 1.44767814e-02 3.61842085e+02] [-6.76873464e-01 7.35964837e-01 -1.40738606e-02 -1.64553576e+02] [-2.01826806e-02 5.56916297e-04 9.99796154e-01 1.95406882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.812320588 meters 0.02117461367059021 Centerline is valid? [True, True] Translation: X:361.88, Y:-164.59, Z:1.95 [[ 7.34083997e-01 6.78912618e-01 1.40834073e-02 3.61875140e+02] [-6.78773417e-01 7.34218881e-01 -1.37580218e-02 -1.64586033e+02] [-1.96807982e-02 5.40101191e-04 9.99806168e-01 1.95444545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84232058799995 meters 0.02130860606142263 Centerline is valid? [True, True] Translation: X:361.90, Y:-164.62, Z:1.95 [[ 7.32826895e-01 6.80278076e-01 1.36557804e-02 3.61904109e+02] [-6.80146759e-01 7.32953937e-01 -1.33757938e-02 -1.64615148e+02] [-1.91083173e-02 5.14206655e-04 9.99817287e-01 1.95380800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.872320588 meters 0.02115108225401368 Centerline is valid? [True, True] Translation: X:361.93, Y:-164.65, Z:1.95 [[ 7.31736260e-01 6.81472954e-01 1.25162889e-02 3.61930921e+02] [-6.81362182e-01 7.31843147e-01 -1.22957253e-02 -1.64646427e+02] [-1.75391645e-02 4.69102159e-04 9.99846067e-01 1.95401660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90232058799995 meters 0.02416685884998689 Centerline is valid? [True, True] Translation: X:361.96, Y:-164.67, Z:1.95 [[ 7.31000415e-01 6.82238411e-01 1.37529669e-02 3.61963472e+02] [-6.82104067e-01 7.31129589e-01 -1.35486070e-02 -1.64671624e+02] [-1.92985812e-02 5.23082709e-04 9.99813628e-01 1.94932289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.932320588 meters 0.020854567764830332 Centerline is valid? [True, True] Translation: X:361.99, Y:-164.71, Z:1.95 [[ 7.28200636e-01 6.85210187e-01 1.45201052e-02 3.61989488e+02] [-6.85059727e-01 7.28345202e-01 -1.43679059e-02 -1.64708079e+02] [-2.04206845e-02 5.15578943e-04 9.99791343e-01 1.95456199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96232058799995 meters 0.02066809443045348 Centerline is valid? [True, True] Translation: X:362.02, Y:-164.74, Z:1.96 [[ 7.26418335e-01 6.87116927e-01 1.36649629e-02 3.62017419e+02] [-6.86983294e-01 7.26546706e-01 -1.35586978e-02 -1.64737099e+02] [-1.92446446e-02 4.61685486e-04 9.99814698e-01 1.95527583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.992320588 meters 0.02067256497179049 Centerline is valid? [True, True] Translation: X:362.05, Y:-164.77, Z:1.95 [[ 7.25016899e-01 6.88608227e-01 1.30079031e-02 3.62047912e+02] [-6.88486274e-01 7.25133444e-01 -1.29668552e-02 -1.64770201e+02] [-1.83615487e-02 4.45426414e-04 9.99831313e-01 1.95441988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02232058799996 meters 0.020640112199599873 Centerline is valid? [True, True] Translation: X:362.08, Y:-164.80, Z:1.95 [[ 7.23843036e-01 6.89847225e-01 1.27304760e-02 3.62076955e+02] [-6.89730003e-01 7.23954848e-01 -1.27240548e-02 -1.64798874e+02] [-1.79939437e-02 4.29627244e-04 9.99838004e-01 1.95416901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.052320588 meters 0.020562771353771107 Centerline is valid? [True, True] Translation: X:362.10, Y:-164.83, Z:1.95 [[ 7.21341339e-01 6.92489098e-01 1.12036663e-02 3.62104294e+02] [-6.92398084e-01 7.21428258e-01 -1.12321986e-02 -1.64828776e+02] [-1.58608166e-02 3.44852072e-04 9.99874150e-01 1.95414587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08232058799996 meters 0.02042298861440079 Centerline is valid? [True, True] Translation: X:362.95, Y:-164.02, Z:3.80 [[ 7.47009986e-01 -6.64556328e-01 1.84652861e-02 3.62950534e+02] [-6.64360180e-01 -7.47238144e-01 -1.61464375e-02 -1.64023926e+02] [ 2.45281834e-02 -2.06050717e-04 -9.99699118e-01 3.80110655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.112320588 meters 0.020240770838065573 Centerline is valid? [True, True] Translation: X:362.21, Y:-164.95, Z:1.95 [[ 7.73255735e-01 6.33979581e-01 1.20606788e-02 3.62214985e+02] [-6.33896139e-01 7.73349723e-01 -1.02903333e-02 -1.64947005e+02] [-1.58509838e-02 3.11841536e-04 9.99874317e-01 1.95480244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14232058799996 meters 0.02018161129420634 Centerline is valid? [True, True] Translation: X:362.26, Y:-164.98, Z:1.95 [[ 7.70434618e-01 6.37399122e-01 1.23636262e-02 3.62257289e+02] [-6.37310355e-01 7.70533748e-01 -1.06420589e-02 -1.64980594e+02] [-1.63098303e-02 3.19543565e-04 9.99866935e-01 1.95397707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17232058799993 meters 0.019867355954247466 Centerline is valid? [True, True] Translation: X:362.29, Y:-165.01, Z:1.95 [[ 7.68860815e-01 6.39307784e-01 1.17730447e-02 3.62286142e+02] [-6.39227272e-01 7.68950896e-01 -1.01495992e-02 -1.65006119e+02] [-1.55416110e-02 2.77977815e-04 9.99879183e-01 1.95481176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20232058799996 meters 0.019865614595485387 Centerline is valid? [True, True] Translation: X:362.32, Y:-165.03, Z:1.96 [[ 7.67484466e-01 6.40958932e-01 1.18000750e-02 3.62315604e+02] [-6.40877768e-01 7.67575127e-01 -1.02034847e-02 -1.65034373e+02] [-1.55974587e-02 2.68610296e-04 9.99878316e-01 1.95600680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23232058799994 meters 0.020005632548998977 Centerline is valid? [True, True] Translation: X:362.35, Y:-165.06, Z:1.95 [[ 7.67014999e-01 6.41490810e-01 1.33241217e-02 3.62345315e+02] [-6.41386897e-01 7.67130655e-01 -1.15501463e-02 -1.65059296e+02] [-1.76306550e-02 3.13218331e-04 9.99844519e-01 1.95484764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26232058799997 meters 0.020039364754263905 Centerline is valid? [True, True] Translation: X:362.38, Y:-165.08, Z:1.95 [[ 7.65919817e-01 6.42824944e-01 1.19550813e-02 3.62375253e+02] [-6.42741000e-01 7.66013064e-01 -1.03919019e-02 -1.65083602e+02] [-1.58379222e-02 2.75342694e-04 9.99874534e-01 1.95449744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29232058799994 meters 0.01990120383014265 Centerline is valid? [True, True] Translation: X:362.42, Y:-165.12, Z:1.95 [[ 7.62701731e-01 6.46629680e-01 1.24950360e-02 3.62420005e+02] [-6.46536472e-01 7.62804017e-01 -1.09828173e-02 -1.65120260e+02] [-1.66330793e-02 2.98117238e-04 9.99861616e-01 1.95395192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32232058799997 meters 0.019994893184739737 Centerline is valid? [True, True] Translation: X:362.45, Y:-165.15, Z:1.95 [[ 7.61081964e-01 6.48542580e-01 1.21147173e-02 3.62449476e+02] [-6.48454945e-01 7.61178332e-01 -1.06644919e-02 -1.65147606e+02] [-1.61378373e-02 2.60704095e-04 9.99869743e-01 1.95420241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35232058799994 meters 0.019821837353847724 Centerline is valid? [True, True] Translation: X:362.48, Y:-165.17, Z:1.95 [[ 7.60496215e-01 6.49229520e-01 1.21052567e-02 3.62479416e+02] [-6.49141643e-01 7.60592505e-01 -1.06849828e-02 -1.65173332e+02] [-1.61441737e-02 2.67862768e-04 9.99869638e-01 1.95379334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38232058799997 meters 0.0197984746387431 Centerline is valid? [True, True] Translation: X:362.51, Y:-165.20, Z:1.95 [[ 7.59425105e-01 6.50489349e-01 1.17096619e-02 3.62510032e+02] [-6.50406580e-01 7.59515329e-01 -1.03800543e-02 -1.65202578e+02] [-1.56457825e-02 2.66832646e-04 9.99877562e-01 1.95341249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41232058799994 meters 0.020022366036077637 Centerline is valid? [True, True] Translation: X:362.54, Y:-165.23, Z:1.95 [[ 7.58512124e-01 6.51565246e-01 1.10493207e-02 3.62539937e+02] [-6.51491267e-01 7.58592557e-01 -9.82149924e-03 -1.65230593e+02] [-1.47812800e-02 2.51190335e-04 9.99890719e-01 1.95353009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.442320588 meters 0.021552564211743674 Centerline is valid? [True, True] Translation: X:362.61, Y:-165.28, Z:1.95 [[ 7.52582205e-01 6.58407908e-01 1.09110996e-02 3.62607898e+02] [-6.58332961e-01 7.52661238e-01 -9.93850645e-03 -1.65280519e+02] [-1.47559530e-02 2.96406593e-04 9.99891081e-01 1.95137345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47232058799995 meters 0.01992007147064571 Centerline is valid? [True, True] Translation: X:362.64, Y:-165.31, Z:1.96 [[ 7.51682190e-01 6.59436639e-01 1.08261171e-02 3.62636065e+02] [-6.59363178e-01 7.51760102e-01 -9.84629589e-03 -1.65309987e+02] [-1.46316511e-02 2.62942306e-04 9.99892917e-01 1.95523766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.502320588 meters 0.019721470744872027 Centerline is valid? [True, True] Translation: X:362.67, Y:-165.34, Z:1.95 [[ 7.49442822e-01 6.61991459e-01 1.01372775e-02 3.62668931e+02] [-6.61926738e-01 7.49511344e-01 -9.25947728e-03 -1.65338037e+02] [-1.37276994e-02 2.29313725e-04 9.99905744e-01 1.95475243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53232058799995 meters 0.01960986028168502 Centerline is valid? [True, True] Translation: X:362.70, Y:-165.37, Z:1.95 [[ 7.46446606e-01 6.65363949e-01 1.04057468e-02 3.62697241e+02] [-6.65295731e-01 7.46519109e-01 -9.52943670e-03 -1.65367091e+02] [-1.41086324e-02 1.90316792e-04 9.99900450e-01 1.95454112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.562320588 meters 0.01999507920391887 Centerline is valid? [True, True] Translation: X:362.73, Y:-165.39, Z:1.95 [[ 7.44121732e-01 6.67972030e-01 9.80889886e-03 3.62727832e+02] [-6.67911288e-01 7.44186363e-01 -9.00930136e-03 -1.65393789e+02] [-1.33176101e-02 1.52542662e-04 9.99911305e-01 1.95269238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59232058799995 meters 0.019472520632877726 Centerline is valid? [True, True] Translation: X:362.76, Y:-165.42, Z:1.95 [[ 7.40475171e-01 6.72018137e-01 9.38850833e-03 3.62757258e+02] [-6.71962543e-01 7.40534682e-01 -8.64440499e-03 -1.65422476e+02] [-1.27617130e-02 9.22413290e-05 9.99918562e-01 1.95438545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.622320588 meters 0.018932791663627144 Centerline is valid? [True, True] Translation: X:362.79, Y:-165.45, Z:1.96 [[ 7.38545553e-01 6.74132703e-01 9.77568660e-03 3.62788383e+02] [-6.74072204e-01 7.38610244e-01 -9.03170897e-03 -1.65451039e+02] [-1.33089926e-02 8.08098846e-05 9.99911428e-01 1.95763656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65232058799995 meters 0.019358885339983617 Centerline is valid? [True, True] Translation: X:362.82, Y:-165.48, Z:1.95 [[ 7.35296883e-01 6.77678907e-01 9.47590827e-03 3.62822762e+02] [-6.77621803e-01 7.35357938e-01 -8.79743049e-03 -1.65481099e+02] [-1.29300174e-02 4.76411746e-05 9.99916403e-01 1.95483750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.682320588 meters 0.01923725420545682 Centerline is valid? [True, True] Translation: X:362.85, Y:-165.51, Z:1.95 [[ 7.33336594e-01 6.79802124e-01 9.30116331e-03 3.62853087e+02] [-6.79747049e-01 7.33395577e-01 -8.65318684e-03 -1.65509509e+02] [-1.27038868e-02 2.32602543e-05 9.99919302e-01 1.95495760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71232058799995 meters 0.01948644549279671 Centerline is valid? [True, True] Translation: X:362.88, Y:-165.54, Z:1.95 [[ 7.31972154e-01 6.81262637e-01 9.89873626e-03 3.62883001e+02] [-6.81200094e-01 7.32039083e-01 -9.23109746e-03 -1.65537182e+02] [-1.35350636e-02 1.38862254e-05 9.99908397e-01 1.95427366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.742320588 meters 0.01940907801841826 Centerline is valid? [True, True] Translation: X:362.91, Y:-165.56, Z:1.96 [[ 7.29793467e-01 6.83598579e-01 9.72000449e-03 3.62913815e+02] [-6.83538181e-01 7.29858193e-01 -9.08693527e-03 -1.65563475e+02] [-1.33060410e-02 -1.24081936e-05 9.99911471e-01 1.95530602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77232058799996 meters 0.01944932695717615 Centerline is valid? [True, True] Translation: X:362.95, Y:-165.59, Z:1.96 [[ 7.27564367e-01 6.85974077e-01 9.46884031e-03 3.62946831e+02] [-6.85916628e-01 7.27625979e-01 -8.87776650e-03 -1.65589741e+02] [-1.29796919e-02 -3.56884543e-05 9.99915760e-01 1.95689508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.802320588 meters 0.019563554457820553 Centerline is valid? [True, True] Translation: X:362.98, Y:-165.62, Z:1.96 [[ 7.26038564e-01 6.87585600e-01 9.69775715e-03 3.62977005e+02] [-6.87525189e-01 7.26103326e-01 -9.11448504e-03 -1.65617007e+02] [-1.33085624e-02 -4.99846898e-05 9.99911436e-01 1.95755471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83232058799996 meters 0.01957658521236896 Centerline is valid? [True, True] Translation: X:363.01, Y:-165.65, Z:1.96 [[ 7.24645076e-01 6.89064119e-01 8.95283906e-03 3.63007002e+02] [-6.89012469e-01 7.24700378e-01 -8.43684663e-03 -1.65645123e+02] [-1.23016541e-02 -5.48983760e-05 9.99924330e-01 1.95998322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.862320588 meters 0.019529376945551336 Centerline is valid? [True, True] Translation: X:363.05, Y:-165.68, Z:1.96 [[ 7.22406176e-01 6.91414306e-01 8.69332052e-03 3.63048127e+02] [-6.91365084e-01 7.22458479e-01 -8.25020795e-03 -1.65678300e+02] [-1.19848749e-02 -5.02570957e-05 9.99928178e-01 1.95955561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89232058799996 meters 0.019465588783449547 Centerline is valid? [True, True] Translation: X:363.08, Y:-165.70, Z:1.96 [[ 7.21104162e-01 6.92775000e-01 8.46089709e-03 3.63080901e+02] [-6.92728315e-01 7.21153794e-01 -8.04278179e-03 -1.65703305e+02] [-1.16734462e-02 -6.14195618e-05 9.99931861e-01 1.95869591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92232058799993 meters 0.019093046058276494 Centerline is valid? [True, True] Translation: X:363.12, Y:-165.73, Z:1.96 [[ 7.19988974e-01 6.93936798e-01 8.22181975e-03 3.63115365e+02] [-6.93892499e-01 7.20035914e-01 -7.84104666e-03 -1.65727073e+02] [-1.13611963e-02 -5.95919131e-05 9.99935458e-01 1.96026653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95232058799996 meters 0.01964884167323209 Centerline is valid? [True, True] Translation: X:363.15, Y:-165.76, Z:1.96 [[ 7.18770092e-01 6.95195018e-01 8.56984143e-03 3.63146360e+02] [-6.95146667e-01 7.18821176e-01 -8.19932820e-03 -1.65755453e+02] [-1.18603156e-02 -6.38648245e-05 9.99929662e-01 1.95734282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98232058799994 meters 0.019791676928146526 Centerline is valid? [True, True] Translation: X:363.18, Y:-165.78, Z:1.96 [[ 7.18097258e-01 6.95881853e-01 9.20730870e-03 3.63178116e+02] [-6.95825836e-01 7.18156280e-01 -8.82973171e-03 -1.65781555e+02] [-1.27567366e-02 -6.60771455e-05 9.99918627e-01 1.95824092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01232058799997 meters 0.01943488269500263 Centerline is valid? [True, True] Translation: X:363.21, Y:-165.81, Z:1.96 [[ 7.17689733e-01 6.96314077e-01 8.25548753e-03 3.63209774e+02] [-6.96268823e-01 7.17737211e-01 -7.93865695e-03 -1.65808139e+02] [-1.14530692e-02 -5.05459944e-05 9.99934410e-01 1.95892251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04232058799994 meters 0.018825431414437148 Centerline is valid? [True, True] Translation: X:363.24, Y:-165.83, Z:1.96 [[ 7.17760568e-01 6.96245843e-01 7.84179373e-03 3.63242827e+02] [-6.96204742e-01 7.17803403e-01 -7.56515116e-03 -1.65833270e+02] [-1.08960713e-02 -2.95267846e-05 9.99940636e-01 1.96126796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07232058799997 meters 0.018858894950598507 Centerline is valid? [True, True] Translation: X:363.27, Y:-165.86, Z:1.96 [[ 7.17365365e-01 6.96656471e-01 7.52960490e-03 3.63274626e+02] [-6.96618367e-01 7.17404880e-01 -7.28622777e-03 -1.65859595e+02] [-1.04777730e-02 -1.83736227e-05 9.99945106e-01 1.96017190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10232058799994 meters 0.018901140399457575 Centerline is valid? [True, True] Translation: X:363.31, Y:-165.88, Z:1.96 [[ 7.17592515e-01 6.96423942e-01 7.39429135e-03 3.63307339e+02] [-6.96386969e-01 7.17630611e-01 -7.17605451e-03 -1.65883986e+02] [-1.03039460e-02 1.94864900e-07 9.99946913e-01 1.95772274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13232058799997 meters 0.018767824219448455 Centerline is valid? [True, True] Translation: X:363.34, Y:-165.91, Z:1.96 [[ 7.16847181e-01 6.97187728e-01 7.70655183e-03 3.63337582e+02] [-6.97147377e-01 7.16888605e-01 -7.50083511e-03 -1.65910668e+02] [-1.07542294e-02 4.35010457e-06 9.99942172e-01 1.95909150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16232058799994 meters 0.01858660314454912 Centerline is valid? [True, True] Translation: X:363.37, Y:-165.94, Z:1.96 [[ 7.15799780e-01 6.98264292e-01 7.59297300e-03 3.63367972e+02] [-6.98224938e-01 7.15840050e-01 -7.41338542e-03 -1.65938650e+02] [-1.06118565e-02 4.89654959e-06 9.99943693e-01 1.95977418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.192320588 meters 0.01859839998092701 Centerline is valid? [True, True] Translation: X:363.40, Y:-165.96, Z:1.96 [[ 7.15452449e-01 6.98624950e-01 7.13952043e-03 3.63399003e+02] [-6.98589972e-01 7.15488071e-01 -6.99086673e-03 -1.65964650e+02] [-9.99223562e-03 1.40353511e-05 9.99950076e-01 1.96005657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22232058799995 meters 0.01869239563048092 Centerline is valid? [True, True] Translation: X:363.43, Y:-165.99, Z:1.96 [[ 7.14713780e-01 6.99373406e-01 7.81356308e-03 3.63430208e+02] [-6.99331319e-01 7.14756489e-01 -7.67258502e-03 -1.65990126e+02] [-1.09507968e-02 1.94328648e-05 9.99940038e-01 1.95908286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.252320588 meters 0.01915152824992627 Centerline is valid? [True, True] Translation: X:363.46, Y:-166.02, Z:1.96 [[ 7.13239415e-01 7.00872352e-01 8.21477819e-03 3.63460670e+02] [-7.00825643e-01 7.13286721e-01 -8.09153211e-03 -1.66018164e+02] [-1.15306233e-02 1.40724263e-05 9.99933520e-01 1.95546406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28232058799995 meters 0.018687041246688716 Centerline is valid? [True, True] Translation: X:363.49, Y:-166.05, Z:1.96 [[ 7.12809437e-01 7.01316578e-01 7.60025170e-03 3.63490441e+02] [-7.01276380e-01 7.12849954e-01 -7.50883343e-03 -1.66045289e+02] [-1.06839084e-02 2.24903314e-05 9.99942925e-01 1.95936408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.312320588 meters 0.018697305244603057 Centerline is valid? [True, True] Translation: X:363.52, Y:-166.07, Z:1.96 [[ 7.12013850e-01 7.02121778e-01 7.82858291e-03 3.63521377e+02] [-7.02078911e-01 7.12056885e-01 -7.75853817e-03 -1.66073099e+02] [-1.10218350e-02 2.79036620e-05 9.99939257e-01 1.95833849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34232058799995 meters 0.01868284668598555 Centerline is valid? [True, True] Translation: X:363.55, Y:-166.10, Z:1.96 [[ 7.11472702e-01 7.02675645e-01 7.31656202e-03 3.63552049e+02] [-7.02638015e-01 7.11510321e-01 -7.27205834e-03 -1.66099551e+02] [-1.03157077e-02 3.29763843e-05 9.99946791e-01 1.95843814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.372320588 meters 0.01872217402292312 Centerline is valid? [True, True] Translation: X:363.58, Y:-166.13, Z:1.96 [[ 7.10242731e-01 7.03920492e-01 7.15571225e-03 3.63582138e+02] [-7.03884352e-01 7.10278777e-01 -7.13292483e-03 -1.66126886e+02] [-1.01035625e-02 2.93141345e-05 9.99948957e-01 1.95839657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40232058799995 meters 0.01880167777677476 Centerline is valid? [True, True] Translation: X:363.61, Y:-166.15, Z:1.96 [[ 7.09006280e-01 7.05157037e-01 7.97796028e-03 3.63613439e+02] [-7.05111925e-01 7.09051163e-01 -7.97622964e-03 -1.66154284e+02] [-1.12812765e-02 2.98419776e-05 9.99936364e-01 1.95837398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.432320588 meters 0.0188923171384809 Centerline is valid? [True, True] Translation: X:363.64, Y:-166.18, Z:1.96 [[ 7.08249232e-01 7.05908015e-01 8.76928679e-03 3.63643802e+02] [-7.05853262e-01 7.08303518e-01 -8.79200051e-03 -1.66181681e+02] [-1.24176603e-02 3.70979221e-05 9.99922897e-01 1.95850417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46232058799995 meters 0.019125378447686813 Centerline is valid? [True, True] Translation: X:364.46, Y:-165.40, Z:3.82 [[ 7.59813019e-01 -6.49969020e-01 1.49816260e-02 3.64462876e+02] [-6.49835732e-01 -7.59960658e-01 -1.31650909e-02 -1.65397725e+02] [ 1.99423476e-02 2.67411593e-04 -9.99801096e-01 3.81570412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.492320588 meters 0.018962077723949828 Centerline is valid? [True, True] Translation: X:363.75, Y:-166.29, Z:1.96 [[ 7.62668119e-01 6.46729011e-01 8.88399782e-03 3.63754197e+02] [-6.46684731e-01 7.62719860e-01 -7.56791031e-03 -1.66291298e+02] [-1.16703887e-02 2.66581776e-05 9.99931898e-01 1.95950304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52232058799996 meters 0.018962077723949828 Centerline is valid? [True, True] Translation: X:363.78, Y:-166.32, Z:1.96 [[ 7.61818876e-01 6.47729343e-01 8.87123773e-03 3.63784028e+02] [-6.47684956e-01 7.61870525e-01 -7.58287063e-03 -1.66315649e+02] [-1.16703824e-02 3.10067539e-05 9.99931898e-01 1.95965134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.552320588 meters 0.019203813504376336 Centerline is valid? [True, True] Translation: X:363.81, Y:-166.34, Z:1.96 [[ 7.60527004e-01 6.49258111e-01 7.91083936e-03 3.63814574e+02] [-6.49222704e-01 7.60568146e-01 -6.78062614e-03 -1.66339834e+02] [-1.04191089e-02 2.09527657e-05 9.99945719e-01 1.95643863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58232058799996 meters 0.019093044242658265 Centerline is valid? [True, True] Translation: X:363.84, Y:-166.36, Z:1.96 [[ 7.60137970e-01 6.49706306e-01 8.48428752e-03 3.63843729e+02] [-6.49665465e-01 7.60185317e-01 -7.28471864e-03 -1.66363612e+02] [-1.11825584e-02 2.54426394e-05 9.99937473e-01 1.95634219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.612320588 meters 0.01875351797513171 Centerline is valid? [True, True] Translation: X:363.87, Y:-166.39, Z:1.96 [[ 7.58789089e-01 6.51272207e-01 9.14504802e-03 3.63874480e+02] [-6.51224601e-01 7.58844195e-01 -7.87446863e-03 -1.66387717e+02] [-1.20680892e-02 1.95806319e-05 9.99927178e-01 1.95940978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64232058799996 meters 0.019373084883602246 Centerline is valid? [True, True] Translation: X:363.91, Y:-166.41, Z:1.96 [[ 7.57490936e-01 6.52774909e-01 9.61247546e-03 3.63905495e+02] [-6.52722157e-01 7.57551924e-01 -8.29864955e-03 -1.66412058e+02] [-1.26990995e-02 1.18760977e-05 9.99919363e-01 1.95653072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67232058799993 meters 0.019172970337497347 Centerline is valid? [True, True] Translation: X:363.94, Y:-166.44, Z:1.96 [[ 7.56116454e-01 6.54372795e-01 9.17355985e-03 3.63935256e+02] [-6.54324680e-01 7.56172101e-01 -7.93523969e-03 -1.66436246e+02] [-1.21293950e-02 -2.52131450e-06 9.99926436e-01 1.95737313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70232058799996 meters 0.019147440184341103 Centerline is valid? [True, True] Translation: X:363.97, Y:-166.46, Z:1.96 [[ 7.54192915e-01 6.56597103e-01 8.56109208e-03 3.63965204e+02] [-6.56555130e-01 7.54241503e-01 -7.42403457e-03 -1.66461183e+02] [-1.13317305e-02 -2.16746553e-05 9.99935794e-01 1.95790707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73232058799994 meters 0.019351490289045342 Centerline is valid? [True, True] Translation: X:363.99, Y:-166.49, Z:1.96 [[ 7.52840462e-01 6.58144440e-01 8.78265871e-03 3.63994964e+02] [-6.58100189e-01 7.52891689e-01 -7.63190076e-03 -1.66485563e+02] [-1.16352838e-02 -3.42656720e-05 9.99932307e-01 1.95715353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76232058799997 meters 0.019778686028403943 Centerline is valid? [True, True] Translation: X:364.03, Y:-166.51, Z:1.95 [[ 7.51364641e-01 6.59801161e-01 1.06585154e-02 3.64026360e+02] [-6.59735890e-01 7.51440233e-01 -9.28072148e-03 -1.66507769e+02] [-1.41326681e-02 -5.85991975e-05 9.99900127e-01 1.95493261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79232058799994 meters 0.019222779966284485 Centerline is valid? [True, True] Translation: X:364.06, Y:-166.53, Z:1.96 [[ 7.50613637e-01 6.60651890e-01 1.08742520e-02 3.64058302e+02] [-6.60583703e-01 7.50692399e-01 -9.49178458e-03 -1.66531102e+02] [-1.44339837e-02 -5.86907156e-05 9.99895823e-01 1.95831622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82232058799997 meters 0.019360129550741456 Centerline is valid? [True, True] Translation: X:364.09, Y:-166.56, Z:1.96 [[ 7.49196336e-01 6.62258060e-01 1.09138438e-02 3.64089055e+02] [-6.62189172e-01 7.49275821e-01 -9.55215838e-03 -1.66555202e+02] [-1.45034731e-02 -7.05871057e-05 9.99894817e-01 1.95907762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85232058799994 meters 0.01930181817143295 Centerline is valid? [True, True] Translation: X:364.12, Y:-166.58, Z:1.96 [[ 7.48626681e-01 6.62898634e-01 1.11127367e-02 3.64120094e+02] [-6.62826913e-01 7.48709153e-01 -9.75126534e-03 -1.66579432e+02] [-1.47843081e-02 -6.57635317e-05 9.99890704e-01 1.95951455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88232058799997 meters 0.01884997332221608 Centerline is valid? [True, True] Translation: X:364.15, Y:-166.60, Z:1.96 [[ 7.48748730e-01 6.62773057e-01 1.03544278e-02 3.64154288e+02] [-6.62710430e-01 7.48820321e-01 -9.11115026e-03 -1.66599373e+02] [-1.37922309e-02 -4.00251113e-05 9.99904882e-01 1.95948887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91232058799994 meters 0.01885457207574328 Centerline is valid? [True, True] Translation: X:364.19, Y:-166.63, Z:1.96 [[ 7.47681231e-01 6.63965495e-01 1.10723584e-02 3.64190934e+02] [-6.63893312e-01 7.47763211e-01 -9.79028912e-03 -1.66625892e+02] [-1.47799164e-02 -3.08492526e-05 9.99890771e-01 1.95835225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.942320588 meters 0.018778362520030095 Centerline is valid? [True, True] Translation: X:364.22, Y:-166.65, Z:1.96 [[ 7.46888768e-01 6.64849273e-01 1.15157210e-02 3.64224005e+02] [-6.64770838e-01 7.46977539e-01 -1.02122506e-02 -1.66652269e+02] [-1.53915923e-02 -2.79002347e-05 9.99881542e-01 1.95833225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97232058799995 meters 0.018993199859285097 Centerline is valid? [True, True] Translation: X:364.26, Y:-166.68, Z:1.96 [[ 7.46765489e-01 6.64976966e-01 1.21218103e-02 3.64255960e+02] [-6.64889560e-01 7.46863866e-01 -1.07814350e-02 -1.66678144e+02] [-1.62227480e-02 -8.46150228e-06 9.99868403e-01 1.96094256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.002320588 meters 0.01889151675089886 Centerline is valid? [True, True] Translation: X:364.29, Y:-166.70, Z:1.96 [[ 7.46773060e-01 6.64955080e-01 1.28350330e-02 3.64287261e+02] [-6.64856590e-01 7.46883352e-01 -1.14443538e-02 -1.66701145e+02] [-1.71962536e-02 1.28788192e-05 9.99852133e-01 1.96066830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03232058799995 meters 0.01886564102896374 Centerline is valid? [True, True] Translation: X:364.32, Y:-166.72, Z:1.96 [[ 7.46929163e-01 6.64814644e-01 1.08772923e-02 3.64321148e+02] [-6.64743509e-01 7.47008359e-01 -9.72517656e-03 -1.66721273e+02] [-1.45908681e-02 3.34085276e-05 9.99893547e-01 1.95878271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.062320588 meters 0.018745953612336514 Centerline is valid? [True, True] Translation: X:364.35, Y:-166.75, Z:1.96 [[ 7.46584739e-01 6.65213924e-01 1.00828115e-02 3.64351475e+02] [-6.65152512e-01 7.46652820e-01 -9.03893105e-03 -1.66745567e+02] [-1.35411824e-02 4.17205952e-05 9.99908313e-01 1.95891258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09232058799995 meters 0.018740228306680203 Centerline is valid? [True, True] Translation: X:364.38, Y:-166.77, Z:1.96 [[ 7.46663943e-01 6.65141855e-01 8.90325756e-03 3.64381187e+02] [-6.65093704e-01 7.46717021e-01 -8.00346468e-03 -1.66770847e+02] [-1.19716533e-02 5.43979571e-05 9.99928336e-01 1.96028724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.122320588 meters 0.01872448388411674 Centerline is valid? [True, True] Translation: X:364.41, Y:-166.80, Z:1.96 [[ 7.46849042e-01 6.64940241e-01 8.42529980e-03 3.64411361e+02] [-6.64896875e-01 7.46896560e-01 -7.59435714e-03 -1.66795352e+02] [-1.13426211e-02 6.98828442e-05 9.99935668e-01 1.96060046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15232058799995 meters 0.018646528018622984 Centerline is valid? [True, True] Translation: X:364.44, Y:-166.82, Z:1.96 [[ 7.46648252e-01 6.65169062e-01 8.15516626e-03 3.64443337e+02] [-6.65128195e-01 7.46692783e-01 -7.37369153e-03 -1.66821146e+02] [-1.09941553e-02 8.13228780e-05 9.99939559e-01 1.96034255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.182320588 meters 0.01865913211713185 Centerline is valid? [True, True] Translation: X:364.47, Y:-166.85, Z:1.96 [[ 7.45287874e-01 6.66672721e-01 9.66783889e-03 3.64472118e+02] [-6.66615136e-01 7.45350572e-01 -8.76275043e-03 -1.66847446e+02] [-1.30478159e-02 8.60439090e-05 9.99914870e-01 1.96015174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21232058799995 meters 0.01875487607853136 Centerline is valid? [True, True] Translation: X:364.50, Y:-166.87, Z:1.96 [[ 7.44421598e-01 6.67629824e-01 1.03394117e-02 3.64501080e+02] [-6.67563708e-01 7.44493392e-01 -9.39601527e-03 -1.66873525e+02] [-1.39706837e-02 9.23807009e-05 9.99902401e-01 1.96068327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.242320588 meters 0.01865511196444832 Centerline is valid? [True, True] Translation: X:364.53, Y:-166.90, Z:1.96 [[ 7.43151129e-01 6.69052122e-01 9.78047368e-03 3.64531912e+02] [-6.68992728e-01 7.43215481e-01 -8.91510727e-03 -1.66900619e+02] [-1.32336709e-02 8.22062695e-05 9.99912428e-01 1.96038876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27232058799996 meters 0.01848783933062733 Centerline is valid? [True, True] Translation: X:364.56, Y:-166.93, Z:1.96 [[ 7.40832058e-01 6.71656714e-01 6.71715801e-03 3.64561758e+02] [-6.71628644e-01 7.40862509e-01 -6.14066603e-03 -1.66926427e+02] [-9.10091011e-03 3.77665231e-05 9.99958585e-01 1.96080370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.302320588 meters 0.018473411621187562 Centerline is valid? [True, True] Translation: X:364.59, Y:-166.95, Z:1.96 [[ 7.38700096e-01 6.74011241e-01 5.56909397e-03 3.64590588e+02] [-6.73991902e-01 7.38721089e-01 -5.10583017e-03 -1.66952219e+02] [-7.55539409e-03 1.81530028e-05 9.99971457e-01 1.96076851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33232058799996 meters 0.01864270145513602 Centerline is valid? [True, True] Translation: X:364.62, Y:-166.98, Z:1.96 [[ 7.36243100e-01 6.76680806e-01 7.01315013e-03 3.64619192e+02] [-6.76650111e-01 7.36276502e-01 -6.44512856e-03 -1.66978570e+02] [-9.52491243e-03 -2.67387387e-07 9.99954637e-01 1.96063952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.362320588 meters 0.01874401934724976 Centerline is valid? [True, True] Translation: X:364.65, Y:-167.00, Z:1.96 [[ 7.33738038e-01 6.79386308e-01 7.92064404e-03 3.64648358e+02] [-6.79347116e-01 7.33780787e-01 -7.29736790e-03 -1.67003833e+02] [-1.07697483e-02 -2.65102888e-05 9.99942004e-01 1.96016688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39232058799996 meters 0.01903382487950204 Centerline is valid? [True, True] Translation: X:364.68, Y:-167.03, Z:1.96 [[ 7.31192972e-01 6.82130097e-01 7.44094468e-03 3.64678603e+02] [-6.82095463e-01 7.31230831e-01 -6.87397637e-03 -1.67029345e+02] [-1.01299943e-02 -4.92313931e-05 9.99948689e-01 1.95899816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42232058799993 meters 0.0189456664707381 Centerline is valid? [True, True] Translation: X:364.71, Y:-167.06, Z:1.96 [[ 7.29511277e-01 6.83932337e-01 7.06082294e-03 3.64708082e+02] [-6.83901072e-01 7.29545444e-01 -6.53987277e-03 -1.67055281e+02] [-9.62402167e-03 -5.79934411e-05 9.99953686e-01 1.95871132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45232058799996 meters 0.01884884500130365 Centerline is valid? [True, True] Translation: X:364.74, Y:-167.08, Z:1.96 [[ 7.27922085e-01 6.85633212e-01 6.04463613e-03 3.64737983e+02] [-6.85610224e-01 7.27947179e-01 -5.61471050e-03 -1.67080829e+02] [-8.24980781e-03 -5.71925628e-05 9.99965968e-01 1.95983740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48232058799994 meters 0.018976852475796578 Centerline is valid? [True, True] Translation: X:364.77, Y:-167.10, Z:1.96 [[ 7.26390251e-01 6.87244376e-01 7.23673195e-03 3.64769249e+02] [-6.87211346e-01 7.26426294e-01 -6.73829828e-03 -1.67104847e+02] [-9.88780997e-03 -7.85301222e-05 9.99951111e-01 1.95971799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51232058799997 meters 0.019200950917367794 Centerline is valid? [True, True] Translation: X:364.83, Y:-167.15, Z:1.96 [[ 7.20061288e-01 6.93876454e-01 6.87074708e-03 3.64830803e+02] [-6.93845576e-01 7.20094066e-01 -6.54625550e-03 -1.67152649e+02] [-9.48987675e-03 -5.35322949e-05 9.99954969e-01 1.96070273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54232058799994 meters 0.019077105229820056 Centerline is valid? [True, True] Translation: X:364.86, Y:-167.18, Z:1.96 [[ 7.18055194e-01 6.95954660e-01 6.62187339e-03 3.64864671e+02] [-6.95926108e-01 7.18085722e-01 -6.30457393e-03 -1.67182190e+02] [-9.14277034e-03 -8.13025189e-05 9.99958201e-01 1.95997384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57232058799997 meters 0.0192804851297691 Centerline is valid? [True, True] Translation: X:364.89, Y:-167.21, Z:1.96 [[ 7.15984980e-01 6.98095359e-01 5.32709654e-03 3.64894228e+02] [-6.98076863e-01 7.16004793e-01 -5.08239947e-03 -1.67207265e+02] [-7.36222613e-03 -7.98011593e-05 9.99972895e-01 1.95975120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60232058799994 meters 0.019718658322607635 Centerline is valid? [True, True] Translation: X:364.92, Y:-167.23, Z:1.96 [[ 7.13616087e-01 7.00503284e-01 6.87237697e-03 3.64924245e+02] [-7.00472469e-01 7.13649167e-01 -6.57163588e-03 -1.67232993e+02] [-9.50791862e-03 -1.24285787e-04 9.99954791e-01 1.95942307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63232058799997 meters 0.01975681711379499 Centerline is valid? [True, True] Translation: X:364.95, Y:-167.26, Z:1.96 [[ 7.12287268e-01 7.01845982e-01 7.68542452e-03 3.64954164e+02] [-7.01807301e-01 7.12328714e-01 -7.36992101e-03 -1.67260367e+02] [-1.06470980e-02 -1.44186136e-04 9.99943308e-01 1.95872533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66232058799994 meters 0.019790011846153727 Centerline is valid? [True, True] Translation: X:364.98, Y:-167.29, Z:1.96 [[ 7.11310418e-01 7.02839415e-01 7.36520526e-03 3.64983154e+02] [-7.02803749e-01 7.11348535e-01 -7.08181856e-03 -1.67287079e+02] [-1.02166092e-02 -1.38922551e-04 9.99947799e-01 1.96055037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.692320588 meters 0.019677759683868368 Centerline is valid? [True, True] Translation: X:365.01, Y:-167.31, Z:1.96 [[ 7.10400826e-01 7.03753230e-01 7.87769045e-03 3.65013555e+02] [-7.03712269e-01 7.10444487e-01 -7.59429509e-03 -1.67313375e+02] [-1.09411715e-02 -1.48633921e-04 9.99940133e-01 1.96045036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72232058799995 meters 0.019816056478424653 Centerline is valid? [True, True] Translation: X:365.05, Y:-167.34, Z:1.96 [[ 7.08979826e-01 7.05193460e-01 7.05617607e-03 3.65046776e+02] [-7.05160467e-01 7.09014925e-01 -6.82289144e-03 -1.67338094e+02] [-9.81439257e-03 -1.38444029e-04 9.99951828e-01 1.96064038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.752320588 meters 0.020006983537960685 Centerline is valid? [True, True] Translation: X:365.08, Y:-167.36, Z:1.96 [[ 7.07087330e-01 7.07099877e-01 6.10504257e-03 3.65076592e+02] [-7.07075119e-01 7.07113673e-01 -5.91849345e-03 -1.67363120e+02] [-8.50192506e-03 -1.31831969e-04 9.99963849e-01 1.96159808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78232058799995 meters 0.019932074413955187 Centerline is valid? [True, True] Translation: X:365.11, Y:-167.39, Z:1.96 [[ 7.06341665e-01 7.07852086e-01 5.18420299e-03 3.65106326e+02] [-7.07834155e-01 7.06360681e-01 -5.03963474e-03 -1.67389212e+02] [-7.22923312e-03 -1.09851947e-04 9.99973863e-01 1.96229943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.812320588 meters 0.019933380723317757 Centerline is valid? [True, True] Translation: X:365.14, Y:-167.41, Z:1.96 [[ 7.04963314e-01 7.09222121e-01 5.54164399e-03 3.65136284e+02] [-7.09201565e-01 7.04985084e-01 -5.40110075e-03 -1.67414930e+02] [-7.73735648e-03 -1.22564708e-04 9.99970059e-01 1.96226162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84232058799995 meters 0.019882801940745196 Centerline is valid? [True, True] Translation: X:365.17, Y:-167.44, Z:1.96 [[ 7.03933163e-01 7.10238958e-01 6.22295015e-03 3.65168225e+02] [-7.10212931e-01 7.03960655e-01 -6.08194159e-03 -1.67441112e+02] [-8.70034392e-03 -1.38339283e-04 9.99962142e-01 1.96149387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.872320588 meters 0.020210171501757045 Centerline is valid? [True, True] Translation: X:365.20, Y:-167.46, Z:1.96 [[ 7.01958884e-01 7.12188944e-01 6.37451773e-03 3.65199093e+02] [-7.12161584e-01 7.01987809e-01 -6.24451969e-03 -1.67464817e+02] [-8.92211162e-03 -1.56290568e-04 9.99960185e-01 1.96073955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90232058799995 meters 0.020159828512751228 Centerline is valid? [True, True] Translation: X:365.23, Y:-167.49, Z:1.96 [[ 7.00682086e-01 7.13456389e-01 4.95937364e-03 3.65229735e+02] [-7.13439763e-01 7.00699626e-01 -4.87221304e-03 -1.67490050e+02] [-6.95114277e-03 -1.24341963e-04 9.99975833e-01 1.96330598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.932320588 meters 0.02038316642485502 Centerline is valid? [True, True] Translation: X:365.26, Y:-167.52, Z:1.96 [[ 6.99112803e-01 7.14994844e-01 4.86431031e-03 3.65259664e+02] [-7.14978802e-01 6.99129714e-01 -4.79121865e-03 -1.67515525e+02] [-6.82648051e-03 -1.28276458e-04 9.99976691e-01 1.96384307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96232058799995 meters 0.020472145464125832 Centerline is valid? [True, True] Translation: X:365.29, Y:-167.54, Z:1.96 [[ 6.97938144e-01 7.16143771e-01 4.52174280e-03 3.65289430e+02] [-7.16129858e-01 6.97952781e-01 -4.46574539e-03 -1.67541266e+02] [-6.35407871e-03 -1.21340981e-04 9.99979805e-01 1.96296414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.992320588 meters 0.02048324997427476 Centerline is valid? [True, True] Translation: X:365.32, Y:-167.57, Z:1.96 [[ 6.96511218e-01 7.17536961e-01 3.58234530e-03 3.65318706e+02] [-7.17528194e-01 6.96520423e-01 -3.54832732e-03 -1.67566882e+02] [-5.04123266e-03 -9.89839701e-05 9.99987288e-01 1.96296546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02232058799996 meters 0.020661682426919795 Centerline is valid? [True, True] Translation: X:365.35, Y:-167.59, Z:1.96 [[ 6.95738240e-01 7.18287072e-01 3.46155536e-03 3.65348918e+02] [-7.18278852e-01 6.95746845e-01 -3.43772014e-03 -1.67591289e+02] [-4.87763615e-03 -9.46086449e-05 9.99988100e-01 1.96245869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.052320588 meters 0.020520368361223666 Centerline is valid? [True, True] Translation: X:365.38, Y:-167.62, Z:1.96 [[ 6.94621221e-01 7.19367532e-01 3.42246059e-03 3.65381237e+02] [-7.19359451e-01 6.94629646e-01 -3.41095737e-03 -1.67619168e+02] [-4.83107457e-03 -9.26559955e-05 9.99988326e-01 1.96245937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08232058799996 meters 0.02046538727413437 Centerline is valid? [True, True] Translation: X:365.41, Y:-167.64, Z:1.96 [[ 6.93845726e-01 7.20108762e-01 4.63449586e-03 3.65411231e+02] [-7.20093913e-01 6.93861192e-01 -4.62624568e-03 -1.67644388e+02] [-6.54709687e-03 -1.27371468e-04 9.99978559e-01 1.96216214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.112320588 meters 0.020471366085428825 Centerline is valid? [True, True] Translation: X:365.44, Y:-167.67, Z:1.96 [[ 6.93100900e-01 7.20829218e-01 4.04726165e-03 3.65440198e+02] [-7.20817843e-01 6.93112708e-01 -4.05108836e-03 -1.67670710e+02] [-5.72535134e-03 -1.09525423e-04 9.99983604e-01 1.96399847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14232058799996 meters 0.020702275932153825 Centerline is valid? [True, True] Translation: X:365.47, Y:-167.69, Z:1.96 [[ 6.91602754e-01 7.22265424e-01 4.27660952e-03 3.65471499e+02] [-7.22252686e-01 6.91615965e-01 -4.29115899e-03 -1.67694355e+02] [-6.05712719e-03 -1.21015342e-04 9.99981648e-01 1.96392616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17232058799993 meters 0.020798066675039962 Centerline is valid? [True, True] Translation: X:366.18, Y:-167.04, Z:3.83 [[ 7.74414712e-01 -6.32589333e-01 1.06108206e-02 3.66179299e+02] [-6.32518969e-01 -7.74487162e-01 -9.45465595e-03 -1.67037067e+02] [ 1.41988588e-02 6.10279366e-04 -9.99899005e-01 3.82731860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20232058799996 meters 0.02085220750543487 Centerline is valid? [True, True] Translation: X:365.58, Y:-167.80, Z:1.96 [[ 7.46332539e-01 6.65566426e-01 3.01244574e-03 3.65578942e+02] [-6.65561454e-01 7.46338614e-01 -2.57380384e-03 -1.67801258e+02] [-3.96134200e-03 -8.40542117e-05 9.99992150e-01 1.96290147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23232058799994 meters 0.020649123358359438 Centerline is valid? [True, True] Translation: X:365.61, Y:-167.82, Z:1.96 [[ 7.45963624e-01 6.65983260e-01 2.13752365e-03 3.65609478e+02] [-6.65980743e-01 7.45966685e-01 -1.83189238e-03 -1.67822266e+02] [-2.81453109e-03 -5.70245045e-05 9.99996038e-01 1.96203061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26232058799997 meters 0.02066208002385278 Centerline is valid? [True, True] Translation: X:365.64, Y:-167.84, Z:1.96 [[ 7.45284694e-01 6.66740304e-01 2.84478050e-03 3.65639364e+02] [-6.66735842e-01 7.45290119e-01 -2.44049377e-03 -1.67844109e+02] [-3.74736235e-03 -7.78544645e-05 9.99992976e-01 1.96198418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29232058799994 meters 0.020458815832549996 Centerline is valid? [True, True] Translation: X:365.67, Y:-167.86, Z:1.96 [[ 7.45491538e-01 6.66500615e-01 4.39279975e-03 3.65670927e+02] [-6.66489950e-01 7.45504471e-01 -3.77232079e-03 -1.67863667e+02] [-5.78910598e-03 -1.15523660e-04 9.99983236e-01 1.96194576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32232058799997 meters 0.02037452286215717 Centerline is valid? [True, True] Translation: X:365.70, Y:-167.89, Z:1.96 [[ 7.45006081e-01 6.67048317e-01 3.53299964e-03 3.65700478e+02] [-6.67041398e-01 7.45014452e-01 -3.03964163e-03 -1.67886154e+02] [-4.65972363e-03 -9.21055192e-05 9.99989139e-01 1.96353202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35232058799994 meters 0.02038847188360096 Centerline is valid? [True, True] Translation: X:365.73, Y:-167.91, Z:1.96 [[ 7.44453970e-01 6.67663023e-01 3.79139180e-03 3.65729947e+02] [-6.67655036e-01 7.44463618e-01 -3.26730337e-03 -1.67907992e+02] [-5.00401090e-03 -9.89848631e-05 9.99987475e-01 1.96362766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38232058799997 meters 0.02043650367658013 Centerline is valid? [True, True] Translation: X:365.76, Y:-167.93, Z:1.96 [[ 7.44272383e-01 6.67863844e-01 4.06285095e-03 3.65761284e+02] [-6.67854646e-01 7.44283465e-01 -3.50659763e-03 -1.67928672e+02] [-5.36584255e-03 -1.03530113e-04 9.99985598e-01 1.96171239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41232058799994 meters 0.02043650367658013 Centerline is valid? [True, True] Translation: X:365.79, Y:-167.95, Z:1.96 [[ 7.43744081e-01 6.68452135e-01 4.06012980e-03 3.65789100e+02] [-6.68442929e-01 7.43755156e-01 -3.50974973e-03 -1.67952074e+02] [-5.36584217e-03 -1.03609469e-04 9.99985598e-01 1.96185302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.442320588 meters 0.02042559869271577 Centerline is valid? [True, True] Translation: X:365.82, Y:-167.97, Z:1.96 [[ 7.43468022e-01 6.68755914e-01 4.56376836e-03 3.65818584e+02] [-6.68744253e-01 7.43482021e-01 -3.95092619e-03 -1.67974153e+02] [-6.03528498e-03 -1.14606583e-04 9.99981781e-01 1.96143252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47232058799995 meters 0.02053390575597995 Centerline is valid? [True, True] Translation: X:365.85, Y:-168.00, Z:1.96 [[ 7.42923030e-01 6.69362440e-01 4.39267874e-03 3.65847278e+02] [-6.69351611e-01 7.42936008e-01 -3.80910469e-03 -1.67998029e+02] [-5.81315082e-03 -1.10374993e-04 9.99983097e-01 1.96240728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.502320588 meters 0.020493345797388034 Centerline is valid? [True, True] Translation: X:365.88, Y:-168.02, Z:1.96 [[ 7.42652196e-01 6.69663408e-01 4.31688370e-03 3.65876432e+02] [-6.69652920e-01 7.42664735e-01 -3.74936821e-03 -1.68020574e+02] [-5.71681198e-03 -1.06337248e-04 9.99983653e-01 1.96397735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53232058799995 meters 0.0206150388191189 Centerline is valid? [True, True] Translation: X:365.91, Y:-168.04, Z:1.96 [[ 7.42164131e-01 6.70204796e-01 4.23478601e-03 3.65905471e+02] [-6.70194684e-01 7.42176206e-01 -3.68318264e-03 -1.68041559e+02] [-5.61144408e-03 -1.04605030e-04 9.99984250e-01 1.96332995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.562320588 meters 0.020718431911433282 Centerline is valid? [True, True] Translation: X:365.94, Y:-168.06, Z:1.96 [[ 7.41336850e-01 6.71111335e-01 5.40838709e-03 3.65936627e+02] [-6.71094823e-01 7.41356566e-01 -4.70969613e-03 -1.68060966e+02] [-7.17027374e-03 -1.38069283e-04 9.99974284e-01 1.96132716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59232058799995 meters 0.02072650344717435 Centerline is valid? [True, True] Translation: X:365.96, Y:-168.08, Z:1.96 [[ 7.40087119e-01 6.72491601e-01 5.10910557e-03 3.65964884e+02] [-6.72476853e-01 7.40104741e-01 -4.45582503e-03 -1.68083311e+02] [-6.77777816e-03 -1.38056522e-04 9.99977021e-01 1.96096250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.622320588 meters 0.02086557113264355 Centerline is valid? [True, True] Translation: X:365.99, Y:-168.11, Z:1.96 [[ 7.39025572e-01 6.73661293e-01 4.65465322e-03 3.65992945e+02] [-6.73649037e-01 7.39040219e-01 -4.06581373e-03 -1.68106485e+02] [-6.17895727e-03 -1.30862335e-04 9.99980901e-01 1.96178490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65232058799995 meters 0.021487457161823785 Centerline is valid? [True, True] Translation: X:366.02, Y:-168.13, Z:1.96 [[ 7.36684808e-01 6.76214089e-01 5.47719776e-03 3.66021766e+02] [-6.76197142e-01 7.36705148e-01 -4.79061772e-03 -1.68128783e+02] [-7.27456299e-03 -1.74490181e-04 9.99973525e-01 1.96213884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.682320588 meters 0.021327002476068994 Centerline is valid? [True, True] Translation: X:366.05, Y:-168.15, Z:1.96 [[ 7.36124035e-01 6.76827081e-01 5.14851070e-03 3.66050492e+02] [-6.76812074e-01 7.36142021e-01 -4.51019792e-03 -1.68150584e+02] [-6.84265916e-03 -1.64509112e-04 9.99976575e-01 1.96322355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71232058799995 meters 0.0216764100494363 Centerline is valid? [True, True] Translation: X:366.08, Y:-168.17, Z:1.96 [[ 7.35798017e-01 6.77158787e-01 7.56673919e-03 3.66080157e+02] [-6.77126291e-01 7.35836884e-01 -6.63822002e-03 -1.68171912e+02] [-1.00630148e-02 -2.39248919e-04 9.99949338e-01 1.96277959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.742320588 meters 0.021297368479569017 Centerline is valid? [True, True] Translation: X:366.11, Y:-168.19, Z:1.96 [[ 7.36065441e-01 6.76868049e-01 7.57040329e-03 3.66109100e+02] [-6.76835402e-01 7.36104335e-01 -6.65184138e-03 -1.68194331e+02] [-1.00750256e-02 -2.27726395e-04 9.99949220e-01 1.96268430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77232058799996 meters 0.02120042585659759 Centerline is valid? [True, True] Translation: X:366.14, Y:-168.22, Z:1.96 [[ 7.35968960e-01 6.76976956e-01 7.20351434e-03 3.66137568e+02] [-6.76947314e-01 7.36004182e-01 -6.33862046e-03 -1.68216982e+02] [-9.59291667e-03 -2.11371778e-04 9.99953965e-01 1.96269277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.802320588 meters 0.020650274365885856 Centerline is valid? [True, True] Translation: X:366.17, Y:-168.24, Z:1.96 [[ 7.36252254e-01 6.76675778e-01 6.51998912e-03 3.66166452e+02] [-6.76651403e-01 7.36281100e-01 -5.74630716e-03 -1.68238835e+02] [-8.68893163e-03 -1.81028194e-04 9.99962234e-01 1.96266953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83232058799996 meters 0.02051957570628175 Centerline is valid? [True, True] Translation: X:366.20, Y:-168.26, Z:1.96 [[ 7.36806163e-01 6.76066915e-01 7.08546682e-03 3.66196107e+02] [-6.76038016e-01 7.36840208e-01 -6.25366029e-03 -1.68258992e+02] [-9.44874967e-03 -1.82309484e-04 9.99955343e-01 1.96259593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.862320588 meters 0.02031240917681 Centerline is valid? [True, True] Translation: X:366.22, Y:-168.28, Z:1.96 [[ 7.36249852e-01 6.76671395e-01 7.20956139e-03 3.66224435e+02] [-6.76641413e-01 7.36285127e-01 -6.37261108e-03 -1.68280804e+02] [-9.62045645e-03 -1.86453843e-04 9.99953705e-01 1.96271398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89232058799996 meters 0.020995851422366422 Centerline is valid? [True, True] Translation: X:366.25, Y:-168.30, Z:1.96 [[ 7.34468642e-01 6.78582694e-01 9.01894329e-03 3.66252301e+02] [-6.78535784e-01 7.34523969e-01 -7.98298376e-03 -1.68304252e+02] [-1.20417446e-02 -2.56424514e-04 9.99927463e-01 1.96192427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92232058799993 meters 0.021006177157978877 Centerline is valid? [True, True] Translation: X:366.28, Y:-168.33, Z:1.96 [[ 7.33238351e-01 6.79916072e-01 8.69801937e-03 3.66279450e+02] [-6.79872404e-01 7.33289893e-01 -7.71018271e-03 -1.68327528e+02] [-1.16204468e-02 -2.60141677e-04 9.99932446e-01 1.96329665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95232058799996 meters 0.021029327498989767 Centerline is valid? [True, True] Translation: X:366.31, Y:-168.35, Z:1.96 [[ 7.32319888e-01 6.80903001e-01 8.87039637e-03 3.66307187e+02] [-6.80857523e-01 7.32373558e-01 -7.87436299e-03 -1.68350781e+02] [-1.18581211e-02 -2.72923469e-04 9.99929653e-01 1.96400921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98232058799994 meters 0.020974574017064446 Centerline is valid? [True, True] Translation: X:366.34, Y:-168.37, Z:1.96 [[ 7.31199643e-01 6.82091413e-01 9.91902818e-03 3.66335577e+02] [-6.82034489e-01 7.31266849e-01 -8.81773876e-03 -1.68372454e+02] [-1.32679604e-02 -3.17591882e-04 9.99911926e-01 1.96391842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01232058799997 meters 0.021245495302393107 Centerline is valid? [True, True] Translation: X:366.36, Y:-168.40, Z:1.96 [[ 7.30643402e-01 6.82696223e-01 9.27820650e-03 3.66363586e+02] [-6.82646311e-01 7.30702250e-01 -8.26055644e-03 -1.68395147e+02] [-1.24190570e-02 -2.98212379e-04 9.99922836e-01 1.96310292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04232058799994 meters 0.02131786887822915 Centerline is valid? [True, True] Translation: X:366.39, Y:-168.42, Z:1.96 [[ 7.30330406e-01 6.83039787e-01 8.61092091e-03 3.66391245e+02] [-6.82996687e-01 7.30381116e-01 -7.67792717e-03 -1.68417979e+02] [-1.15335838e-02 -2.73806792e-04 9.99933449e-01 1.96205500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07232058799997 meters 0.02100417676596645 Centerline is valid? [True, True] Translation: X:366.42, Y:-168.44, Z:1.96 [[ 7.29607224e-01 6.83833050e-01 6.75710039e-03 3.66419350e+02] [-6.83806458e-01 7.29638481e-01 -6.03446156e-03 -1.68440511e+02] [-9.05680472e-03 -2.17762136e-04 9.99958963e-01 1.96079104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10232058799994 meters 0.020947579376313967 Centerline is valid? [True, True] Translation: X:366.45, Y:-168.46, Z:1.96 [[ 7.29038360e-01 6.84435410e-01 7.15812914e-03 3.66447380e+02] [-6.84405509e-01 7.29073464e-01 -6.40180440e-03 -1.68463407e+02] [-9.60042363e-03 -2.31902034e-04 9.99953888e-01 1.96032691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13232058799997 meters 0.021395155429084788 Centerline is valid? [True, True] Translation: X:366.48, Y:-168.49, Z:1.96 [[ 7.27730787e-01 6.85815334e-01 8.07648026e-03 3.66475549e+02] [-6.85777243e-01 7.27775551e-01 -7.23327554e-03 -1.68486004e+02] [-1.08385562e-02 -2.74789070e-04 9.99941223e-01 1.95942514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16232058799994 meters 0.02167148188461699 Centerline is valid? [True, True] Translation: X:366.50, Y:-168.51, Z:1.96 [[ 7.26580082e-01 6.87024543e-01 8.86915372e-03 3.66503351e+02] [-6.86978566e-01 7.26634144e-01 -7.95432554e-03 -1.68509623e+02] [-1.19094468e-02 -3.13463998e-04 9.99929031e-01 1.95925715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.192320588 meters 0.021970723476988162 Centerline is valid? [True, True] Translation: X:366.53, Y:-168.53, Z:1.96 [[ 7.25300037e-01 6.88375015e-01 8.92722680e-03 3.66530466e+02] [-6.88328404e-01 7.25354900e-01 -8.01736530e-03 -1.68532660e+02] [-1.19943616e-02 -3.29868423e-04 9.99928011e-01 1.95914590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22232058799995 meters 0.0221341657260048 Centerline is valid? [True, True] Translation: X:366.56, Y:-168.55, Z:1.96 [[ 7.23147754e-01 6.90634723e-01 9.00024706e-03 3.66559264e+02] [-6.90587371e-01 7.23203670e-01 -8.09536147e-03 -1.68554721e+02] [-1.20999494e-02 -3.61314485e-04 9.99926728e-01 1.95973620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.252320588 meters 0.022262099203804786 Centerline is valid? [True, True] Translation: X:366.59, Y:-168.58, Z:1.96 [[ 7.21889709e-01 6.91955536e-01 8.53136807e-03 3.66587381e+02] [-6.91912951e-01 7.21940032e-01 -7.68497268e-03 -1.68577434e+02] [-1.14767955e-02 -3.55261366e-04 9.99934076e-01 1.96001463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28232058799995 meters 0.023200858593343986 Centerline is valid? [True, True] Translation: X:366.61, Y:-168.60, Z:1.96 [[ 7.20596594e-01 6.93301406e-01 8.58545788e-03 3.66614730e+02] [-6.93258243e-01 7.20647641e-01 -7.74504789e-03 -1.68600945e+02] [-1.15567426e-02 -3.70884320e-04 9.99933150e-01 1.96040193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.312320588 meters 0.022929131768643696 Centerline is valid? [True, True] Translation: X:366.64, Y:-168.62, Z:1.96 [[ 7.19263692e-01 6.94670841e-01 9.60022391e-03 3.66644561e+02] [-6.94616837e-01 7.19327629e-01 -8.67251240e-03 -1.68620958e+02] [-1.29302478e-02 -4.30653886e-04 9.99916308e-01 1.95929936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34232058799995 meters 0.023428150078279055 Centerline is valid? [True, True] Translation: X:366.67, Y:-168.64, Z:1.96 [[ 7.18473047e-01 6.95492521e-01 9.30769305e-03 3.66672378e+02] [-6.95441671e-01 7.18533210e-01 -8.42075165e-03 -1.68643803e+02] [-1.25444564e-02 -4.22874505e-04 9.99921226e-01 1.95883616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.372320588 meters 0.02282568701339322 Centerline is valid? [True, True] Translation: X:366.70, Y:-168.66, Z:1.96 [[ 7.18527973e-01 6.95435343e-01 9.34005434e-03 3.66702109e+02] [-6.95383972e-01 7.18588556e-01 -8.46284730e-03 -1.68664726e+02] [-1.25970193e-02 -4.14131568e-04 9.99920569e-01 1.95940897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40232058799995 meters 0.023198105694420993 Centerline is valid? [True, True] Translation: X:366.73, Y:-168.69, Z:1.96 [[ 7.18476073e-01 6.95474911e-01 1.03335233e-02 3.66729617e+02] [-6.95411848e-01 7.18550239e-01 -9.37627647e-03 -1.68688413e+02] [-1.39461207e-02 -4.49424241e-04 9.99902647e-01 1.95900023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.432320588 meters 0.023221187038693133 Centerline is valid? [True, True] Translation: X:366.76, Y:-168.71, Z:1.96 [[ 7.18238525e-01 6.95721638e-01 1.02383306e-02 3.66757927e+02] [-6.95659574e-01 7.18311359e-01 -9.30318679e-03 -1.68711320e+02] [-1.38267375e-02 -4.40485561e-04 9.99904309e-01 1.96028714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46232058799995 meters 0.023033360396744133 Centerline is valid? [True, True] Translation: X:366.79, Y:-168.73, Z:1.96 [[ 7.17918370e-01 6.96072999e-01 8.69450631e-03 3.66788343e+02] [-6.96028127e-01 7.17970920e-01 -7.91229050e-03 -1.68731639e+02] [-1.17499345e-02 -3.71242242e-04 9.99930898e-01 1.96086882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.492320588 meters 0.02292586905421609 Centerline is valid? [True, True] Translation: X:366.82, Y:-168.75, Z:1.96 [[ 7.17323171e-01 6.96688795e-01 8.49651702e-03 3.66816819e+02] [-6.96645858e-01 7.17373396e-01 -7.74335956e-03 -1.68753272e+02] [-1.14898871e-02 -3.64572152e-04 9.99933923e-01 1.96151317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52232058799996 meters 0.02307861190239648 Centerline is valid? [True, True] Translation: X:366.85, Y:-168.77, Z:1.96 [[ 7.17027651e-01 6.96978428e-01 9.61348522e-03 3.66846763e+02] [-6.96923325e-01 7.17091977e-01 -8.77352584e-03 -1.68774153e+02] [-1.30087114e-02 -4.09001465e-04 9.99915299e-01 1.96164654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.552320588 meters 0.022655039604393468 Centerline is valid? [True, True] Translation: X:366.87, Y:-168.80, Z:1.96 [[ 7.16972478e-01 6.97041166e-01 9.16942942e-03 3.66874938e+02] [-6.96990891e-01 7.17031008e-01 -8.38044591e-03 -1.68797020e+02] [-1.24162810e-02 -3.82459714e-04 9.99922842e-01 1.96294716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58232058799996 meters 0.022658935459510084 Centerline is valid? [True, True] Translation: X:366.90, Y:-168.82, Z:1.96 [[ 7.17519017e-01 6.96461415e-01 1.03902576e-02 3.66903792e+02] [-6.96396612e-01 7.17594124e-01 -9.50954311e-03 -1.68819332e+02] [-1.40790177e-02 -4.12462175e-04 9.99900801e-01 1.96248036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.612320588 meters 0.02241771021712755 Centerline is valid? [True, True] Translation: X:366.93, Y:-168.84, Z:1.96 [[ 7.17797947e-01 6.96181391e-01 9.87821303e-03 3.66932226e+02] [-6.96122625e-01 7.17865815e-01 -9.05333048e-03 -1.68841275e+02] [-1.33939916e-02 -3.77985558e-04 9.99910225e-01 1.96271760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64232058799996 meters 0.022114509733622122 Centerline is valid? [True, True] Translation: X:366.96, Y:-168.86, Z:1.96 [[ 7.18224845e-01 6.95732786e-01 1.04385274e-02 3.66960520e+02] [-6.95666943e-01 7.18300595e-01 -9.57914816e-03 -1.68862510e+02] [-1.41625278e-02 -3.81756218e-04 9.99899633e-01 1.96231405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67232058799993 meters 0.02196251401914064 Centerline is valid? [True, True] Translation: X:366.99, Y:-168.88, Z:1.96 [[ 7.18216523e-01 6.95746786e-01 1.00715660e-02 3.66988360e+02] [-6.95685323e-01 7.18287046e-01 -9.25477535e-03 -1.68884250e+02] [-1.36732556e-02 -3.59708075e-04 9.99906452e-01 1.96184706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70232058799996 meters 0.02192761285119709 Centerline is valid? [True, True] Translation: X:367.02, Y:-168.91, Z:1.96 [[ 7.18250276e-01 6.95740382e-01 7.86522908e-03 3.67016848e+02] [-6.95702788e-01 7.18293287e-01 -7.23773716e-03 -1.68905235e+02] [-1.06851273e-02 -2.73355085e-04 9.99942875e-01 1.96227792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73232058799994 meters 0.02177144411893834 Centerline is valid? [True, True] Translation: X:367.04, Y:-168.93, Z:1.96 [[ 7.17686666e-01 6.96317365e-01 8.24479938e-03 3.67044661e+02] [-6.96275982e-01 7.17733964e-01 -7.59689801e-03 -1.68927498e+02] [-1.12074246e-02 -2.88463384e-04 9.99937153e-01 1.96187750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76232058799997 meters 0.02209806075726169 Centerline is valid? [True, True] Translation: X:367.07, Y:-168.95, Z:1.96 [[ 7.16662713e-01 6.97365439e-01 8.71780699e-03 3.67071599e+02] [-6.97319123e-01 7.16715665e-01 -8.04335238e-03 -1.68949950e+02] [-1.18573448e-02 -3.14722787e-04 9.99929650e-01 1.96069185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79232058799994 meters 0.02210892398226088 Centerline is valid? [True, True] Translation: X:367.10, Y:-168.97, Z:1.96 [[ 7.15829403e-01 6.98210012e-01 9.54173481e-03 3.67098438e+02] [-6.98154456e-01 7.15892908e-01 -8.81482411e-03 -1.68973365e+02] [-1.29854587e-02 -3.51694393e-04 9.99915624e-01 1.96060186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82232058799997 meters 0.021995042298005956 Centerline is valid? [True, True] Translation: X:367.12, Y:-169.00, Z:1.96 [[ 7.15554202e-01 6.98474780e-01 1.07315605e-02 3.67124756e+02] [-6.98404357e-01 7.15634563e-01 -9.92604330e-03 -1.68996180e+02] [-1.46129665e-02 -3.92346590e-04 9.99893148e-01 1.96055628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85232058799994 meters 0.022572352394797705 Centerline is valid? [True, True] Translation: X:367.15, Y:-169.02, Z:1.96 [[ 7.14824546e-01 6.99225943e-01 1.04378430e-02 3.67151801e+02] [-6.99159214e-01 7.14900644e-01 -9.66758621e-03 -1.69018371e+02] [-1.42218478e-02 -3.87086190e-04 9.99898789e-01 1.96137909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88232058799997 meters 0.02267106754083153 Centerline is valid? [True, True] Translation: X:367.18, Y:-169.04, Z:1.96 [[ 7.13350640e-01 7.00734404e-01 1.01074124e-02 3.67180264e+02] [-7.00671803e-01 7.13422133e-01 -9.37467967e-03 -1.69039116e+02] [-1.37800123e-02 -3.94545103e-04 9.99904973e-01 1.96145024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91232058799994 meters 0.023000638695743227 Centerline is valid? [True, True] Translation: X:367.21, Y:-169.06, Z:1.96 [[ 7.12235553e-01 7.01880357e-01 9.19144301e-03 3.67206980e+02] [-7.01828538e-01 7.12294762e-01 -8.53674820e-03 -1.69062493e+02] [-1.25387926e-02 -3.70641434e-04 9.99921318e-01 1.96148567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.942320588 meters 0.02294696528855076 Centerline is valid? [True, True] Translation: X:367.23, Y:-169.09, Z:1.96 [[ 7.11004390e-01 7.03122787e-01 9.54484327e-03 3.67233319e+02] [-7.03066876e-01 7.11068342e-01 -8.87585584e-03 -1.69085253e+02] [-1.30278524e-02 -3.99890669e-04 9.99915054e-01 1.96148608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97232058799995 meters 0.024268888980224664 Centerline is valid? [True, True] Translation: X:367.26, Y:-169.11, Z:1.96 [[ 7.07824092e-01 7.06326832e-01 9.35207218e-03 3.67260020e+02] [-7.06273284e-01 7.07885733e-01 -8.70840935e-03 -1.69108402e+02] [-1.27711817e-02 -4.41096797e-04 9.99918348e-01 1.96057380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.002320588 meters 0.024704625394141227 Centerline is valid? [True, True] Translation: X:367.29, Y:-169.13, Z:1.96 [[ 7.06538652e-01 7.07601236e-01 1.01795940e-02 3.67287019e+02] [-7.07537757e-01 7.06611805e-01 -9.49098372e-03 -1.69130980e+02] [-1.39088531e-02 -4.96700280e-04 9.99903144e-01 1.96083706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03232058799995 meters 0.02505762464780348 Centerline is valid? [True, True] Translation: X:367.32, Y:-169.15, Z:1.96 [[ 7.05968788e-01 7.08128030e-01 1.27578424e-02 3.67315445e+02] [-7.08028167e-01 7.06083778e-01 -1.19085388e-02 -1.69151458e+02] [-1.74408756e-02 -6.25855070e-04 9.99847700e-01 1.96179672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.062320588 meters 0.025216389561104682 Centerline is valid? [True, True] Translation: X:367.34, Y:-169.17, Z:1.96 [[ 7.04897749e-01 7.09197384e-01 1.25791080e-02 3.67342544e+02] [-7.09100205e-01 7.05009695e-01 -1.17570932e-02 -1.69174852e+02] [-1.72064928e-02 -6.32299528e-04 9.99851757e-01 1.96268691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09232058799995 meters 0.02482249551773258 Centerline is valid? [True, True] Translation: X:367.37, Y:-169.20, Z:1.96 [[ 7.04358138e-01 7.09747892e-01 1.17278938e-02 3.67370478e+02] [-7.09663264e-01 7.04455520e-01 -1.09759488e-02 -1.69197052e+02] [-1.60519361e-02 -5.91856569e-04 9.99870984e-01 1.96358308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.122320588 meters 0.024855534986834984 Centerline is valid? [True, True] Translation: X:367.40, Y:-169.22, Z:1.96 [[ 7.03427710e-01 7.10697159e-01 9.95011679e-03 3.67398284e+02] [-7.10636165e-01 7.03497893e-01 -9.32493730e-03 -1.69219002e+02] [-1.36270927e-02 -5.11493547e-04 9.99907016e-01 1.96498159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15232058799995 meters 0.02456959582226245 Centerline is valid? [True, True] Translation: X:367.43, Y:-169.24, Z:1.96 [[ 7.02355492e-01 7.11770612e-01 8.90839458e-03 3.67428673e+02] [-7.11721689e-01 7.02411828e-01 -8.35834833e-03 -1.69237771e+02] [-1.22065884e-02 -4.69765785e-04 9.99925386e-01 1.96398492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.182320588 meters 0.02599265425305203 Centerline is valid? [True, True] Translation: X:367.45, Y:-169.26, Z:1.97 [[ 7.01213628e-01 7.12878138e-01 1.02082314e-02 3.67454971e+02] [-7.12813834e-01 7.01287713e-01 -9.59071142e-03 -1.69261293e+02] [-1.39959158e-02 -5.51431027e-04 9.99901900e-01 1.96550584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21232058799995 meters 0.025589041421969876 Centerline is valid? [True, True] Translation: X:367.48, Y:-169.28, Z:1.97 [[ 7.00696608e-01 7.13377552e-01 1.08042332e-02 3.67482042e+02] [-7.13305379e-01 7.00779656e-01 -1.01641722e-02 -1.69283350e+02] [-1.48222791e-02 -5.84716679e-04 9.99889973e-01 1.96741395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.242320588 meters 0.02616224090569186 Centerline is valid? [True, True] Translation: X:367.51, Y:-169.31, Z:1.97 [[ 7.00106338e-01 7.13954811e-01 1.09381546e-02 3.67509109e+02] [-7.13880708e-01 7.00191526e-01 -1.03034803e-02 -1.69305936e+02] [-1.50150225e-02 -5.95005706e-04 9.99887091e-01 1.96802487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27232058799996 meters 0.026161763960832626 Centerline is valid? [True, True] Translation: X:367.54, Y:-169.33, Z:1.97 [[ 6.99362721e-01 7.14700614e-01 9.73740738e-03 3.67537533e+02] [-7.14641789e-01 6.99430301e-01 -9.18521794e-03 -1.69327996e+02] [-1.33753187e-02 -5.34959213e-04 9.99910403e-01 1.96836790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.302320588 meters 0.025556781197003935 Centerline is valid? [True, True] Translation: X:367.57, Y:-169.35, Z:1.97 [[ 6.99395321e-01 7.14698062e-01 7.27084670e-03 3.67566765e+02] [-7.14665174e-01 6.99433003e-01 -6.86755064e-03 -1.69346989e+02] [-9.99369527e-03 -3.93088144e-04 9.99949985e-01 1.96704944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33232058799996 meters 0.025556781197003935 Centerline is valid? [True, True] Translation: X:367.59, Y:-169.37, Z:1.97 [[ 6.98971753e-01 7.15112356e-01 7.26683129e-03 3.67591746e+02] [-7.15079447e-01 6.99009416e-01 -6.87180031e-03 -1.69370092e+02] [-9.99369281e-03 -3.93167390e-04 9.99949985e-01 1.96718051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.362320588 meters 0.025712681733318872 Centerline is valid? [True, True] Translation: X:367.62, Y:-169.39, Z:1.97 [[ 6.98956913e-01 7.15126242e-01 7.32745163e-03 3.67618110e+02] [-7.15092699e-01 6.98995211e-01 -6.93733658e-03 -1.69392546e+02] [-1.00829250e-02 -3.90907804e-04 9.99949090e-01 1.96754440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39232058799996 meters 0.02512488795313473 Centerline is valid? [True, True] Translation: X:367.65, Y:-169.41, Z:1.97 [[ 6.99861762e-01 7.14226026e-01 8.64278180e-03 3.67646578e+02] [-7.14179183e-01 6.99914988e-01 -8.19171343e-03 -1.69412626e+02] [-1.18999474e-02 -4.39427853e-04 9.99929097e-01 1.96740270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42232058799993 meters 0.024348815474989738 Centerline is valid? [True, True] Translation: X:367.67, Y:-169.43, Z:1.97 [[ 7.00835738e-01 7.13268050e-01 8.82937990e-03 3.67673032e+02] [-7.13218972e-01 7.00891224e-01 -8.37792420e-03 -1.69433287e+02] [-1.21641405e-02 -4.25732573e-04 9.99925923e-01 1.96848610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45232058799996 meters 0.0247402538484694 Centerline is valid? [True, True] Translation: X:367.70, Y:-169.46, Z:1.97 [[ 7.01075512e-01 7.13018881e-01 9.85904652e-03 3.67698621e+02] [-7.12957502e-01 7.01144679e-01 -9.36688425e-03 -1.69457164e+02] [-1.35913833e-02 -4.62188013e-04 9.99907526e-01 1.96757879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48232058799994 meters 0.024412145996359977 Centerline is valid? [True, True] Translation: X:367.72, Y:-169.48, Z:1.97 [[ 7.01836501e-01 7.12294496e-01 7.87889437e-03 3.67723962e+02] [-7.12255164e-01 7.01880635e-01 -7.49369934e-03 -1.69479085e+02] [-1.08677642e-02 -3.52431482e-04 9.99940882e-01 1.96882443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51232058799997 meters 0.02372311817175337 Centerline is valid? [True, True] Translation: X:367.75, Y:-169.50, Z:1.97 [[ 7.01657427e-01 7.12474987e-01 7.49988255e-03 3.67751042e+02] [-7.12439258e-01 7.01697430e-01 -7.14286479e-03 -1.69500774e+02] [-1.03517608e-02 -3.31366630e-04 9.99946364e-01 1.96877804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54232058799994 meters 0.023675989884475692 Centerline is valid? [True, True] Translation: X:367.78, Y:-169.52, Z:1.97 [[ 7.01566612e-01 7.12562105e-01 7.71591285e-03 3.67778403e+02] [-7.12524200e-01 7.01608960e-01 -7.35736510e-03 -1.69521567e+02] [-1.06561332e-02 -3.36092923e-04 9.99943165e-01 1.96750835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57232058799997 meters 0.02386910619951003 Centerline is valid? [True, True] Translation: X:367.80, Y:-169.54, Z:1.97 [[ 7.01289951e-01 7.12835482e-01 7.61448476e-03 3.67804190e+02] [-7.12798489e-01 7.01331211e-01 -7.26951280e-03 -1.69544165e+02] [-1.05222425e-02 -3.29556956e-04 9.99944585e-01 1.96773447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60232058799994 meters 0.02445245572837895 Centerline is valid? [True, True] Translation: X:367.83, Y:-169.57, Z:1.97 [[ 7.00358270e-01 7.13753630e-01 7.35175441e-03 3.67830532e+02] [-7.13719110e-01 7.00396780e-01 -7.02727079e-03 -1.69566177e+02] [-1.01648852e-02 -3.25480398e-04 9.99948283e-01 1.96769045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63232058799997 meters 0.02420954918106927 Centerline is valid? [True, True] Translation: X:367.86, Y:-169.59, Z:1.97 [[ 7.00517189e-01 7.13595030e-01 7.60269528e-03 3.67856752e+02] [-7.13558014e-01 7.00558367e-01 -7.27566964e-03 -1.69588119e+02] [-1.05180135e-02 -3.28232502e-04 9.99944630e-01 1.96811495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66232058799994 meters 0.024081787139705543 Centerline is valid? [True, True] Translation: X:367.88, Y:-169.61, Z:1.97 [[ 7.00568187e-01 7.13539496e-01 8.09961960e-03 3.67883119e+02] [-7.13497376e-01 7.00614923e-01 -7.76037594e-03 -1.69609989e+02] [-1.12120491e-02 -3.42384837e-04 9.99937084e-01 1.96905557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.692320588 meters 0.02369898806112415 Centerline is valid? [True, True] Translation: X:367.91, Y:-169.63, Z:1.97 [[ 7.01063141e-01 7.13059568e-01 7.51825236e-03 3.67911641e+02] [-7.13023158e-01 7.01103387e-01 -7.21227521e-03 -1.69630064e+02] [-1.04138540e-02 -3.04427726e-04 9.99945728e-01 1.97075639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72232058799995 meters 0.023605432313580914 Centerline is valid? [True, True] Translation: X:367.94, Y:-169.65, Z:1.97 [[ 7.00989802e-01 7.13126567e-01 7.98731007e-03 3.67937843e+02] [-7.13085389e-01 7.01035233e-01 -7.67002224e-03 -1.69651770e+02] [-1.10690824e-02 -3.19026737e-04 9.99938685e-01 1.97247322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.752320588 meters 0.02359287935140914 Centerline is valid? [True, True] Translation: X:367.96, Y:-169.67, Z:1.97 [[ 7.00982886e-01 7.13116048e-01 9.40718498e-03 3.67964306e+02] [-7.13058787e-01 7.01045909e-01 -9.04429508e-03 -1.69673744e+02] [-1.30445005e-02 -3.67979840e-04 9.99914849e-01 1.97208419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78232058799995 meters 0.02352012342829313 Centerline is valid? [True, True] Translation: X:367.99, Y:-169.69, Z:1.97 [[ 7.01351840e-01 7.12724081e-01 1.14009054e-02 3.67992619e+02] [-7.12639752e-01 7.01444366e-01 -1.09720068e-02 -1.69692431e+02] [-1.58171144e-02 -4.29501261e-04 9.99874809e-01 1.97138118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.812320588 meters 0.023344616186774515 Centerline is valid? [True, True] Translation: X:368.02, Y:-169.71, Z:1.97 [[ 7.01673278e-01 7.12418597e-01 1.06936441e-02 3.68019624e+02] [-7.12344201e-01 7.01754652e-01 -1.03027683e-02 -1.69713348e+02] [-1.48441982e-02 -3.88378168e-04 9.99889743e-01 1.97200207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84232058799995 meters 0.02315959920588656 Centerline is valid? [True, True] Translation: X:368.05, Y:-169.74, Z:1.97 [[ 7.01556203e-01 7.12545927e-01 9.85878233e-03 3.68045666e+02] [-7.12482551e-01 7.01625383e-01 -9.50980722e-03 -1.69735595e+02] [-1.36933463e-02 -3.52546140e-04 9.99906180e-01 1.97252651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.872320588 meters 0.022698007186677045 Centerline is valid? [True, True] Translation: X:368.07, Y:-169.76, Z:1.97 [[ 7.02576427e-01 7.11537737e-01 1.00206179e-02 3.68071762e+02] [-7.11472016e-01 7.02647806e-01 -9.67632121e-03 -1.69757055e+02] [-1.39260329e-02 -3.31034048e-04 9.99902973e-01 1.97340746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90232058799995 meters 0.02246258556859495 Centerline is valid? [True, True] Translation: X:368.10, Y:-169.78, Z:1.97 [[ 7.03078273e-01 7.11040649e-01 1.01063210e-02 3.68097220e+02] [-7.10973597e-01 7.03150834e-01 -9.76979416e-03 -1.69778912e+02] [-1.40529888e-02 -3.16397386e-04 9.99901202e-01 1.97421857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.932320588 meters 0.022203260085000426 Centerline is valid? [True, True] Translation: X:368.13, Y:-169.80, Z:1.97 [[ 7.04326924e-01 7.09796511e-01 1.06064412e-02 3.68125235e+02] [-7.09722341e-01 7.04406718e-01 -1.02651917e-02 -1.69799154e+02] [-1.47574457e-02 -2.97577375e-04 9.99891059e-01 1.97404715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96232058799995 meters 0.02182229846153568 Centerline is valid? [True, True] Translation: X:368.15, Y:-169.82, Z:1.98 [[ 7.04700306e-01 7.09442664e-01 9.41201692e-03 3.68150769e+02] [-7.09384080e-01 7.04763112e-01 -9.12042681e-03 -1.69820877e+02] [-1.31036622e-02 -2.49567411e-04 9.99914112e-01 1.97524681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.992320588 meters 0.021477671190949354 Centerline is valid? [True, True] Translation: X:368.18, Y:-169.84, Z:1.97 [[ 7.05019661e-01 7.09137178e-01 8.46992486e-03 3.68175226e+02] [-7.09089601e-01 7.05070505e-01 -8.21711374e-03 -1.69843966e+02] [-1.17989551e-02 -2.12708895e-04 9.99930367e-01 1.97495248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02232058799996 meters 0.02154886643789608 Centerline is valid? [True, True] Translation: X:368.20, Y:-169.87, Z:1.98 [[ 7.04849902e-01 7.09302148e-01 8.77946149e-03 3.68200625e+02] [-7.09250925e-01 7.04904544e-01 -8.52695762e-03 -1.69866893e+02] [-1.22368717e-02 -2.16615939e-04 9.99925103e-01 1.97534266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.052320588 meters 0.021791945683557325 Centerline is valid? [True, True] Translation: X:368.23, Y:-169.89, Z:1.97 [[ 7.04196180e-01 7.09933368e-01 1.01169689e-02 3.68225769e+02] [-7.09865261e-01 7.04268804e-01 -9.83679718e-03 -1.69889445e+02] [-1.41085361e-02 -2.54649771e-04 9.99900437e-01 1.97497114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08232058799996 meters 0.022116284535419518 Centerline is valid? [True, True] Translation: X:368.25, Y:-169.91, Z:1.97 [[ 7.03922312e-01 7.10199941e-01 1.04605472e-02 3.68250136e+02] [-7.10126992e-01 7.03999983e-01 -1.01822795e-02 -1.69912305e+02] [-1.45956794e-02 -2.60783235e-04 9.99893443e-01 1.97424115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.112320588 meters 0.02210489462416558 Centerline is valid? [True, True] Translation: X:368.27, Y:-169.94, Z:1.97 [[ 7.03909621e-01 7.10228272e-01 9.32989845e-03 3.68274242e+02] [-7.10170107e-01 7.03971413e-01 -9.09221143e-03 -1.69935811e+02] [-1.30255274e-02 -2.25719885e-04 9.99915139e-01 1.97408019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14232058799996 meters 0.021916701904979862 Centerline is valid? [True, True] Translation: X:368.30, Y:-169.96, Z:1.97 [[ 7.03802778e-01 7.10330814e-01 9.58043897e-03 3.68299230e+02] [-7.10269354e-01 7.03867945e-01 -9.34674138e-03 -1.69958937e+02] [-1.33826423e-02 -2.26429647e-04 9.99910423e-01 1.97358534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17232058799993 meters 0.021644784893360598 Centerline is valid? [True, True] Translation: X:368.32, Y:-169.98, Z:1.97 [[ 7.04805726e-01 7.09336515e-01 9.51827054e-03 3.68324243e+02] [-7.09275620e-01 7.04869966e-01 -9.29656528e-03 -1.69981434e+02] [-1.33035362e-02 -1.98804804e-04 9.99911484e-01 1.97356476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20232058799996 meters 0.02169247134171827 Centerline is valid? [True, True] Translation: X:368.35, Y:-170.00, Z:1.97 [[ 7.04481623e-01 7.09659083e-01 9.46727350e-03 3.68348108e+02] [-7.09598730e-01 7.04545206e-01 -9.25717257e-03 -1.70004541e+02] [-1.32395588e-02 -1.96457291e-04 9.99912334e-01 1.97365555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23232058799994 meters 0.02173549431045622 Centerline is valid? [True, True] Translation: X:368.37, Y:-170.03, Z:1.97 [[ 7.05383346e-01 7.08763807e-01 9.39152480e-03 3.68371785e+02] [-7.08704201e-01 7.05445842e-01 -9.19341956e-03 -1.70028823e+02] [-1.31411752e-02 -1.70928027e-04 9.99913636e-01 1.97489823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26232058799997 meters 0.021589065171815233 Centerline is valid? [True, True] Translation: X:368.40, Y:-170.05, Z:1.98 [[ 7.04608710e-01 7.09527088e-01 9.89327539e-03 3.68395595e+02] [-7.09460868e-01 7.04678136e-01 -9.69538011e-03 -1.70052654e+02] [-1.38507097e-02 -1.87442480e-04 9.99904057e-01 1.97510561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29232058799994 meters 0.021805104569033153 Centerline is valid? [True, True] Translation: X:368.42, Y:-170.08, Z:1.98 [[ 7.03504173e-01 7.10616016e-01 1.03323006e-02 3.68420538e+02] [-7.10543730e-01 7.03580012e-01 -1.01377478e-02 -1.70075621e+02] [-1.44736461e-02 -2.09603506e-04 9.99895229e-01 1.97529965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32232058799997 meters 0.021802981066858785 Centerline is valid? [True, True] Translation: X:368.45, Y:-170.10, Z:1.98 [[ 7.02422653e-01 7.11696046e-01 9.54754534e-03 3.68445224e+02] [-7.11634278e-01 7.02487506e-01 -9.37863346e-03 -1.70098510e+02] [-1.33817677e-02 -2.06595940e-04 9.99910439e-01 1.97610669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35232058799994 meters 0.022032489138899453 Centerline is valid? [True, True] Translation: X:368.47, Y:-170.12, Z:1.98 [[ 7.00561863e-01 7.13526399e-01 9.65164104e-03 3.68470440e+02] [-7.13463303e-01 7.00628305e-01 -9.49171585e-03 -1.70121507e+02] [-1.35348027e-02 -2.36557564e-04 9.99908372e-01 1.97600589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38232058799997 meters 0.022357800962583486 Centerline is valid? [True, True] Translation: X:368.49, Y:-170.15, Z:1.98 [[ 6.99324679e-01 7.14745966e-01 9.12127591e-03 3.68494509e+02] [-7.14689587e-01 6.99384120e-01 -8.98043291e-03 -1.70145748e+02] [-1.27980037e-02 -2.38642553e-04 9.99918074e-01 1.97639279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41232058799994 meters 0.022467771933046728 Centerline is valid? [True, True] Translation: X:368.52, Y:-170.17, Z:1.98 [[ 6.98549479e-01 7.15503331e-01 9.14379911e-03 3.68518386e+02] [-7.15446656e-01 6.98609277e-01 -9.00890751e-03 -1.70168862e+02] [-1.28338462e-02 -2.48732850e-04 9.99917612e-01 1.97644971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.442320588 meters 0.022584581453553586 Centerline is valid? [True, True] Translation: X:368.54, Y:-170.19, Z:1.98 [[ 6.98025970e-01 7.16017305e-01 8.88619434e-03 3.68543035e+02] [-7.15963687e-01 6.98082488e-01 -8.76577878e-03 -1.70191823e+02] [-1.24797459e-02 -2.43451226e-04 9.99922095e-01 1.97756857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47232058799995 meters 0.022479186039848508 Centerline is valid? [True, True] Translation: X:368.57, Y:-170.21, Z:1.98 [[ 6.98505468e-01 7.15548684e-01 8.95499031e-03 3.68567919e+02] [-7.15494060e-01 6.98562831e-01 -8.84432510e-03 -1.70214308e+02] [-1.25841686e-02 -2.29432923e-04 9.99920790e-01 1.97862205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.502320588 meters 0.02204408813369296 Centerline is valid? [True, True] Translation: X:368.59, Y:-170.24, Z:1.98 [[ 6.99729575e-01 7.14361859e-01 8.10288847e-03 3.68592300e+02] [-7.14316949e-01 6.99776466e-01 -8.01212257e-03 -1.70238171e+02] [-1.13937654e-02 -1.81711452e-04 9.99935072e-01 1.97911015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53232058799995 meters 0.021894266794983425 Centerline is valid? [True, True] Translation: X:368.62, Y:-170.26, Z:1.98 [[ 7.00461753e-01 7.13639108e-01 8.51800324e-03 3.68616354e+02] [-7.13589315e-01 7.00513522e-01 -8.43177478e-03 -1.70261555e+02] [-1.19842207e-02 -1.72220363e-04 9.99928172e-01 1.97920660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.562320588 meters 0.021790954013090794 Centerline is valid? [True, True] Translation: X:368.64, Y:-170.28, Z:1.98 [[ 7.00684682e-01 7.13421100e-01 8.44454773e-03 3.68640676e+02] [-7.13372034e-01 7.00735548e-01 -8.36852822e-03 -1.70284804e+02] [-1.18876794e-02 -1.60404655e-04 9.99929326e-01 1.97983462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59232058799995 meters 0.02174279409470927 Centerline is valid? [True, True] Translation: X:368.66, Y:-170.31, Z:1.98 [[ 7.01080612e-01 7.13032034e-01 8.44355429e-03 3.68663983e+02] [-7.12982839e-01 7.01131440e-01 -8.37707314e-03 -1.70308797e+02] [-1.18931629e-02 -1.47105744e-04 9.99929263e-01 1.97964315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.622320588 meters 0.021668082332005914 Centerline is valid? [True, True] Translation: X:368.69, Y:-170.33, Z:1.98 [[ 7.00910697e-01 7.13202912e-01 8.11175802e-03 3.68687810e+02] [-7.13157405e-01 7.00957622e-01 -8.05778719e-03 -1.70332526e+02] [-1.14328359e-02 -1.37171061e-04 9.99934634e-01 1.98028131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65232058799995 meters 0.021583887954371123 Centerline is valid? [True, True] Translation: X:368.71, Y:-170.36, Z:1.98 [[ 7.00700665e-01 7.13413533e-01 7.72716422e-03 3.68711878e+02] [-7.13372156e-01 7.00743258e-01 -7.68462506e-03 -1.70356126e+02] [-1.08970738e-02 -1.27721912e-04 9.99940617e-01 1.98082397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.682320588 meters 0.021729638848949757 Centerline is valid? [True, True] Translation: X:368.74, Y:-170.38, Z:1.98 [[ 7.00994574e-01 7.13116967e-01 8.41420246e-03 3.68736422e+02] [-7.13067773e-01 7.01045060e-01 -8.37712175e-03 -1.70378775e+02] [-1.18726027e-02 -1.27579710e-04 9.99929510e-01 1.98016257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71232058799995 meters 0.021786403071323696 Centerline is valid? [True, True] Translation: X:368.76, Y:-170.40, Z:1.98 [[ 7.00587093e-01 7.13511443e-01 8.89643319e-03 3.68760962e+02] [-7.13456355e-01 7.00643564e-01 -8.86715479e-03 -1.70402073e+02] [-1.25600451e-02 -1.35002597e-04 9.99921110e-01 1.97958594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.742320588 meters 0.021772383418994158 Centerline is valid? [True, True] Translation: X:368.78, Y:-170.43, Z:1.98 [[ 6.99317618e-01 7.14743368e-01 9.83803074e-03 3.68784169e+02] [-7.14675974e-01 6.99386796e-01 -9.81640370e-03 -1.70426415e+02] [-1.38967982e-02 -1.66220145e-04 9.99903421e-01 1.98024287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77232058799996 meters 0.02176886670924659 Centerline is valid? [True, True] Translation: X:368.81, Y:-170.45, Z:1.98 [[ 6.98639699e-01 7.15415754e-01 9.10330762e-03 3.68808285e+02] [-7.15357972e-01 6.98698987e-01 -9.09385179e-03 -1.70450326e+02] [-1.28663566e-02 -1.58797792e-04 9.99917212e-01 1.98214896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.802320588 meters 0.02179546782823463 Centerline is valid? [True, True] Translation: X:368.83, Y:-170.47, Z:1.98 [[ 6.98219050e-01 7.15840922e-01 7.86972323e-03 3.68832130e+02] [-7.15797661e-01 6.98263385e-01 -7.87099993e-03 -1.70473696e+02] [-1.11295234e-02 -1.37447391e-04 9.99938055e-01 1.98233369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83232058799996 meters 0.022022193377909213 Centerline is valid? [True, True] Translation: X:368.86, Y:-170.50, Z:1.98 [[ 6.96609401e-01 7.17404125e-01 8.16481893e-03 3.68855836e+02] [-7.17357561e-01 6.96657230e-01 -8.17521019e-03 -1.70497165e+02] [-1.15530096e-02 -1.62166323e-04 9.99933249e-01 1.98125861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.862320588 meters 0.022012275204458063 Centerline is valid? [True, True] Translation: X:369.27, Y:-170.14, Z:3.84 [[ 7.68889803e-01 -6.39228911e-01 1.39596209e-02 3.69269925e+02] [-6.39110166e-01 -7.69016310e-01 -1.23333127e-02 -1.70136378e+02] [ 1.86189862e-02 5.61222738e-04 -9.99826494e-01 3.84139692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89232058799996 meters 0.021977790198622078 Centerline is valid? [True, True] Translation: X:368.94, Y:-170.59, Z:1.98 [[ 7.50597715e-01 6.60693681e-01 9.32366462e-03 3.68937543e+02] [-6.60645450e-01 7.50655602e-01 -7.98481297e-03 -1.70586123e+02] [-1.22743765e-02 -1.66254236e-04 9.99924653e-01 1.98334878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92232058799993 meters 0.021909720279712577 Centerline is valid? [True, True] Translation: X:368.96, Y:-170.61, Z:1.98 [[ 7.50449760e-01 6.60859123e-01 9.50669348e-03 3.68963826e+02] [-6.60808890e-01 7.50509955e-01 -8.14977663e-03 -1.70606516e+02] [-1.25207223e-02 -1.66109645e-04 9.99921599e-01 1.98354732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95232058799996 meters 0.02185563649243717 Centerline is valid? [True, True] Translation: X:368.99, Y:-170.63, Z:1.98 [[ 7.49626123e-01 6.61804189e-01 8.71156464e-03 3.68989327e+02] [-6.61761981e-01 7.49676724e-01 -7.47602449e-03 -1.70627121e+02] [-1.14785216e-02 -1.60759014e-04 9.99934107e-01 1.98330713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98232058799994 meters 0.021971922519024106 Centerline is valid? [True, True] Translation: X:369.01, Y:-170.65, Z:1.98 [[ 7.48494461e-01 6.63088594e-01 8.34021025e-03 3.69013692e+02] [-6.63049906e-01 7.48540907e-01 -7.16472936e-03 -1.70648661e+02] [-1.09938389e-02 -1.67215377e-04 9.99939552e-01 1.98499282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01232058799997 meters 0.022237008750598867 Centerline is valid? [True, True] Translation: X:369.04, Y:-170.67, Z:1.99 [[ 7.47631467e-01 6.64054192e-01 8.90054117e-03 3.69039000e+02] [-6.64010111e-01 7.47684422e-01 -7.65363126e-03 -1.70669602e+02] [-1.17372219e-02 -1.87953763e-04 9.99931099e-01 1.98548590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04232058799994 meters 0.022449349188549413 Centerline is valid? [True, True] Translation: X:369.06, Y:-170.69, Z:1.99 [[ 7.45946404e-01 6.65949579e-01 8.66722694e-03 3.69064472e+02] [-6.65907818e-01 7.45996727e-01 -7.46066793e-03 -1.70690006e+02] [-1.14341516e-02 -2.06315767e-04 9.99934607e-01 1.98584286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07232058799997 meters 0.022558177426102704 Centerline is valid? [True, True] Translation: X:369.09, Y:-170.71, Z:1.99 [[ 7.44978912e-01 6.67037314e-01 8.22457268e-03 3.69089633e+02] [-6.66999698e-01 7.45024281e-01 -7.08683743e-03 -1.70711092e+02] [-1.08546913e-02 -2.06243057e-04 9.99941065e-01 1.98566248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10232058799994 meters 0.022525621509761312 Centerline is valid? [True, True] Translation: X:369.11, Y:-170.73, Z:1.99 [[ 7.44427726e-01 6.67654960e-01 8.01337571e-03 3.69114881e+02] [-6.67619213e-01 7.44470827e-01 -6.91188908e-03 -1.70732593e+02] [-1.05804815e-02 -2.04481718e-04 9.99944004e-01 1.98643852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13232058799997 meters 0.02272934530783707 Centerline is valid? [True, True] Translation: X:369.14, Y:-170.75, Z:1.99 [[ 7.43823246e-01 6.68337077e-01 7.24771505e-03 3.69142330e+02] [-6.68307805e-01 7.43858532e-01 -6.25797044e-03 -1.70750841e+02] [-9.57370835e-03 -1.88880655e-04 9.99954153e-01 1.98604550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16232058799994 meters 0.022537409715065626 Centerline is valid? [True, True] Translation: X:369.17, Y:-170.77, Z:1.99 [[ 7.43626031e-01 6.68556492e-01 7.24861358e-03 3.69168557e+02] [-6.68527163e-01 7.43661335e-01 -6.26504224e-03 -1.70771206e+02] [-9.57904832e-03 -1.87046576e-04 9.99954102e-01 1.98656041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.192320588 meters 0.02246669327292165 Centerline is valid? [True, True] Translation: X:369.19, Y:-170.79, Z:1.99 [[ 7.44168958e-01 6.67947696e-01 7.64441073e-03 3.69193865e+02] [-6.67914978e-01 7.44208198e-01 -6.61363190e-03 -1.70791851e+02] [-1.01065933e-02 -1.84156862e-04 9.99948910e-01 1.98763605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22232058799995 meters 0.02246669327292165 Centerline is valid? [True, True] Translation: X:369.22, Y:-170.81, Z:1.99 [[ 7.43835743e-01 6.68318786e-01 7.64110675e-03 3.69218573e+02] [-6.68286049e-01 7.43874967e-01 -6.61744962e-03 -1.70812802e+02] [-1.01065939e-02 -1.84149480e-04 9.99948910e-01 1.98776022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.252320588 meters 0.022351730388201492 Centerline is valid? [True, True] Translation: X:369.24, Y:-170.83, Z:1.99 [[ 7.44060238e-01 6.68068658e-01 7.65701519e-03 3.69244357e+02] [-6.68035704e-01 7.44099615e-01 -6.63791058e-03 -1.70832561e+02] [-1.01321621e-02 -1.76154205e-04 9.99948653e-01 1.98840956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28232058799995 meters 0.022450402381408333 Centerline is valid? [True, True] Translation: X:369.27, Y:-170.85, Z:1.99 [[ 7.44124230e-01 6.67997148e-01 7.67732426e-03 3.69271161e+02] [-6.67963945e-01 7.44163814e-01 -6.66228378e-03 -1.70852087e+02] [-1.01635735e-02 -1.70609016e-04 9.99948335e-01 1.98773733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.312320588 meters 0.022323452247503834 Centerline is valid? [True, True] Translation: X:369.30, Y:-170.87, Z:1.99 [[ 7.44239692e-01 6.67875757e-01 7.01817988e-03 3.69299780e+02] [-6.67847954e-01 7.44272767e-01 -6.09586842e-03 -1.70869850e+02] [-9.29472289e-03 -1.50289842e-04 9.99956792e-01 1.98649323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34232058799995 meters 0.022156840935903508 Centerline is valid? [True, True] Translation: X:369.33, Y:-170.89, Z:1.99 [[ 7.43475447e-01 6.68738392e-01 5.76382568e-03 3.69326170e+02] [-6.68719623e-01 7.43497778e-01 -5.01199712e-03 -1.70890260e+02] [-7.63710649e-03 -1.28086531e-04 9.99970829e-01 1.98791757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.372320588 meters 0.022452827593142814 Centerline is valid? [True, True] Translation: X:369.35, Y:-170.91, Z:1.99 [[ 7.43040202e-01 6.69201926e-01 7.74864925e-03 3.69353917e+02] [-6.69167969e-01 7.43080583e-01 -6.74366941e-03 -1.70908170e+02] [-1.02707474e-02 -1.74330406e-04 9.99947239e-01 1.98877380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40232058799995 meters 0.022701594712174363 Centerline is valid? [True, True] Translation: X:369.38, Y:-170.93, Z:1.99 [[ 7.42699988e-01 6.69570279e-01 8.50699836e-03 3.69380209e+02] [-6.69529292e-01 7.42748682e-01 -7.41099316e-03 -1.70927826e+02] [-1.12807426e-02 -1.91540058e-04 9.99936352e-01 1.98919607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.432320588 meters 0.022471925542207234 Centerline is valid? [True, True] Translation: X:369.41, Y:-170.95, Z:1.99 [[ 7.44005450e-01 6.68107886e-01 9.36718270e-03 3.69408800e+02] [-6.68057978e-01 7.44064393e-01 -8.16806365e-03 -1.70945089e+02] [-1.24269348e-02 -1.80737274e-04 9.99922766e-01 1.98890131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46232058799995 meters 0.022100921738125653 Centerline is valid? [True, True] Translation: X:369.44, Y:-170.96, Z:1.99 [[ 7.44031920e-01 6.68090596e-01 8.45318491e-03 3.69435378e+02] [-6.68049868e-01 7.44079922e-01 -7.37855784e-03 -1.70963890e+02] [-1.12193903e-02 -1.57266505e-04 9.99937048e-01 1.98911920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.492320588 meters 0.022350364361052897 Centerline is valid? [True, True] Translation: X:369.46, Y:-170.98, Z:1.99 [[ 7.43879192e-01 6.68243682e-01 9.70204967e-03 3.69462251e+02] [-6.68189935e-01 7.43942438e-01 -8.47705689e-03 -1.70982934e+02] [-1.28825062e-02 -1.76905707e-04 9.99917001e-01 1.98850072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52232058799996 meters 0.02241774446740506 Centerline is valid? [True, True] Translation: X:369.49, Y:-171.00, Z:1.99 [[ 7.44115851e-01 6.67960413e-01 1.09766333e-02 3.69491695e+02] [-6.67891447e-01 7.44196782e-01 -9.60021467e-03 -1.70999300e+02] [-1.45813385e-02 -1.87527566e-04 9.99893669e-01 1.98839065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.552320588 meters 0.022419219381521846 Centerline is valid? [True, True] Translation: X:369.52, Y:-171.02, Z:1.99 [[ 7.43635834e-01 6.68489658e-01 1.12838054e-02 3.69518191e+02] [-6.68416688e-01 7.43721412e-01 -9.87887465e-03 -1.71019178e+02] [-1.49959332e-02 -1.95998673e-04 9.99887535e-01 1.98898655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58232058799996 meters 0.022324046868909698 Centerline is valid? [True, True] Translation: X:369.54, Y:-171.04, Z:1.99 [[ 7.43358209e-01 6.68820314e-01 9.89752010e-03 3.69544478e+02] [-6.68764087e-01 7.43424077e-01 -8.67395738e-03 -1.71038217e+02] [-1.31593736e-02 -1.71248577e-04 9.99913397e-01 1.99133204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.612320588 meters 0.02242527178787871 Centerline is valid? [True, True] Translation: X:369.57, Y:-171.06, Z:1.99 [[ 7.42914277e-01 6.69297014e-01 1.09491825e-02 3.69570644e+02] [-6.69228116e-01 7.42994933e-01 -9.60510071e-03 -1.71057980e+02] [-1.45638524e-02 -1.91734355e-04 9.99893923e-01 1.99130535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64232058799996 meters 0.022557986735386153 Centerline is valid? [True, True] Translation: X:369.60, Y:-171.08, Z:1.99 [[ 7.42393808e-01 6.69864259e-01 1.15459626e-02 3.69597024e+02] [-6.69787570e-01 7.42483557e-01 -1.01380277e-02 -1.71077038e+02] [-1.53637897e-02 -2.06933251e-04 9.99881949e-01 1.99116170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67232058799993 meters 0.02247709125539243 Centerline is valid? [True, True] Translation: X:369.62, Y:-171.10, Z:1.99 [[ 7.43111896e-01 6.69052829e-01 1.23702175e-02 3.69623943e+02] [-6.68964501e-01 7.43214823e-01 -1.08730222e-02 -1.71095958e+02] [-1.64683553e-02 -1.95364232e-04 9.99864368e-01 1.99045962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70232058799996 meters 0.02247697890540024 Centerline is valid? [True, True] Translation: X:369.65, Y:-171.11, Z:1.99 [[ 7.44077951e-01 6.67958909e-01 1.33753002e-02 3.69651758e+02] [-6.67855252e-01 7.44198135e-01 -1.17685111e-02 -1.71114094e+02] [-1.78147553e-02 -1.76074827e-04 9.99841289e-01 1.98985325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73232058799994 meters 0.022773000091407754 Centerline is valid? [True, True] Translation: X:369.68, Y:-171.13, Z:1.99 [[ 7.44942799e-01 6.66969456e-01 1.45592481e-02 3.69678685e+02] [-6.66846191e-01 7.45085042e-01 -1.28232848e-02 -1.71132706e+02] [-1.94006172e-02 -1.56165457e-04 9.99811778e-01 1.98907550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76232058799997 meters 0.022653365544526054 Centerline is valid? [True, True] Translation: X:369.70, Y:-171.15, Z:1.99 [[ 7.45514051e-01 6.66326379e-01 1.47633569e-02 3.69704962e+02] [-6.66199245e-01 7.45660204e-01 -1.30164038e-02 -1.71153014e+02] [-1.96816209e-02 -1.31425264e-04 9.99806289e-01 1.98908912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79232058799994 meters 0.022380637076339187 Centerline is valid? [True, True] Translation: X:369.73, Y:-171.17, Z:1.99 [[ 7.46399373e-01 6.65344836e-01 1.42907593e-02 3.69729895e+02] [-6.65225321e-01 7.46536162e-01 -1.26107776e-02 -1.71173429e+02] [-1.90590844e-02 -9.38984553e-05 9.99818355e-01 1.99074460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82232058799997 meters 0.022331434923775945 Centerline is valid? [True, True] Translation: X:369.75, Y:-171.19, Z:1.99 [[ 7.47150712e-01 6.64496537e-01 1.44970829e-02 3.69754594e+02] [-6.64373123e-01 7.47291341e-01 -1.28064634e-02 -1.71194701e+02] [-1.93433950e-02 -6.31139975e-05 9.99812897e-01 1.99022482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85232058799994 meters 0.022561852924471573 Centerline is valid? [True, True] Translation: X:369.78, Y:-171.22, Z:1.99 [[ 7.47653594e-01 6.63943455e-01 1.38993169e-02 3.69778724e+02] [-6.63829708e-01 7.47782781e-01 -1.22894979e-02 -1.71216078e+02] [-1.85532015e-02 -3.84922305e-05 9.99827874e-01 1.98918643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88232058799997 meters 0.022814290092190607 Centerline is valid? [True, True] Translation: X:369.80, Y:-171.24, Z:1.99 [[ 7.46942300e-01 6.64641660e-01 1.81290817e-02 3.69803179e+02] [-6.64447988e-01 7.47162272e-01 -1.60440247e-02 -1.71237395e+02] [-2.42088930e-02 -6.18711464e-05 9.99706920e-01 1.98785341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91232058799994 meters 0.02290480314818071 Centerline is valid? [True, True] Translation: X:369.83, Y:-171.26, Z:1.99 [[ 7.46279319e-01 6.65372134e-01 1.86306541e-02 3.69826951e+02] [-6.65167394e-01 7.46511834e-01 -1.65051583e-02 -1.71259777e+02] [-2.48900762e-02 -7.50453267e-05 9.99690191e-01 1.98823909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.942320588 meters 0.02312035472137242 Centerline is valid? [True, True] Translation: X:369.85, Y:-171.28, Z:1.99 [[ 7.45728252e-01 6.65961005e-01 1.96294345e-02 3.69849990e+02] [-6.65733527e-01 7.45986550e-01 -1.74051367e-02 -1.71281802e+02] [-2.62344365e-02 -8.84705559e-05 9.99655814e-01 1.98837574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97232058799995 meters 0.023446354790541368 Centerline is valid? [True, True] Translation: X:369.87, Y:-171.31, Z:1.99 [[ 7.44296575e-01 6.67548083e-01 2.00540764e-02 3.69873763e+02] [-6.67310729e-01 7.44566679e-01 -1.78003325e-02 -1.71305243e+02] [-2.68141749e-02 -1.33573813e-04 9.99640426e-01 1.98841075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.002320588 meters 0.023443185921576272 Centerline is valid? [True, True] Translation: X:369.90, Y:-171.33, Z:1.99 [[ 7.43793252e-01 6.68120181e-01 1.96728689e-02 3.69898252e+02] [-6.67891491e-01 7.44053361e-01 -1.74800469e-02 -1.71326779e+02] [-2.63164363e-02 -1.37800854e-04 9.99653653e-01 1.98791448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03232058799995 meters 0.023785092773304015 Centerline is valid? [True, True] Translation: X:369.92, Y:-171.35, Z:1.99 [[ 7.42739009e-01 6.69206797e-01 2.23836591e-02 3.69921837e+02] [-6.68910645e-01 7.43076193e-01 -1.99078049e-02 -1.71349876e+02] [-2.99552026e-02 -1.86364558e-04 9.99551225e-01 1.98794570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.062320588 meters 0.023755842693619026 Centerline is valid? [True, True] Translation: X:369.95, Y:-171.37, Z:1.99 [[ 7.42181684e-01 6.69819053e-01 2.25562412e-02 3.69946374e+02] [-6.69517981e-01 7.42524341e-01 -2.00817066e-02 -1.71371906e+02] [-3.01996678e-02 -1.97534271e-04 9.99543866e-01 1.98883093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09232058799995 meters 0.023890506493960052 Centerline is valid? [True, True] Translation: X:369.97, Y:-171.39, Z:1.99 [[ 7.41121771e-01 6.71019993e-01 2.16953677e-02 3.69971042e+02] [-6.70741421e-01 7.41439222e-01 -1.93346032e-02 -1.71393659e+02] [-2.90597018e-02 -2.22686385e-04 9.99577653e-01 1.98925532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.122320588 meters 0.02425196566298894 Centerline is valid? [True, True] Translation: X:370.00, Y:-171.42, Z:1.99 [[ 7.38831153e-01 6.73545868e-01 2.15520626e-02 3.69995025e+02] [-6.73271471e-01 7.39145365e-01 -1.92264327e-02 -1.71415600e+02] [-2.88799915e-02 -3.05301408e-04 9.99582839e-01 1.98850073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15232058799995 meters 0.02434969539950346 Centerline is valid? [True, True] Translation: X:370.02, Y:-171.44, Z:1.99 [[ 7.37887333e-01 6.74565576e-01 2.19901427e-02 3.70018998e+02] [-6.74279787e-01 7.38214853e-01 -1.96366773e-02 -1.71437715e+02] [-2.94796764e-02 -3.37853293e-04 9.99565323e-01 1.98895787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.182320588 meters 0.024553643223099473 Centerline is valid? [True, True] Translation: X:370.04, Y:-171.46, Z:1.99 [[ 7.36727992e-01 6.75811316e-01 2.26037814e-02 3.70043472e+02] [-6.75509339e-01 7.37074567e-01 -2.02043432e-02 -1.71459026e+02] [-3.03149962e-02 -3.83960224e-04 9.99540321e-01 1.98874136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21232058799995 meters 0.02503863072232163 Centerline is valid? [True, True] Translation: X:370.07, Y:-171.48, Z:1.99 [[ 7.35330031e-01 6.77252353e-01 2.48796253e-02 3.70069272e+02] [-6.76886636e-01 7.35750655e-01 -2.22588471e-02 -1.71478425e+02] [-3.33800572e-02 -4.73087135e-04 9.99442619e-01 1.98906131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.242320588 meters 0.025364627452811796 Centerline is valid? [True, True] Translation: X:370.09, Y:-171.50, Z:1.99 [[ 7.34828626e-01 6.77719611e-01 2.68890148e-02 3.70094626e+02] [-6.77291882e-01 7.35320244e-01 -2.40799579e-02 -1.71498770e+02] [-3.60914967e-02 -5.17069045e-04 9.99348356e-01 1.98753175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27232058799996 meters 0.02507842086597916 Centerline is valid? [True, True] Translation: X:370.12, Y:-171.52, Z:1.99 [[ 7.35199435e-01 6.77369755e-01 2.55343965e-02 3.70120982e+02] [-6.76983154e-01 7.35642579e-01 -2.28867926e-02 -1.71517899e+02] [-3.42870104e-02 -4.59999345e-04 9.99411922e-01 1.98811041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.302320588 meters 0.025205872929461814 Centerline is valid? [True, True] Translation: X:370.15, Y:-171.54, Z:1.99 [[ 7.35558731e-01 6.76971619e-01 2.57445377e-02 3.70146724e+02] [-6.76577560e-01 7.36008998e-01 -2.30989287e-02 -1.71539129e+02] [-3.45855306e-02 -4.27557871e-04 9.99401650e-01 1.98764616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33232058799996 meters 0.02528337050161689 Centerline is valid? [True, True] Translation: X:370.17, Y:-171.56, Z:1.99 [[ 7.35341158e-01 6.77194562e-01 2.60941865e-02 3.70172312e+02] [-6.76789037e-01 7.35803875e-01 -2.34362104e-02 -1.71560185e+02] [-3.50710778e-02 -4.26649269e-04 9.99384729e-01 1.98722712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.362320588 meters 0.025505784917807243 Centerline is valid? [True, True] Translation: X:370.20, Y:-171.58, Z:1.99 [[ 7.35969168e-01 6.76474282e-01 2.70541969e-02 3.70198855e+02] [-6.76037377e-01 7.36466149e-01 -2.43120723e-02 -1.71578900e+02] [-3.63709918e-02 -3.96712641e-04 9.99338278e-01 1.98617855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39232058799996 meters 0.0255150119389923 Centerline is valid? [True, True] Translation: X:370.22, Y:-171.60, Z:1.99 [[ 7.36255943e-01 6.76135889e-01 2.77028232e-02 3.70224757e+02] [-6.75676569e-01 7.36776848e-01 -2.49208960e-02 -1.71598887e+02] [-3.72607109e-02 -3.69990789e-04 9.99305510e-01 1.98617505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42232058799993 meters 0.025714464949327737 Centerline is valid? [True, True] Translation: X:370.25, Y:-171.62, Z:1.99 [[ 7.36757026e-01 6.75554174e-01 2.85594674e-02 3.70251953e+02] [-6.75064652e-01 7.37310279e-01 -2.57151362e-02 -1.71616955e+02] [-3.84291565e-02 -3.33679641e-04 9.99261271e-01 1.98521236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45232058799996 meters 0.02562404449760186 Centerline is valid? [True, True] Translation: X:370.28, Y:-171.64, Z:1.99 [[ 7.36765193e-01 6.75541483e-01 2.86488111e-02 3.70277673e+02] [-6.75047860e-01 7.37321914e-01 -2.58221024e-02 -1.71636884e+02] [-3.85672976e-02 -3.14492340e-04 9.99255956e-01 1.98570095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48232058799994 meters 0.025759139468564774 Centerline is valid? [True, True] Translation: X:370.30, Y:-171.66, Z:1.99 [[ 7.37236765e-01 6.75037692e-01 2.83913043e-02 3.70304079e+02] [-6.74551550e-01 7.37783195e-01 -2.56156896e-02 -1.71657084e+02] [-3.82381832e-02 -2.66570183e-04 9.99268618e-01 1.98509919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51232058799997 meters 0.025772680037380293 Centerline is valid? [True, True] Translation: X:370.33, Y:-171.68, Z:1.98 [[ 7.37749301e-01 6.74365442e-01 3.09389764e-02 3.70331333e+02] [-6.73786344e-01 7.38397723e-01 -2.79421884e-02 -1.71676407e+02] [-4.16885160e-02 -2.31929822e-04 9.99130629e-01 1.98352058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54232058799994 meters 0.025901376275891064 Centerline is valid? [True, True] Translation: X:370.36, Y:-171.70, Z:1.98 [[ 7.38521932e-01 6.73493166e-01 3.15009652e-02 3.70356993e+02] [-6.72890809e-01 7.39193431e-01 -2.84786024e-02 -1.71696595e+02] [-4.24654506e-02 -1.64637486e-04 9.99097922e-01 1.98321315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57232058799997 meters 0.02608838080373987 Centerline is valid? [True, True] Translation: X:370.38, Y:-171.71, Z:1.98 [[ 7.39970309e-01 6.71892256e-01 3.16976137e-02 3.70384368e+02] [-6.71279603e-01 7.40648901e-01 -2.86862448e-02 -1.71714731e+02] [-4.27508685e-02 -5.09921649e-05 9.99085762e-01 1.98291629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60232058799994 meters 0.02597515207787642 Centerline is valid? [True, True] Translation: X:370.41, Y:-171.73, Z:1.98 [[ 7.40689422e-01 6.71134680e-01 3.09422195e-02 3.70409168e+02] [-6.70549188e-01 7.41335444e-01 -2.80275755e-02 -1.71734731e+02] [-4.17488420e-02 1.14485532e-05 9.99128137e-01 1.98315560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63232058799997 meters 0.025701576242592474 Centerline is valid? [True, True] Translation: X:370.43, Y:-171.76, Z:1.98 [[ 7.41439902e-01 6.70326357e-01 3.04868192e-02 3.70433978e+02] [-6.69756270e-01 7.42066418e-01 -2.76399948e-02 -1.71755467e+02] [-4.11510618e-02 7.46566849e-05 9.99152934e-01 1.98346944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66232058799994 meters 0.02583847632149001 Centerline is valid? [True, True] Translation: X:370.46, Y:-171.78, Z:1.98 [[ 7.41560343e-01 6.70202138e-01 3.02878122e-02 3.70458369e+02] [-6.69638182e-01 7.42178606e-01 -2.74885791e-02 -1.71776878e+02] [-4.09018707e-02 1.02564627e-04 9.99163163e-01 1.98313237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.692320588 meters 0.026069187213044236 Centerline is valid? [True, True] Translation: X:370.48, Y:-171.80, Z:1.98 [[ 7.41011436e-01 6.70812864e-01 3.02018710e-02 3.70483780e+02] [-6.70251443e-01 7.41626654e-01 -2.74392075e-02 -1.71798432e+02] [-4.08050859e-02 8.99190139e-05 9.99167122e-01 1.98249140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72232058799995 meters 0.026016695211044476 Centerline is valid? [True, True] Translation: X:370.51, Y:-171.82, Z:1.98 [[ 7.39949418e-01 6.71980679e-01 3.02791403e-02 3.70508920e+02] [-6.71416181e-01 7.40568677e-01 -2.75381037e-02 -1.71819692e+02] [-4.09288565e-02 4.68990715e-05 9.99162062e-01 1.98237462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.752320588 meters 0.02598972600355031 Centerline is valid? [True, True] Translation: X:370.53, Y:-171.84, Z:1.98 [[ 7.38660794e-01 6.73413679e-01 2.99039788e-02 3.70533449e+02] [-6.72863271e-01 7.39265863e-01 -2.72213605e-02 -1.71839951e+02] [-4.04382272e-02 -1.39372202e-05 9.99182040e-01 1.98141252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78232058799995 meters 0.02589002335084548 Centerline is valid? [True, True] Translation: X:370.56, Y:-171.86, Z:1.98 [[ 7.37932464e-01 6.74230543e-01 2.94763133e-02 3.70557903e+02] [-6.73695447e-01 7.38520936e-01 -2.68565027e-02 -1.71860746e+02] [-3.98763489e-02 -3.97727884e-05 9.99204621e-01 1.98155273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.812320588 meters 0.02572668580439579 Centerline is valid? [True, True] Translation: X:370.58, Y:-171.88, Z:1.98 [[ 7.37580439e-01 6.74633802e-01 2.90573353e-02 3.70582181e+02] [-6.74113179e-01 7.38152580e-01 -2.64988802e-02 -1.71881341e+02] [-3.93257873e-02 -4.28769746e-05 9.99226441e-01 1.98089694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84232058799995 meters 0.025808907730111432 Centerline is valid? [True, True] Translation: X:370.61, Y:-171.90, Z:1.98 [[ 7.36717326e-01 6.75620073e-01 2.80196216e-02 3.70606261e+02] [-6.75135803e-01 7.37249966e-01 -2.55760747e-02 -1.71902085e+02] [-3.79371746e-02 -7.47123648e-05 9.99280123e-01 1.97986532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.872320588 meters 0.025677673112967883 Centerline is valid? [True, True] Translation: X:370.63, Y:-171.92, Z:1.98 [[ 7.36577235e-01 6.75772333e-01 2.80308769e-02 3.70631261e+02] [-6.75286766e-01 7.37110405e-01 -2.56131522e-02 -1.71923505e+02] [-3.79705106e-02 -6.28154166e-05 9.99278858e-01 1.97944131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90232058799995 meters 0.02567459815444441 Centerline is valid? [True, True] Translation: X:370.66, Y:-171.94, Z:1.98 [[ 7.35898184e-01 6.76560544e-01 2.68271039e-02 3.70656256e+02] [-6.76115525e-01 7.36387007e-01 -2.45351295e-02 -1.71943694e+02] [-3.63546313e-02 -8.28641283e-05 9.99338948e-01 1.97939616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.932320588 meters 0.026005038644030462 Centerline is valid? [True, True] Translation: X:370.68, Y:-171.96, Z:1.98 [[ 7.34940398e-01 6.77595470e-01 2.69627484e-02 3.70681235e+02] [-6.77145691e-01 7.35434814e-01 -2.46849666e-02 -1.71964912e+02] [-3.65557654e-02 -1.15729728e-04 9.99331608e-01 1.97933343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96232058799995 meters 0.025830007651477263 Centerline is valid? [True, True] Translation: X:370.71, Y:-171.99, Z:1.98 [[ 7.34122176e-01 6.78495932e-01 2.66064191e-02 3.70706168e+02] [-6.78057647e-01 7.34604146e-01 -2.43839539e-02 -1.71986186e+02] [-3.60895993e-02 -1.39884608e-04 9.99348548e-01 1.97937273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.992320588 meters 0.025801131463506464 Centerline is valid? [True, True] Translation: X:370.73, Y:-172.01, Z:1.98 [[ 7.32740785e-01 6.80024937e-01 2.56325367e-02 3.70730791e+02] [-6.79618723e-01 7.33188956e-01 -2.35020357e-02 -1.72007609e+02] [-3.47754632e-02 -1.99451805e-04 9.99395131e-01 1.98032479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02232058799996 meters 0.025986894299321408 Centerline is valid? [True, True] Translation: X:370.75, Y:-172.03, Z:1.98 [[ 7.31138095e-01 6.81763713e-01 2.52056605e-02 3.70754612e+02] [-6.81371084e-01 7.31572397e-01 -2.31359835e-02 -1.72029900e+02] [-3.42130395e-02 -2.58809335e-04 9.99414529e-01 1.98166225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.052320588 meters 0.026311989784676026 Centerline is valid? [True, True] Translation: X:370.78, Y:-172.05, Z:1.98 [[ 7.29649325e-01 6.83342390e-01 2.55937559e-02 3.70778208e+02] [-6.82937825e-01 7.30097989e-01 -2.35128432e-02 -1.72051565e+02] [-3.47532722e-02 -3.22813806e-04 9.99395870e-01 1.98148490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08232058799996 meters 0.02647267584770718 Centerline is valid? [True, True] Translation: X:370.80, Y:-172.07, Z:1.98 [[ 7.28786447e-01 6.84297549e-01 2.46409820e-02 3.70802585e+02] [-6.83922418e-01 7.29202817e-01 -2.26578266e-02 -1.72072261e+02] [-3.34729687e-02 -3.39803060e-04 9.99439565e-01 1.98199691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.112320588 meters 0.02659075183900508 Centerline is valid? [True, True] Translation: X:370.83, Y:-172.09, Z:1.98 [[ 7.27124105e-01 6.86074163e-01 2.43470559e-02 3.70827577e+02] [-6.85708157e-01 7.27531500e-01 -2.24107128e-02 -1.72094061e+02] [-3.30886611e-02 -3.99605382e-04 9.99452340e-01 1.98176217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14232058799996 meters 0.02659075183900508 Centerline is valid? [True, True] Translation: X:370.85, Y:-172.12, Z:1.98 [[ 7.26775457e-01 6.86443887e-01 2.43356589e-02 3.70851671e+02] [-6.86077674e-01 7.27182666e-01 -2.24230889e-02 -1.72115808e+02] [-3.30886617e-02 -3.99601547e-04 9.99452340e-01 1.98188640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17232058799993 meters 0.02692332134268892 Centerline is valid? [True, True] Translation: X:370.88, Y:-172.14, Z:1.98 [[ 7.24193070e-01 6.89196256e-01 2.35142002e-02 3.70876033e+02] [-6.88855093e-01 7.24574550e-01 -2.16882904e-02 -1.72137333e+02] [-3.19852796e-02 -4.91367004e-04 9.99488219e-01 1.98318297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20232058799996 meters 0.027234762380353668 Centerline is valid? [True, True] Translation: X:370.90, Y:-172.16, Z:1.99 [[ 7.22375012e-01 6.91144468e-01 2.22186088e-02 3.70900743e+02] [-6.90840253e-01 7.22716432e-01 -2.05110754e-02 -1.72157282e+02] [-3.02338700e-02 -5.32820959e-04 9.99542710e-01 1.98504769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23232058799994 meters 0.027088617362717927 Centerline is valid? [True, True] Translation: X:370.93, Y:-172.18, Z:1.99 [[ 7.21506823e-01 6.92069514e-01 2.16262066e-02 3.70926869e+02] [-6.91781124e-01 7.21830655e-01 -1.99845271e-02 -1.72177514e+02] [-2.94411408e-02 -5.41628902e-04 9.99566369e-01 1.98594996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26232058799997 meters 0.027273274598119943 Centerline is valid? [True, True] Translation: X:370.95, Y:-172.20, Z:1.99 [[ 7.20743605e-01 6.92880604e-01 2.10979698e-02 3.70952883e+02] [-6.92605911e-01 7.21052127e-01 -1.95162004e-02 -1.72198550e+02] [-2.87351327e-02 -5.46402009e-04 9.99586911e-01 1.98552976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29232058799994 meters 0.02728299924698055 Centerline is valid? [True, True] Translation: X:370.98, Y:-172.22, Z:1.99 [[ 7.21026992e-01 6.92598366e-01 2.06780362e-02 3.70978693e+02] [-6.92334165e-01 7.21323253e-01 -1.91355403e-02 -1.72218713e+02] [-2.81687923e-02 -5.18869884e-04 9.99603046e-01 1.98525891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32232058799997 meters 0.027329961514068905 Centerline is valid? [True, True] Translation: X:371.00, Y:-172.24, Z:1.99 [[ 7.20873549e-01 6.92766513e-01 2.03932239e-02 3.71004192e+02] [-6.92509040e-01 7.21161774e-01 -1.88924466e-02 -1.72240162e+02] [-2.77948679e-02 -5.03426915e-04 9.99613521e-01 1.98615491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35232058799994 meters 0.027288218872846867 Centerline is valid? [True, True] Translation: X:371.03, Y:-172.26, Z:1.99 [[ 7.21198928e-01 6.92450319e-01 1.96128174e-02 3.71031685e+02] [-6.92211638e-01 7.21465414e-01 -1.81852988e-02 -1.72258165e+02] [-2.67423853e-02 -4.61002475e-04 9.99642252e-01 1.98696861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38232058799997 meters 0.027372897835424924 Centerline is valid? [True, True] Translation: X:371.06, Y:-172.28, Z:1.99 [[ 7.21384894e-01 6.92252226e-01 1.97659049e-02 3.71057950e+02] [-6.92009220e-01 7.21655499e-01 -1.83461273e-02 -1.72278501e+02] [-2.69643214e-02 -4.43569327e-04 9.99636298e-01 1.98623058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41232058799994 meters 0.02726084623288932 Centerline is valid? [True, True] Translation: X:371.08, Y:-172.30, Z:1.99 [[ 7.21229624e-01 6.92449761e-01 1.84704685e-02 3.71082281e+02] [-6.92237253e-01 7.21465980e-01 -1.71588165e-02 -1.72298976e+02] [-2.52074330e-02 -4.10499542e-04 9.99682158e-01 1.98540581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.442320588 meters 0.027156915257706818 Centerline is valid? [True, True] Translation: X:371.11, Y:-172.32, Z:1.99 [[ 7.21334042e-01 6.92377335e-01 1.70536372e-02 3.71106899e+02] [-6.92195833e-01 7.21535510e-01 -1.58567739e-02 -1.72319050e+02] [-2.32836757e-02 -3.66425787e-04 9.99728831e-01 1.98548904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47232058799995 meters 0.027230281735123762 Centerline is valid? [True, True] Translation: X:371.13, Y:-172.34, Z:1.99 [[ 7.20632139e-01 6.93112668e-01 1.68567337e-02 3.71132797e+02] [-6.92935160e-01 7.20829168e-01 -1.56899410e-02 -1.72339690e+02] [-2.30257222e-02 -3.73947733e-04 9.99734803e-01 1.98602974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.502320588 meters 0.027522946162209676 Centerline is valid? [True, True] Translation: X:371.16, Y:-172.36, Z:1.99 [[ 7.19716893e-01 6.93988993e-01 1.96690486e-02 3.71158687e+02] [-6.93747214e-01 7.19985463e-01 -1.83231048e-02 -1.72358695e+02] [-2.68774621e-02 -4.57899577e-04 9.99638631e-01 1.98552351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53232058799995 meters 0.027772083125190694 Centerline is valid? [True, True] Translation: X:371.18, Y:-172.38, Z:1.99 [[ 7.18892567e-01 6.94819182e-01 2.04885593e-02 3.71182997e+02] [-6.94556696e-01 7.19184300e-01 -1.91033850e-02 -1.72379965e+02] [-2.80084485e-02 -4.97184554e-04 9.99607563e-01 1.98583015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.562320588 meters 0.02786591197368307 Centerline is valid? [True, True] Translation: X:371.21, Y:-172.40, Z:1.99 [[ 7.18590693e-01 6.95116987e-01 2.09711809e-02 3.71207798e+02] [-6.94841536e-01 7.18896458e-01 -1.95735021e-02 -1.72401040e+02] [-2.86819815e-02 -5.06311105e-04 9.99588459e-01 1.98653866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59232058799995 meters 0.02786330135167619 Centerline is valid? [True, True] Translation: X:371.24, Y:-172.42, Z:1.99 [[ 7.18895547e-01 6.94742149e-01 2.28591341e-02 3.71235275e+02] [-6.94414094e-01 7.19258698e-01 -2.13539748e-02 -1.72419216e+02] [-3.12771374e-02 -5.22427498e-04 9.99510614e-01 1.98690121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.622320588 meters 0.02787112612204518 Centerline is valid? [True, True] Translation: X:371.26, Y:-172.44, Z:1.99 [[ 7.18664689e-01 6.95002643e-01 2.21898740e-02 3.71260521e+02] [-6.94693082e-01 7.19007004e-01 -2.07472967e-02 -1.72439485e+02] [-3.03741009e-02 -5.04802435e-04 9.99538473e-01 1.98707779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65232058799995 meters 0.028063095853488925 Centerline is valid? [True, True] Translation: X:371.29, Y:-172.46, Z:1.99 [[ 7.19504699e-01 6.94133504e-01 2.21735712e-02 3.71285757e+02] [-6.93823421e-01 7.19846145e-01 -2.07506145e-02 -1.72458994e+02] [-3.03652565e-02 -4.54378398e-04 9.99538766e-01 1.98707054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.682320588 meters 0.027892344036048778 Centerline is valid? [True, True] Translation: X:371.31, Y:-172.48, Z:1.99 [[ 7.19497493e-01 6.94116424e-01 2.29291851e-02 3.71310307e+02] [-6.93784239e-01 7.19862614e-01 -2.14766446e-02 -1.72479650e+02] [-3.14131548e-02 -4.55515253e-04 9.99506381e-01 1.98883404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71232058799995 meters 0.027883863244649483 Centerline is valid? [True, True] Translation: X:371.34, Y:-172.50, Z:1.99 [[ 7.19686693e-01 6.93935597e-01 2.24599839e-02 3.71336171e+02] [-6.93616204e-01 7.20036948e-01 -2.10559850e-02 -1.72498546e+02] [-3.07835158e-02 -4.24896560e-04 9.99525985e-01 1.99064234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.742320588 meters 0.027810283392720337 Centerline is valid? [True, True] Translation: X:371.36, Y:-172.52, Z:1.99 [[ 7.19326200e-01 6.94333734e-01 2.16906311e-02 3.71360400e+02] [-6.94035491e-01 7.19653038e-01 -2.03529582e-02 -1.72519796e+02] [-2.97414740e-02 -4.13651659e-04 9.99557539e-01 1.99129952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77232058799996 meters 0.02759724322002388 Centerline is valid? [True, True] Translation: X:371.39, Y:-172.54, Z:1.99 [[ 7.19377435e-01 6.94330150e-01 2.00436770e-02 3.71385015e+02] [-6.94075019e-01 7.19656520e-01 -1.88244974e-02 -1.72540721e+02] [-2.74949789e-02 -3.69896833e-04 9.99621873e-01 1.99276187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.802320588 meters 0.0276055634800333 Centerline is valid? [True, True] Translation: X:371.41, Y:-172.56, Z:1.99 [[ 7.19778570e-01 6.93875746e-01 2.13368115e-02 3.71411290e+02] [-6.93585900e-01 7.20094659e-01 -2.00569463e-02 -1.72559054e+02] [-2.92815526e-02 -3.62351476e-04 9.99571138e-01 1.99160939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83232058799996 meters 0.027623268773616455 Centerline is valid? [True, True] Translation: X:371.44, Y:-172.58, Z:1.99 [[ 7.20153598e-01 6.93482877e-01 2.14544625e-02 3.71437758e+02] [-6.93189026e-01 7.20473031e-01 -2.01887673e-02 -1.72579671e+02] [-2.94579261e-02 -3.32984509e-04 9.99565966e-01 1.99206859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.862320588 meters 0.02756301866921902 Centerline is valid? [True, True] Translation: X:371.46, Y:-172.60, Z:1.99 [[ 7.20194373e-01 6.93441778e-01 2.14141336e-02 3.71464469e+02] [-6.93148399e-01 7.20512596e-01 -2.01716643e-02 -1.72599971e+02] [-2.94170278e-02 -3.15653349e-04 9.99567176e-01 1.99130461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89232058799996 meters 0.027546028625146633 Centerline is valid? [True, True] Translation: X:371.49, Y:-172.62, Z:1.99 [[ 7.20080078e-01 6.93558967e-01 2.14625373e-02 3.71489328e+02] [-6.93263701e-01 7.20399796e-01 -2.02379562e-02 -1.72621618e+02] [-2.94978235e-02 -3.06248970e-04 9.99564798e-01 1.99213747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92232058799993 meters 0.027455266925672666 Centerline is valid? [True, True] Translation: X:371.51, Y:-172.64, Z:1.99 [[ 7.20617811e-01 6.92999190e-01 2.14963599e-02 3.71514457e+02] [-6.92702124e-01 7.20938313e-01 -2.02907976e-02 -1.72642643e+02] [-2.95590558e-02 -2.68664045e-04 9.99563000e-01 1.99264610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95232058799996 meters 0.02744481418809127 Centerline is valid? [True, True] Translation: X:371.54, Y:-172.66, Z:1.99 [[ 7.21267389e-01 6.92343205e-01 2.08384381e-02 3.71540261e+02] [-6.92063273e-01 7.21568318e-01 -1.96872744e-02 -1.72662278e+02] [-2.86667074e-02 -2.21728627e-04 9.99589001e-01 1.99251565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98232058799994 meters 0.027467720026006344 Centerline is valid? [True, True] Translation: X:371.57, Y:-172.68, Z:1.99 [[ 7.21393752e-01 6.92198877e-01 2.12548552e-02 3.71565457e+02] [-6.91906960e-01 7.21706778e-01 -2.01018796e-02 -1.72683266e+02] [-2.92542715e-02 -2.05011908e-04 9.99571981e-01 1.99172795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01232058799997 meters 0.0275333981307348 Centerline is valid? [True, True] Translation: X:371.59, Y:-172.70, Z:1.99 [[ 7.21357288e-01 6.92216835e-01 2.18978720e-02 3.71590296e+02] [-6.91906439e-01 7.21689555e-01 -2.07283734e-02 -1.72703963e+02] [-3.01519946e-02 -1.98715417e-04 9.99545305e-01 1.99223413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04232058799994 meters 0.027404376059600152 Centerline is valid? [True, True] Translation: X:371.62, Y:-172.73, Z:1.99 [[ 7.20948275e-01 6.92648889e-01 2.17048745e-02 3.71615080e+02] [-6.92343484e-01 7.21274897e-01 -2.05675224e-02 -1.72725535e+02] [-2.99012527e-02 -1.99108669e-04 9.99552838e-01 1.99357822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07232058799997 meters 0.02738989335224579 Centerline is valid? [True, True] Translation: X:371.64, Y:-172.75, Z:1.99 [[ 7.20208181e-01 6.93388263e-01 2.26471412e-02 3.71639033e+02] [-6.93055577e-01 7.20564130e-01 -2.14779518e-02 -1.72746335e+02] [-3.12112772e-02 -2.27130913e-04 9.99512784e-01 1.99419165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10232058799994 meters 0.027567224085309976 Centerline is valid? [True, True] Translation: X:371.67, Y:-172.77, Z:1.99 [[ 7.18291402e-01 6.95392604e-01 2.20587457e-02 3.71665978e+02] [-6.95077245e-01 7.18629976e-01 -2.09423171e-02 -1.72766341e+02] [-3.04152083e-02 -2.89845891e-04 9.99537309e-01 1.99348486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13232058799997 meters 0.027452699297746967 Centerline is valid? [True, True] Translation: X:371.69, Y:-172.79, Z:1.99 [[ 7.18089267e-01 6.95604541e-01 2.19574014e-02 3.71691137e+02] [-6.95291521e-01 7.18424835e-01 -2.08676186e-02 -1.72787128e+02] [-3.02903528e-02 -2.81982063e-04 9.99541102e-01 1.99374422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16232058799994 meters 0.02742613779826475 Centerline is valid? [True, True] Translation: X:371.72, Y:-172.81, Z:1.99 [[ 7.18543802e-01 6.95147747e-01 2.15502803e-02 3.71715417e+02] [-6.94845477e-01 7.18866851e-01 -2.04991198e-02 -1.72807786e+02] [-2.97416991e-02 -2.44599350e-04 9.99557588e-01 1.99438940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.192320588 meters 0.02724134576148856 Centerline is valid? [True, True] Translation: X:371.74, Y:-172.83, Z:1.99 [[ 7.19144490e-01 6.94501018e-01 2.23503582e-02 3.71739542e+02] [-6.94174976e-01 7.19491690e-01 -2.12793679e-02 -1.72829630e+02] [-3.08594396e-02 -2.12119168e-04 9.99523712e-01 1.99487642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22232058799995 meters 0.027370006035063822 Centerline is valid? [True, True] Translation: X:371.76, Y:-172.85, Z:1.99 [[ 7.19576667e-01 6.94014158e-01 2.35323005e-02 3.71763008e+02] [-6.93651792e-01 7.19961328e-01 -2.24249574e-02 -1.72850963e+02] [-3.25055842e-02 -1.86746341e-04 9.99471536e-01 1.99477627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.252320588 meters 0.027208603170106524 Centerline is valid? [True, True] Translation: X:371.79, Y:-172.87, Z:2.00 [[ 7.20777347e-01 6.92839911e-01 2.12808143e-02 3.71787363e+02] [-6.92542516e-01 7.21091427e-01 -2.02982349e-02 -1.72871795e+02] [-2.94088400e-02 -1.07360795e-04 9.99567461e-01 1.99585258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28232058799995 meters 0.02701321286639571 Centerline is valid? [True, True] Translation: X:371.81, Y:-172.89, Z:2.00 [[ 7.20628708e-01 6.93004594e-01 2.09499080e-02 3.71812555e+02] [-6.92715825e-01 7.20933162e-01 -2.00040545e-02 -1.72893773e+02] [-2.89663850e-02 -9.68368307e-05 9.99580382e-01 1.99590145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.312320588 meters 0.027050809019140736 Centerline is valid? [True, True] Translation: X:371.84, Y:-172.91, Z:2.00 [[ 7.20476390e-01 6.93167765e-01 2.07899426e-02 3.71837782e+02] [-6.92882848e-01 7.20776278e-01 -1.98724977e-02 -1.72914431e+02] [-2.87598723e-02 -8.73292336e-05 9.99586346e-01 1.99509587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34232058799995 meters 0.027156381670796904 Centerline is valid? [True, True] Translation: X:371.86, Y:-172.94, Z:1.99 [[ 7.20238064e-01 6.93411185e-01 2.09298836e-02 3.71862473e+02] [-6.93121903e-01 7.20542103e-01 -2.00276384e-02 -1.72936105e+02] [-2.89682508e-02 -8.22932106e-05 9.99580329e-01 1.99483552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.372320588 meters 0.0268388660674849 Centerline is valid? [True, True] Translation: X:371.89, Y:-172.96, Z:2.00 [[ 7.20053552e-01 6.93602029e-01 2.09548911e-02 3.71886986e+02] [-6.93311522e-01 7.20358396e-01 -2.00727171e-02 -1.72957498e+02] [-2.90175090e-02 -7.48361774e-05 9.99578901e-01 1.99513598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40232058799995 meters 0.026922029412932497 Centerline is valid? [True, True] Translation: X:371.91, Y:-172.98, Z:1.99 [[ 7.19508386e-01 6.94183376e-01 2.04235780e-02 3.71910500e+02] [-6.93907145e-01 7.19798189e-01 -1.95816329e-02 -1.72980062e+02] [-2.82940985e-02 -8.29175847e-05 9.99599638e-01 1.99483066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.432320588 meters 0.026711258991013807 Centerline is valid? [True, True] Translation: X:371.93, Y:-173.00, Z:2.00 [[ 7.20579688e-01 6.93133387e-01 1.81939831e-02 3.71934785e+02] [-6.92913434e-01 7.20809342e-01 -1.74604092e-02 -1.73001723e+02] [-2.52167855e-02 -2.52390349e-05 9.99682006e-01 1.99553262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46232058799995 meters 0.026543854660892135 Centerline is valid? [True, True] Translation: X:371.96, Y:-173.02, Z:2.00 [[ 7.20619330e-01 6.93087260e-01 1.83801817e-02 3.71958853e+02] [-6.92862445e-01 7.20853695e-01 -1.76517099e-02 -1.73023877e+02] [-2.54835972e-02 -1.47742704e-05 9.99675240e-01 1.99571365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.492320588 meters 0.026735582122492996 Centerline is valid? [True, True] Translation: X:371.98, Y:-173.05, Z:2.00 [[ 7.19923717e-01 6.93804316e-01 1.85852832e-02 3.71983332e+02] [-6.93574170e-01 7.20163572e-01 -1.78689899e-02 -1.73046573e+02] [-2.57820263e-02 -2.59626910e-05 9.99667588e-01 1.99573876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52232058799996 meters 0.026600631557797648 Centerline is valid? [True, True] Translation: X:372.01, Y:-173.07, Z:2.00 [[ 7.19117591e-01 6.94605264e-01 1.98347748e-02 3.72006884e+02] [-6.94342962e-01 7.19391080e-01 -1.90873185e-02 -1.73067872e+02] [-2.75271120e-02 -4.61098000e-05 9.99621056e-01 1.99584245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.552320588 meters 0.026507235620002245 Centerline is valid? [True, True] Translation: X:372.03, Y:-173.09, Z:2.00 [[ 7.18084236e-01 6.95685068e-01 1.94246347e-02 3.72030497e+02] [-6.95433356e-01 7.18346908e-01 -1.87127227e-02 -1.73090212e+02] [-2.69717881e-02 -7.12277006e-05 9.99636193e-01 1.99575313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58232058799996 meters 0.026384539642544114 Centerline is valid? [True, True] Translation: X:372.05, Y:-173.11, Z:2.00 [[ 7.16232557e-01 6.97631457e-01 1.79241122e-02 3.72053116e+02] [-6.97417350e-01 7.16456792e-01 -1.72830666e-02 -1.73112403e+02] [-2.48990629e-02 -1.21891877e-04 9.99689963e-01 1.99691699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.612320588 meters 0.02645324922980326 Centerline is valid? [True, True] Translation: X:372.08, Y:-173.13, Z:2.00 [[ 7.15025334e-01 6.98896106e-01 1.68227716e-02 3.72076375e+02] [-6.98707503e-01 7.15223191e-01 -1.62361437e-02 -1.73134413e+02] [-2.33794140e-02 -1.44942658e-04 9.99726654e-01 1.99799534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64232058799996 meters 0.026371956771872145 Centerline is valid? [True, True] Translation: X:372.10, Y:-173.16, Z:2.00 [[ 7.14074121e-01 6.99869495e-01 1.67582937e-02 3.72100542e+02] [-6.99682199e-01 7.14270721e-01 -1.61912575e-02 -1.73157324e+02] [-2.33017257e-02 -1.63721801e-04 9.99728465e-01 1.99863362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67232058799993 meters 0.026538325221076058 Centerline is valid? [True, True] Translation: X:372.12, Y:-173.18, Z:2.00 [[ 7.12271378e-01 7.01691842e-01 1.72639131e-02 3.72124107e+02] [-7.01493252e-01 7.12480533e-01 -1.66945146e-02 -1.73179669e+02] [-2.40146067e-02 -2.19493665e-04 9.99711584e-01 1.99873592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70232058799996 meters 0.026479175715979714 Centerline is valid? [True, True] Translation: X:372.15, Y:-173.20, Z:2.00 [[ 7.11573493e-01 7.02387648e-01 1.77413332e-02 3.72147052e+02] [-7.02177754e-01 7.11794587e-01 -1.71717161e-02 -1.73201805e+02] [-2.46893862e-02 -2.38631511e-04 9.99695142e-01 1.99887644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73232058799994 meters 0.02665013287792585 Centerline is valid? [True, True] Translation: X:372.17, Y:-173.22, Z:2.00 [[ 7.09044958e-01 7.04943867e-01 1.75895509e-02 3.72171731e+02] [-7.04737952e-01 7.09263031e-01 -1.70403223e-02 -1.73223146e+02] [-2.44880889e-02 -3.13669440e-04 9.99700073e-01 1.99963060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76232058799997 meters 0.02682792162621258 Centerline is valid? [True, True] Translation: X:372.20, Y:-173.24, Z:2.00 [[ 7.07073315e-01 7.06925132e-01 1.74409127e-02 3.72195909e+02] [-7.06722914e-01 7.07288288e-01 -1.69115461e-02 -1.73244743e+02] [-2.42909502e-02 -3.68189642e-04 9.99704864e-01 2.00061965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79232058799994 meters 0.027054015975149722 Centerline is valid? [True, True] Translation: X:372.22, Y:-173.27, Z:2.00 [[ 7.05687712e-01 7.08297488e-01 1.78751704e-02 3.72219251e+02] [-7.08085127e-01 7.05913944e-01 -1.73481214e-02 -1.73266398e+02] [-2.49059628e-02 -4.14786174e-04 9.99689712e-01 2.00061675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82232058799997 meters 0.02702126769819475 Centerline is valid? [True, True] Translation: X:372.24, Y:-173.29, Z:2.00 [[ 7.02736486e-01 7.11276143e-01 1.57378641e-02 3.72243250e+02] [-7.11111924e-01 7.02912547e-01 -1.52899336e-02 -1.73288835e+02] [-2.19377072e-02 -4.46588587e-04 9.99759240e-01 2.00172071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85232058799994 meters 0.02740182764142148 Centerline is valid? [True, True] Translation: X:372.27, Y:-173.31, Z:2.00 [[ 7.01003695e-01 7.12952506e-01 1.71039069e-02 3.72268475e+02] [-7.12758697e-01 7.01212123e-01 -1.66312566e-02 -1.73309538e+02] [-2.38507629e-02 -5.32386112e-04 9.99715388e-01 2.00063889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88232058799997 meters 0.027536677871218294 Centerline is valid? [True, True] Translation: X:372.29, Y:-173.33, Z:2.00 [[ 7.00715000e-01 7.13224506e-01 1.75867316e-02 3.72292933e+02] [-7.13019254e-01 7.00935452e-01 -1.71182911e-02 -1.73331105e+02] [-2.45363483e-02 -5.44634894e-04 9.99698790e-01 2.00055815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91232058799994 meters 0.027430465594422037 Centerline is valid? [True, True] Translation: X:372.32, Y:-173.35, Z:2.00 [[ 7.00596787e-01 7.13343032e-01 1.74888682e-02 3.72317042e+02] [-7.13139676e-01 7.00814836e-01 -1.70402196e-02 -1.73353623e+02] [-2.44119802e-02 -5.33682631e-04 9.99701841e-01 2.00139088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.942320588 meters 0.02746379641294096 Centerline is valid? [True, True] Translation: X:372.34, Y:-173.38, Z:2.00 [[ 7.00408389e-01 7.13511395e-01 1.81542832e-02 3.72341164e+02] [-7.13291871e-01 7.00643411e-01 -1.77064388e-02 -1.73376359e+02] [-2.53534248e-02 -5.47564357e-04 9.99678400e-01 2.00160439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97232058799995 meters 0.027393935759923698 Centerline is valid? [True, True] Translation: X:372.37, Y:-173.40, Z:2.00 [[ 7.00881164e-01 7.13020262e-01 1.91755105e-02 3.72368086e+02] [-7.12774656e-01 7.01143215e-01 -1.87211735e-02 -1.73396210e+02] [-2.67933552e-02 -5.46500023e-04 9.99640844e-01 2.00210919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.002320588 meters 0.027321934779955964 Centerline is valid? [True, True] Translation: X:372.39, Y:-173.42, Z:2.00 [[ 7.01168685e-01 7.12750051e-01 1.87040098e-02 3.72392768e+02] [-7.12515861e-01 7.01417924e-01 -1.82768968e-02 -1.73416864e+02] [-2.61461868e-02 -5.11715930e-04 9.99657999e-01 2.00240282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03232058799995 meters 0.027321934779955964 Centerline is valid? [True, True] Translation: X:372.42, Y:-173.44, Z:2.00 [[ 7.00806098e-01 7.13106813e-01 1.86945415e-02 3.72416228e+02] [-7.12872492e-01 7.01055213e-01 -1.82865821e-02 -1.73439359e+02] [-2.61461920e-02 -5.11476117e-04 9.99657999e-01 2.00252701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.062320588 meters 0.026913007586162375 Centerline is valid? [True, True] Translation: X:372.44, Y:-173.46, Z:2.01 [[ 7.01574366e-01 7.12352929e-01 1.86202383e-02 3.72440913e+02] [-7.12120096e-01 7.01821256e-01 -1.82179300e-02 -1.73459568e+02] [-2.60456749e-02 -4.78613201e-04 9.99660639e-01 2.00504825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09232058799995 meters 0.027003282392855182 Centerline is valid? [True, True] Translation: X:372.46, Y:-173.48, Z:2.01 [[ 7.01408524e-01 7.12504605e-01 1.90596758e-02 3.72464580e+02] [-7.12260135e-01 7.01667270e-01 -1.86692831e-02 -1.73483220e+02] [-2.66755009e-02 -4.80652960e-04 9.99644030e-01 2.00510973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.122320588 meters 0.026938121761870916 Centerline is valid? [True, True] Translation: X:372.49, Y:-173.51, Z:2.01 [[ 7.01189563e-01 7.12742879e-01 1.81874839e-02 3.72488294e+02] [-7.12519957e-01 7.01425249e-01 -1.78306316e-02 -1.73505547e+02] [-2.54658162e-02 -4.56292457e-04 9.99675589e-01 2.00619878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15232058799995 meters 0.026868677820516045 Centerline is valid? [True, True] Translation: X:372.51, Y:-173.53, Z:2.01 [[ 7.01676237e-01 7.12249631e-01 1.87329178e-02 3.72513743e+02] [-7.12012456e-01 7.01926115e-01 -1.83845390e-02 -1.73526095e+02] [-2.62435053e-02 -4.38076663e-04 9.99655484e-01 2.00603158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.182320588 meters 0.026973622953454898 Centerline is valid? [True, True] Translation: X:372.54, Y:-173.55, Z:2.01 [[ 7.00768386e-01 7.13149237e-01 1.84887620e-02 3.72538120e+02] [-7.12918032e-01 7.01012098e-01 -1.81636665e-02 -1.73548947e+02] [-2.59142507e-02 -4.52448557e-04 9.99664067e-01 2.00674788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21232058799995 meters 0.026998358533912782 Centerline is valid? [True, True] Translation: X:372.56, Y:-173.57, Z:2.01 [[ 7.01523742e-01 7.12357513e-01 2.02783879e-02 3.72561314e+02] [-7.12078544e-01 7.01816621e-01 -1.99393393e-02 -1.73571309e+02] [-2.84356479e-02 -4.51884977e-04 9.99595523e-01 2.00877439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.242320588 meters 0.026619279550502795 Centerline is valid? [True, True] Translation: X:372.59, Y:-173.59, Z:2.01 [[ 7.02237504e-01 7.11680545e-01 1.93206947e-02 3.72585377e+02] [-7.11426586e-01 7.02503130e-01 -1.90148631e-02 -1.73593077e+02] [-2.71053566e-02 -3.92305850e-04 9.99632505e-01 2.00939537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27232058799996 meters 0.026693334394398447 Centerline is valid? [True, True] Translation: X:372.61, Y:-173.61, Z:2.01 [[ 7.02833179e-01 7.11107464e-01 1.87535633e-02 3.72609584e+02] [-7.10867550e-01 7.03083248e-01 -1.84735689e-02 -1.73614728e+02] [-2.63220089e-02 -3.47462484e-04 9.99653456e-01 2.00914791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.302320588 meters 0.02656942040730921 Centerline is valid? [True, True] Translation: X:372.63, Y:-173.64, Z:2.01 [[ 7.03426744e-01 7.10522448e-01 1.86726123e-02 3.72633529e+02] [-7.10283956e-01 7.03674465e-01 -1.84105874e-02 -1.73636136e+02] [-2.62205761e-02 -3.12357392e-04 9.99656133e-01 2.00779098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33232058799996 meters 0.02663484083329101 Centerline is valid? [True, True] Translation: X:372.66, Y:-173.66, Z:2.01 [[ 7.04728458e-01 7.09199296e-01 1.98534548e-02 3.72658014e+02] [-7.08928665e-01 7.05008005e-01 -1.95923839e-02 -1.73657163e+02] [-2.78917494e-02 -2.67372650e-04 9.99610914e-01 2.00699975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.362320588 meters 0.026763388256750092 Centerline is valid? [True, True] Translation: X:372.68, Y:-173.68, Z:2.01 [[ 7.05388125e-01 7.08516855e-01 2.07715692e-02 3.72681973e+02] [-7.08219769e-01 7.05693849e-01 -2.05170790e-02 -1.73678474e+02] [-2.91950649e-02 -2.38332032e-04 9.99573705e-01 2.00812119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39232058799996 meters 0.026577558847580236 Centerline is valid? [True, True] Translation: X:372.71, Y:-173.70, Z:2.01 [[ 7.06350695e-01 7.07559259e-01 2.07024385e-02 3.72708381e+02] [-7.07263095e-01 7.06653990e-01 -2.04707517e-02 -1.73698306e+02] [-2.91137307e-02 -1.82541020e-04 9.99576089e-01 2.00836525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42232058799993 meters 0.026645469755224752 Centerline is valid? [True, True] Translation: X:372.73, Y:-173.72, Z:2.01 [[ 7.07059918e-01 7.06822898e-01 2.16255377e-02 3.72732713e+02] [-7.06498792e-01 7.07390536e-01 -2.14029547e-02 -1.73719650e+02] [-3.04257992e-02 -1.45244853e-04 9.99537018e-01 2.00769159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45232058799996 meters 0.026574625438175018 Centerline is valid? [True, True] Translation: X:372.76, Y:-173.74, Z:2.01 [[ 7.08458646e-01 7.05424074e-01 2.15226127e-02 3.72756295e+02] [-7.05101706e-01 7.08785490e-01 -2.13240093e-02 -1.73743309e+02] [-3.02973851e-02 -6.84522148e-05 9.99540927e-01 2.00795181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48232058799994 meters 0.02677595885584492 Centerline is valid? [True, True] Translation: X:372.78, Y:-173.77, Z:2.01 [[ 7.09116991e-01 7.04771998e-01 2.12019779e-02 3.72780126e+02] [-7.04458203e-01 7.09433880e-01 -2.10287939e-02 -1.73766619e+02] [-2.98619065e-02 -2.40321992e-05 9.99554034e-01 2.00837483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51232058799997 meters 0.026761473744229988 Centerline is valid? [True, True] Translation: X:372.80, Y:-173.79, Z:2.01 [[ 7.09112765e-01 7.04747391e-01 2.21404886e-02 3.72803567e+02] [-7.04404561e-01 7.09458324e-01 -2.19795281e-02 -1.73788070e+02] [-3.11977690e-02 -9.89723004e-06 9.99513231e-01 2.00769076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54232058799994 meters 0.026746132684971724 Centerline is valid? [True, True] Translation: X:372.83, Y:-173.81, Z:2.01 [[ 7.09006278e-01 7.04844073e-01 2.24706673e-02 3.72828585e+02] [-7.04490220e-01 7.09362272e-01 -2.23315315e-02 -1.73809746e+02] [-3.16800912e-02 2.83065152e-06 9.99498060e-01 2.00831906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57232058799997 meters 0.02699529924814671 Centerline is valid? [True, True] Translation: X:372.85, Y:-173.83, Z:2.01 [[ 7.08284483e-01 7.05554069e-01 2.29466069e-02 3.72851630e+02] [-7.05184764e-01 7.08656091e-01 -2.28252818e-02 -1.73832266e+02] [-3.23657233e-02 -1.48046509e-05 9.99476093e-01 2.00816226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60232058799994 meters 0.026675319327406796 Centerline is valid? [True, True] Translation: X:372.87, Y:-173.86, Z:2.01 [[ 7.06499388e-01 7.07381171e-01 2.16908624e-02 3.72874013e+02] [-7.07051436e-01 7.06832280e-01 -2.15961714e-02 -1.73855497e+02] [-3.06085268e-02 -7.88735239e-05 9.99531446e-01 2.01046729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63232058799997 meters 0.026975390177718876 Centerline is valid? [True, True] Translation: X:372.90, Y:-173.88, Z:2.01 [[ 7.04909352e-01 7.08969825e-01 2.15544207e-02 3.72897587e+02] [-7.08644262e-01 7.05238804e-01 -2.14834832e-02 -1.73878330e+02] [-3.04321552e-02 -1.30508285e-04 9.99536826e-01 2.01031400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66232058799994 meters 0.02682811941222006 Centerline is valid? [True, True] Translation: X:372.92, Y:-173.90, Z:2.01 [[ 7.03836698e-01 7.10052841e-01 2.09491323e-02 3.72920776e+02] [-7.09745229e-01 7.04148378e-01 -2.08990932e-02 -1.73900517e+02] [-2.95907581e-02 -1.58997990e-04 9.99562085e-01 2.01104989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.692320588 meters 0.026927676577049933 Centerline is valid? [True, True] Translation: X:372.94, Y:-173.92, Z:2.01 [[ 7.01614955e-01 7.12243286e-01 2.11176685e-02 3.72942942e+02] [-7.11931112e-01 7.01932649e-01 -2.10866765e-02 -1.73924336e+02] [-2.98420248e-02 -2.39597581e-04 9.99554599e-01 2.01108382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72232058799995 meters 0.027353867234629615 Centerline is valid? [True, True] Translation: X:372.97, Y:-173.95, Z:2.01 [[ 7.00827788e-01 7.12986758e-01 2.21426165e-02 3.72965628e+02] [-7.12643274e-01 7.01177446e-01 -2.21303834e-02 -1.73947579e+02] [-3.13045736e-02 -2.70199060e-04 9.99509855e-01 2.01114025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.752320588 meters 0.02711037163924269 Centerline is valid? [True, True] Translation: X:372.99, Y:-173.97, Z:2.01 [[ 6.99844675e-01 7.13972530e-01 2.14629327e-02 3.72990178e+02] [-7.13649680e-01 7.00173652e-01 -2.14707193e-02 -1.73968618e+02] [-3.03572837e-02 -2.90846463e-04 9.99539069e-01 2.01220790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78232058799995 meters 0.027254339183894954 Centerline is valid? [True, True] Translation: X:373.08, Y:-173.92, Z:3.85 [[ 7.64221876e-01 -6.44344816e-01 2.80121853e-02 3.73084509e+02] [-6.43879284e-01 -7.64734783e-01 -2.44985669e-02 -1.73917077e+02] [ 3.72074170e-02 6.85874988e-04 -9.99307329e-01 3.85295015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.812320588 meters 0.02743480421647442 Centerline is valid? [True, True] Translation: X:373.04, Y:-174.03, Z:2.01 [[ 7.49479690e-01 6.61678789e-01 2.14796334e-02 3.73041531e+02] [-6.61419634e-01 7.49787352e-01 -1.85201127e-02 -1.74027558e+02] [-2.83595232e-02 -3.26602918e-04 9.99597734e-01 2.01227360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84232058799995 meters 0.027658588484394772 Centerline is valid? [True, True] Translation: X:373.07, Y:-174.05, Z:2.01 [[ 7.47678575e-01 6.63716148e-01 2.13921446e-02 3.73065210e+02] [-6.63459461e-01 7.47984441e-01 -1.84613110e-02 -1.74048661e+02] [-2.82540615e-02 -3.89694014e-04 9.99600698e-01 2.01359575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.872320588 meters 0.027720378904591492 Centerline is valid? [True, True] Translation: X:373.09, Y:-174.07, Z:2.01 [[ 7.46272113e-01 6.65271502e-01 2.21757228e-02 3.73090236e+02] [-6.64995837e-01 7.46601383e-01 -1.91549609e-02 -1.74068456e+02] [-2.92996749e-02 -4.51950153e-04 9.99570570e-01 2.01387345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90232058799995 meters 0.027942394664319255 Centerline is valid? [True, True] Translation: X:373.12, Y:-174.09, Z:2.01 [[ 7.45285040e-01 6.66355142e-01 2.28261718e-02 3.73115848e+02] [-6.66063031e-01 7.45634347e-01 -1.97347394e-02 -1.74088416e+02] [-3.01703228e-02 -4.95663121e-04 9.99544649e-01 2.01394823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.932320588 meters 0.027895477562504156 Centerline is valid? [True, True] Translation: X:373.14, Y:-174.11, Z:2.01 [[ 7.44869563e-01 6.66853358e-01 2.18158808e-02 3.73140303e+02] [-6.66586613e-01 7.45188808e-01 -1.88660461e-02 -1.74110043e+02] [-2.88378364e-02 -4.89430639e-04 9.99583983e-01 2.01339277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96232058799995 meters 0.027928371763639995 Centerline is valid? [True, True] Translation: X:373.17, Y:-174.13, Z:2.01 [[ 7.45032514e-01 6.66673069e-01 2.17617221e-02 3.73165402e+02] [-6.66406950e-01 7.45350121e-01 -1.88407776e-02 -1.74132061e+02] [-2.87807412e-02 -4.65170895e-04 9.99585640e-01 2.01303534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.992320588 meters 0.027745329294280315 Centerline is valid? [True, True] Translation: X:373.19, Y:-174.15, Z:2.01 [[ 7.45985424e-01 6.65637030e-01 2.08108568e-02 3.73190301e+02] [-6.65392814e-01 7.46275545e-01 -1.80337169e-02 -1.74152488e+02] [-2.75345433e-02 -3.94504607e-04 9.99620775e-01 2.01448808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02232058799996 meters 0.027626901514758582 Centerline is valid? [True, True] Translation: X:373.22, Y:-174.17, Z:2.02 [[ 7.46051663e-01 6.65582847e-01 2.01591374e-02 3.73215121e+02] [-6.65353241e-01 7.46323883e-01 -1.74850196e-02 -1.74172972e+02] [-2.66829748e-02 -3.68219456e-04 9.99643878e-01 2.01550232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.052320588 meters 0.02764991770524259 Centerline is valid? [True, True] Translation: X:373.24, Y:-174.19, Z:2.02 [[ 7.46087877e-01 6.65525653e-01 2.06998927e-02 3.73239682e+02] [-6.65283017e-01 7.46374889e-01 -1.79731251e-02 -1.74194293e+02] [-2.74114559e-02 -3.61756293e-04 9.99624170e-01 2.01525299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08232058799996 meters 0.027761588825843047 Centerline is valid? [True, True] Translation: X:373.26, Y:-174.22, Z:2.02 [[ 7.45523060e-01 6.66143465e-01 2.11719247e-02 3.73263315e+02] [-6.65889423e-01 7.45823531e-01 -1.83993714e-02 -1.74216466e+02] [-2.80471407e-02 -3.81005084e-04 9.99606529e-01 2.01524781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.112320588 meters 0.027989573646415675 Centerline is valid? [True, True] Translation: X:373.29, Y:-174.24, Z:2.02 [[ 7.44301113e-01 6.67540748e-01 2.01296493e-02 3.73287721e+02] [-6.67311190e-01 7.44573159e-01 -1.75096283e-02 -1.74237353e+02] [-2.66763869e-02 -4.00304391e-04 9.99644042e-01 2.01541719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14232058799996 meters 0.02797863019361308 Centerline is valid? [True, True] Translation: X:373.31, Y:-174.26, Z:2.02 [[ 7.42542664e-01 6.69505015e-01 1.98350229e-02 3.73311502e+02] [-6.69282414e-01 7.42807398e-01 -1.72690459e-02 -1.74258966e+02] [-2.62953146e-02 -4.52228641e-04 9.99654116e-01 2.01618464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17232058799993 meters 0.028175317595122082 Centerline is valid? [True, True] Translation: X:373.34, Y:-174.28, Z:2.02 [[ 7.41969158e-01 6.70114507e-01 2.06957853e-02 3.73335003e+02] [-6.69871953e-01 7.42257580e-01 -1.80347493e-02 -1.74280789e+02] [-2.74469506e-02 -4.82298344e-04 9.99623145e-01 2.01627930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20232058799996 meters 0.028556339651801835 Centerline is valid? [True, True] Translation: X:373.36, Y:-174.30, Z:2.02 [[ 7.40477038e-01 6.71772312e-01 2.03891435e-02 3.73359864e+02] [-6.71537010e-01 7.40757510e-01 -1.77864201e-02 -1.74302903e+02] [-2.70518357e-02 -5.21628792e-04 9.99633896e-01 2.01708298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23232058799994 meters 0.028579314088463422 Centerline is valid? [True, True] Translation: X:373.39, Y:-174.32, Z:2.02 [[ 7.39348562e-01 6.73025422e-01 2.00121190e-02 3.73385370e+02] [-6.72798720e-01 7.39619149e-01 -1.74756034e-02 -1.74323519e+02] [-2.65628718e-02 -5.43565780e-04 9.99646997e-01 2.01624704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26232058799997 meters 0.028944850758763387 Centerline is valid? [True, True] Translation: X:373.41, Y:-174.34, Z:2.02 [[ 7.37905393e-01 6.74599180e-01 2.02873660e-02 3.73410504e+02] [-6.74366371e-01 7.38183981e-01 -1.77315216e-02 -1.74344292e+02] [-2.69374785e-02 -5.96931927e-04 9.99636942e-01 2.01528823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29232058799994 meters 0.029175644755535825 Centerline is valid? [True, True] Translation: X:373.44, Y:-174.36, Z:2.02 [[ 7.36374128e-01 6.76265910e-01 2.04343399e-02 3.73435603e+02] [-6.76029924e-01 7.36657312e-01 -1.78758603e-02 -1.74364956e+02] [-2.71419409e-02 -6.50904220e-04 9.99631378e-01 2.01512562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32232058799997 meters 0.029419713194919424 Centerline is valid? [True, True] Translation: X:373.46, Y:-174.39, Z:2.02 [[ 7.34463250e-01 6.78370566e-01 1.94193045e-02 3.73461159e+02] [-6.78157722e-01 7.34719616e-01 -1.70055881e-02 -1.74385430e+02] [-2.58038343e-02 -6.79371829e-04 9.99666795e-01 2.01657535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35232058799994 meters 0.029729268881000324 Centerline is valid? [True, True] Translation: X:373.49, Y:-174.41, Z:2.02 [[ 7.33065081e-01 6.79871491e-01 1.97571130e-02 3.73485712e+02] [-6.79651324e-01 7.33330906e-01 -1.73164677e-02 -1.74405765e+02] [-2.62614743e-02 -7.33850264e-04 9.99654839e-01 2.01662360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38232058799997 meters 0.029676049161831607 Centerline is valid? [True, True] Translation: X:373.51, Y:-174.43, Z:2.02 [[ 7.33463518e-01 6.79432102e-01 2.00819794e-02 3.73511679e+02] [-6.79203983e-01 7.33738036e-01 -1.76194170e-02 -1.74426382e+02] [-2.67061097e-02 -7.16560881e-04 9.99643071e-01 2.01645391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41232058799994 meters 0.02979077305124164 Centerline is valid? [True, True] Translation: X:373.54, Y:-174.45, Z:2.02 [[ 7.33472361e-01 6.79395929e-01 2.09634753e-02 3.73536546e+02] [-6.79146881e-01 7.33771512e-01 -1.84087396e-02 -1.74446550e+02] [-2.78892238e-02 -7.34977184e-04 9.99610750e-01 2.01656665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.442320588 meters 0.029519984320544243 Centerline is valid? [True, True] Translation: X:373.56, Y:-174.47, Z:2.02 [[ 7.34052111e-01 6.78793146e-01 2.01832614e-02 3.73562671e+02] [-6.78561640e-01 7.34329226e-01 -1.77394869e-02 -1.74465838e+02] [-2.68626008e-02 -6.73879101e-04 9.99638908e-01 2.01794741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47232058799995 meters 0.02921711647598073 Centerline is valid? [True, True] Translation: X:373.59, Y:-174.48, Z:2.02 [[ 7.34782254e-01 6.78010094e-01 1.99336844e-02 3.73589553e+02] [-6.77783571e-01 7.35052326e-01 -1.75359535e-02 -1.74483747e+02] [-2.65418545e-02 -6.25616350e-04 9.99647507e-01 2.01745257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.502320588 meters 0.029060785009714162 Centerline is valid? [True, True] Translation: X:373.62, Y:-174.50, Z:2.02 [[ 7.34867169e-01 6.77926439e-01 1.96465388e-02 3.73615263e+02] [-6.77706170e-01 7.35129494e-01 -1.72908717e-02 -1.74503952e+02] [-2.61646892e-02 -6.08086676e-04 9.99657461e-01 2.01796817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53232058799995 meters 0.02871066743031714 Centerline is valid? [True, True] Translation: X:373.64, Y:-174.52, Z:2.02 [[ 7.35295922e-01 6.77454394e-01 1.98859331e-02 3.73641954e+02] [-6.77228036e-01 7.35564547e-01 -1.75209814e-02 -1.74523795e+02] [-2.64970532e-02 -5.84205195e-04 9.99648721e-01 2.01798549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.562320588 meters 0.02884969955543224 Centerline is valid? [True, True] Translation: X:373.67, Y:-174.54, Z:2.02 [[ 7.35048605e-01 6.77728007e-01 1.97052609e-02 3.73667243e+02] [-6.77505367e-01 7.35312463e-01 -1.73798499e-02 -1.74544908e+02] [-2.62683349e-02 -5.75385618e-04 9.99654762e-01 2.01846464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59232058799995 meters 0.028739076840172087 Centerline is valid? [True, True] Translation: X:373.69, Y:-174.57, Z:2.02 [[ 7.34968637e-01 6.77828410e-01 1.92288736e-02 3.73691630e+02] [-6.77616057e-01 7.35219926e-01 -1.69746884e-02 -1.74565777e+02] [-2.56433771e-02 -5.53929958e-04 9.99671001e-01 2.01906211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.622320588 meters 0.028442646450371895 Centerline is valid? [True, True] Translation: X:373.72, Y:-174.59, Z:2.02 [[ 7.35913080e-01 6.76839411e-01 1.78983434e-02 3.73717132e+02] [-6.76655049e-01 7.36130546e-01 -1.58039474e-02 -1.74586137e+02] [-2.38722518e-02 -4.80672789e-04 9.99714902e-01 2.01996143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65232058799995 meters 0.02830540536061145 Centerline is valid? [True, True] Translation: X:373.74, Y:-174.61, Z:2.02 [[ 7.35280495e-01 6.77546814e-01 1.71145509e-02 3.73742056e+02] [-6.77378089e-01 7.35479499e-01 -1.51271523e-02 -1.74606317e+02] [-2.28367551e-02 -4.70321762e-04 9.99739097e-01 2.02091087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.682320588 meters 0.028189182598900596 Centerline is valid? [True, True] Translation: X:373.77, Y:-174.63, Z:2.02 [[ 7.35525312e-01 6.77251544e-01 1.82445023e-02 3.73767774e+02] [-6.77059293e-01 7.35751396e-01 -1.61430109e-02 -1.74626548e+02] [-2.43562971e-02 -4.79016689e-04 9.99703227e-01 2.02110185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71232058799995 meters 0.028333709421810353 Centerline is valid? [True, True] Translation: X:373.79, Y:-174.65, Z:2.02 [[ 7.35408127e-01 6.77349319e-01 1.93076921e-02 3.73792314e+02] [-6.77133653e-01 7.35661370e-01 -1.70986959e-02 -1.74646921e+02] [-2.57857133e-02 -4.99368142e-04 9.99667368e-01 2.02119056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.742320588 meters 0.028435500273814383 Centerline is valid? [True, True] Translation: X:373.82, Y:-174.67, Z:2.02 [[ 7.34344949e-01 6.78493326e-01 1.96036150e-02 3.73817122e+02] [-6.78270994e-01 7.34606370e-01 -1.73764071e-02 -1.74667781e+02] [-2.61907167e-02 -5.36286634e-04 9.99656820e-01 2.02069822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77232058799996 meters 0.028256277269034843 Centerline is valid? [True, True] Translation: X:373.84, Y:-174.69, Z:2.02 [[ 7.33552514e-01 6.79419795e-01 1.70132631e-02 3.73843182e+02] [-6.79252278e-01 7.33749622e-01 -1.50942241e-02 -1.74686946e+02] [-2.27387900e-02 -4.83891667e-04 9.99741323e-01 2.02198135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.802320588 meters 0.027999391997829266 Centerline is valid? [True, True] Translation: X:373.87, Y:-174.71, Z:2.02 [[ 7.32852842e-01 6.80204547e-01 1.57634413e-02 3.73868185e+02] [-6.80060651e-01 7.33022211e-01 -1.39981916e-02 -1.74707500e+02] [-2.10765862e-02 -4.61481646e-04 9.99777758e-01 2.02292491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83232058799996 meters 0.02805922414978861 Centerline is valid? [True, True] Translation: X:373.89, Y:-174.73, Z:2.02 [[ 7.31616817e-01 6.81563074e-01 1.44433281e-02 3.73893999e+02] [-6.81442268e-01 7.31759233e-01 -1.28398209e-02 -1.74727472e+02] [-1.93201865e-02 -4.48465333e-04 9.99813247e-01 2.02402277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.862320588 meters 0.045699409408892326 Centerline is valid? [True, True] Translation: X:373.92, Y:-174.75, Z:2.05 [[ 7.30972086e-01 6.82330933e-01 1.02131045e-02 3.73921030e+02] [-6.82270488e-01 7.31043359e-01 -9.08788461e-03 -1.74745848e+02] [-1.36671670e-02 -3.25109839e-04 9.99906547e-01 2.05221555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89232058799996 meters 0.028442422285427607 Centerline is valid? [True, True] Translation: X:373.94, Y:-174.77, Z:2.02 [[ 7.30215826e-01 6.83043303e-01 1.53848430e-02 3.73944558e+02] [-6.82906275e-01 7.30377701e-01 -1.36906026e-02 -1.74767639e+02] [-2.05880207e-02 -5.09311196e-04 9.99787915e-01 2.02284358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92232058799993 meters 0.028473251882699193 Centerline is valid? [True, True] Translation: X:373.97, Y:-174.79, Z:2.02 [[ 7.29445550e-01 6.83864392e-01 1.54493627e-02 3.73970580e+02] [-6.83726064e-01 7.29608950e-01 -1.37640870e-02 -1.74787871e+02] [-2.06847623e-02 -5.22979908e-04 9.99785911e-01 2.02338179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95232058799996 meters 0.028473251882699193 Centerline is valid? [True, True] Translation: X:374.00, Y:-174.81, Z:2.02 [[ 7.29094187e-01 6.84239142e-01 1.54422807e-02 3.73995063e+02] [-6.84100729e-01 7.29257515e-01 -1.37720327e-02 -1.74809286e+02] [-2.06847631e-02 -5.22966502e-04 9.99785911e-01 2.02350565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98232058799994 meters 0.028126916104559953 Centerline is valid? [True, True] Translation: X:374.02, Y:-174.83, Z:2.02 [[ 7.29170903e-01 6.84194868e-01 1.36812440e-02 3.74021378e+02] [-6.84086018e-01 7.29299099e-01 -1.22124561e-02 -1.74828072e+02] [-1.83334187e-02 -4.54180044e-04 9.99831826e-01 2.02392025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01232058799997 meters 0.028264756033587957 Centerline is valid? [True, True] Translation: X:374.05, Y:-174.85, Z:2.02 [[ 7.29458613e-01 6.83882171e-01 1.39752497e-02 3.74046924e+02] [-6.83768284e-01 7.29592336e-01 -1.24882664e-02 -1.74848344e+02] [-1.87367378e-02 -4.46159063e-04 9.99824352e-01 2.02375359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04232058799994 meters 0.02777431285784879 Centerline is valid? [True, True] Translation: X:374.08, Y:-174.87, Z:2.02 [[ 7.30683059e-01 6.82612178e-01 1.19533454e-02 3.74075156e+02] [-6.82528540e-01 7.30780743e-01 -1.06910203e-02 -1.74865086e+02] [-1.60330953e-02 -3.46752004e-04 9.99871402e-01 2.02469773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07232058799997 meters 0.027504352436589653 Centerline is valid? [True, True] Translation: X:374.10, Y:-174.88, Z:2.03 [[ 7.31358163e-01 6.81889467e-01 1.19160688e-02 3.74100731e+02] [-6.81806101e-01 7.31455160e-01 -1.06672636e-02 -1.74884223e+02] [-1.59899647e-02 -3.22858159e-04 9.99872100e-01 2.02540490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10232058799994 meters 0.027851391497659462 Centerline is valid? [True, True] Translation: X:374.13, Y:-174.90, Z:2.03 [[ 7.33061604e-01 6.80018419e-01 1.39869262e-02 3.74127550e+02] [-6.79902971e-01 7.33194958e-01 -1.25341357e-02 -1.74903479e+02] [-1.87785869e-02 -3.21459025e-04 9.99823615e-01 2.02663063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13232058799997 meters 0.027000621648142247 Centerline is valid? [True, True] Translation: X:374.15, Y:-174.92, Z:2.03 [[ 7.33982015e-01 6.79022093e-01 1.41208401e-02 3.74152419e+02] [-6.78904025e-01 7.34117778e-01 -1.26653723e-02 -1.74923232e+02] [-1.89664274e-02 -2.90539651e-04 9.99820079e-01 2.02606966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16232058799994 meters 0.03980503441726358 Centerline is valid? [True, True] Translation: X:374.18, Y:-174.94, Z:2.05 [[ 7.34463823e-01 6.78576494e-01 9.84051866e-03 3.74178923e+02] [-6.78519000e-01 7.34529718e-01 -8.83512128e-03 -1.74941909e+02] [-1.32234590e-02 -1.87901935e-04 9.99912549e-01 2.05080478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.192320588 meters 0.02664990783491115 Centerline is valid? [True, True] Translation: X:374.21, Y:-174.96, Z:2.03 [[ 7.37085360e-01 6.75677202e-01 1.28643105e-02 3.74205676e+02] [-6.75578292e-01 7.37197592e-01 -1.15621032e-02 -1.74961914e+02] [-1.72957883e-02 -1.68591910e-04 9.99850402e-01 2.02686647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22232058799995 meters 0.04784352817629349 Centerline is valid? [True, True] Translation: X:374.23, Y:-174.98, Z:2.06 [[ 7.37197360e-01 6.75646926e-01 6.42527919e-03 3.74232252e+02] [-6.75622196e-01 7.37225356e-01 -5.78132720e-03 -1.74980383e+02] [-8.64301469e-03 -7.90820841e-05 9.99962645e-01 2.05718120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.252320588 meters 0.02663358736234634 Centerline is valid? [True, True] Translation: X:374.26, Y:-175.00, Z:2.03 [[ 7.37680487e-01 6.75027054e-01 1.28831824e-02 3.74255820e+02] [-6.74927379e-01 7.37792964e-01 -1.16006472e-02 -1.75002123e+02] [-1.73358721e-02 -1.37641466e-04 9.99849713e-01 2.02789093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28232058799995 meters 0.026653557419964176 Centerline is valid? [True, True] Translation: X:374.28, Y:-175.02, Z:2.03 [[ 7.38753402e-01 6.73848651e-01 1.30922399e-02 3.74282766e+02] [-6.73745299e-01 7.38869396e-01 -1.18019881e-02 -1.75021905e+02] [-1.76262091e-02 -1.02076226e-04 9.99844641e-01 2.02859775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.312320588 meters 0.026798946067744692 Centerline is valid? [True, True] Translation: X:374.31, Y:-175.04, Z:2.03 [[ 7.38100406e-01 6.74576026e-01 1.24489613e-02 3.74308677e+02] [-6.74482476e-01 7.38205375e-01 -1.12345332e-02 -1.75042809e+02] [-1.67684369e-02 -1.04392721e-04 9.99859394e-01 2.02944041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34232058799995 meters 0.026896679332046043 Centerline is valid? [True, True] Translation: X:374.34, Y:-175.06, Z:2.03 [[ 7.38381431e-01 6.74264889e-01 1.26381112e-02 3.74335395e+02] [-6.74168217e-01 7.38489575e-01 -1.14176687e-02 -1.75062179e+02] [-1.70316464e-02 -8.96183216e-05 9.99854947e-01 2.02927533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.372320588 meters 0.027057060533985655 Centerline is valid? [True, True] Translation: X:374.36, Y:-175.08, Z:2.03 [[ 7.38340427e-01 6.74302681e-01 1.30118796e-02 3.74360616e+02] [-6.74199985e-01 7.38455068e-01 -1.17682845e-02 -1.75082863e+02] [-1.75440742e-02 -8.36088869e-05 9.99846087e-01 2.03080558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40232058799995 meters 0.02738966291225326 Centerline is valid? [True, True] Translation: X:374.39, Y:-175.10, Z:2.03 [[ 7.38600657e-01 6.74023491e-01 1.27044651e-02 3.74385486e+02] [-6.73925470e-01 7.38709908e-01 -1.14948913e-02 -1.75104079e+02] [-1.71327410e-02 -7.17283567e-05 9.99853221e-01 2.03162584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.432320588 meters 0.02769641634233072 Centerline is valid? [True, True] Translation: X:374.41, Y:-175.12, Z:2.03 [[ 7.39029184e-01 6.73588770e-01 1.06787059e-02 3.74411172e+02] [-6.73519322e-01 7.39106330e-01 -9.67245378e-03 -1.75123752e+02] [-1.44079554e-02 -4.40891440e-05 9.99896199e-01 2.03422690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46232058799995 meters 0.02775639965515041 Centerline is valid? [True, True] Translation: X:374.44, Y:-175.14, Z:2.04 [[ 7.39046361e-01 6.73597172e-01 8.79358076e-03 3.74436800e+02] [-6.73550062e-01 7.39098673e-01 -7.96652127e-03 -1.75144168e+02] [-1.18655501e-02 -3.52883124e-05 9.99929601e-01 2.03527073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.492320588 meters 0.027868462115920305 Centerline is valid? [True, True] Translation: X:374.46, Y:-175.16, Z:2.04 [[ 7.38958267e-01 6.73713659e-01 7.11233789e-03 3.74462726e+02] [-6.73682809e-01 7.38992493e-01 -6.44736570e-03 -1.75164257e+02] [-9.59964265e-03 -2.71255858e-05 9.99953922e-01 2.03634615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52232058799996 meters 0.028174780886914275 Centerline is valid? [True, True] Translation: X:374.49, Y:-175.18, Z:2.04 [[ 7.38422088e-01 6.74302500e-01 6.99698862e-03 3.74490306e+02] [-6.74272589e-01 7.38455237e-01 -6.35118498e-03 -1.75182740e+02] [-9.44958280e-03 -2.80223544e-05 9.99955351e-01 2.03914308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.552320588 meters 0.028402530435262665 Centerline is valid? [True, True] Translation: X:374.52, Y:-175.20, Z:2.04 [[ 7.37763020e-01 6.75023029e-01 7.04531969e-03 3.74515752e+02] [-6.74992670e-01 7.37796658e-01 -6.40205974e-03 -1.75203786e+02] [-9.51955109e-03 -3.23362269e-05 9.99954688e-01 2.04084011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58232058799996 meters 0.02847943008538709 Centerline is valid? [True, True] Translation: X:374.54, Y:-175.22, Z:2.04 [[ 7.37282734e-01 6.75573322e-01 3.85431650e-03 3.74541181e+02] [-6.75564239e-01 7.37292809e-01 -3.50332803e-03 -1.75224344e+02] [-5.20851479e-03 -2.08951209e-05 9.99986435e-01 2.04250221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.612320588 meters 0.028709560404104773 Centerline is valid? [True, True] Translation: X:374.57, Y:-175.25, Z:2.04 [[ 7.36762460e-01 6.76148450e-01 2.08597047e-03 3.74566132e+02] [-6.76145780e-01 7.36765413e-01 -1.90035004e-03 -1.75245714e+02] [-2.82178963e-03 -1.03135621e-05 9.99996019e-01 2.04275237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64232058799996 meters 0.029078506922932266 Centerline is valid? [True, True] Translation: X:374.59, Y:-175.27, Z:2.04 [[ 7.36448162e-01 6.76490788e-01 2.07820269e-03 3.74591804e+02] [-6.76488133e-01 7.36451094e-01 -1.89531935e-03 -1.75266214e+02] [-2.81266073e-03 -1.00750122e-05 9.99996044e-01 2.04281330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67232058799993 meters 0.029079719067357422 Centerline is valid? [True, True] Translation: X:374.62, Y:-175.29, Z:2.04 [[ 7.36742263e-01 6.76170970e-01 1.91241765e-03 3.74617703e+02] [-6.76168715e-01 7.36744745e-01 -1.74627640e-03 -1.75287539e+02] [-2.58974506e-03 -6.56135405e-06 9.99996647e-01 2.04418907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70232058799996 meters 0.02927324310879116 Centerline is valid? [True, True] Translation: X:374.64, Y:-175.31, Z:2.04 [[ 7.37151761e-01 6.75724980e-01 1.74139057e-03 3.74643166e+02] [-6.75723110e-01 7.37153818e-01 -1.58952962e-03 -1.75308920e+02] [-2.35775758e-03 -4.97329391e-06 9.99997220e-01 2.04437625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73232058799994 meters 0.029478784770152363 Centerline is valid? [True, True] Translation: X:374.67, Y:-175.33, Z:2.05 [[ 7.37529864e-01 6.75314438e-01 -3.31898380e-04 3.74667433e+02] [-6.75314371e-01 7.37529938e-01 3.00226490e-04 -1.75331163e+02] [ 4.47532275e-04 2.70974348e-06 9.99999900e-01 2.04532282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76232058799997 meters 0.02965617992891919 Centerline is valid? [True, True] Translation: X:374.69, Y:-175.35, Z:2.05 [[ 7.37353293e-01 6.75507135e-01 -4.81746810e-04 3.74691783e+02] [-6.75506993e-01 7.37353450e-01 4.37500960e-04 -1.75354212e+02] [ 6.50752694e-04 2.83056552e-06 9.99999788e-01 2.04525247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79232058799994 meters 0.030185078549792518 Centerline is valid? [True, True] Translation: X:374.72, Y:-175.38, Z:2.05 [[ 7.36511856e-01 6.76424614e-01 1.65019502e-04 3.74716638e+02] [-6.76424597e-01 7.36511875e-01 -1.53783572e-04 -1.75376317e+02] [-2.25561815e-04 1.64017415e-06 9.99999975e-01 2.04633894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82232058799997 meters 0.030258260953798008 Centerline is valid? [True, True] Translation: X:374.74, Y:-175.40, Z:2.05 [[ 7.35126580e-01 6.77929872e-01 -5.38156400e-06 3.74741639e+02] [-6.77929872e-01 7.35126580e-01 2.17071678e-06 -1.75398100e+02] [ 5.42772521e-06 2.05257139e-06 1.00000000e+00 2.04619899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85232058799994 meters 0.03043452540126803 Centerline is valid? [True, True] Translation: X:374.77, Y:-175.42, Z:2.05 [[ 7.33361945e-01 6.79835750e-01 -1.90008279e-03 3.74766245e+02] [-6.79833524e-01 7.33364407e-01 1.73974202e-03 -1.75419960e+02] [ 2.57619191e-03 1.58793865e-05 9.99996681e-01 2.04654516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88232058799997 meters 0.030613223090823607 Centerline is valid? [True, True] Translation: X:374.79, Y:-175.44, Z:2.05 [[ 7.32727739e-01 6.80519125e-01 -1.94426380e-03 3.74790665e+02] [-6.80516792e-01 7.32730319e-01 1.78218857e-03 -1.75441915e+02] [ 2.63743444e-03 1.72451641e-05 9.99996522e-01 2.04737321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91232058799994 meters 0.03080538545678429 Centerline is valid? [True, True] Translation: X:374.81, Y:-175.46, Z:2.05 [[ 7.30864919e-01 6.82517807e-01 -2.43174696e-03 3.74814458e+02] [-6.82514158e-01 7.30868964e-01 2.23215805e-03 -1.75464375e+02] [ 3.30077600e-03 2.82957152e-05 9.99994552e-01 2.04834007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.942320588 meters 0.0311549225073368 Centerline is valid? [True, True] Translation: X:374.84, Y:-175.49, Z:2.05 [[ 7.28909564e-01 6.84599205e-01 -3.84393195e-03 3.74837445e+02] [-6.84590086e-01 7.28919697e-01 3.53395932e-03 -1.75487634e+02] [ 5.22126346e-03 5.55809540e-05 9.99986368e-01 2.05067371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97232058799995 meters 0.031511152999530986 Centerline is valid? [True, True] Translation: X:374.86, Y:-175.51, Z:2.05 [[ 7.27824110e-01 6.85752005e-01 -4.03144493e-03 3.74861506e+02] [-6.85741969e-01 7.27835272e-01 3.71054430e-03 -1.75509995e+02] [ 5.47874101e-03 6.39073774e-05 9.99984990e-01 2.05200039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.002320588 meters 0.031694844483731596 Centerline is valid? [True, True] Translation: X:374.89, Y:-175.53, Z:2.05 [[ 7.25715270e-01 6.87977904e-01 -4.87348178e-03 3.74885287e+02] [-6.87963253e-01 7.25731628e-01 4.49078009e-03 -1.75531635e+02] [ 6.62639733e-03 9.37486943e-05 9.99978041e-01 2.05309873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03232058799995 meters 0.03189694126373388 Centerline is valid? [True, True] Translation: X:374.91, Y:-175.55, Z:2.05 [[ 7.24403951e-01 6.89353825e-01 -5.49725544e-03 3.74910202e+02] [-6.89335182e-01 7.24424800e-01 5.07107727e-03 -1.75553744e+02] [ 7.47811469e-03 1.15943171e-04 9.99972032e-01 2.05419139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.062320588 meters 0.03190193069880663 Centerline is valid? [True, True] Translation: X:374.93, Y:-175.58, Z:2.05 [[ 7.23814588e-01 6.89970986e-01 -5.69923968e-03 3.74934701e+02] [-6.89950922e-01 7.23837015e-01 5.26326397e-03 -1.75576023e+02] [ 7.75682007e-03 1.22568428e-04 9.99969908e-01 2.05428644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09232058799995 meters 0.032193827511633175 Centerline is valid? [True, True] Translation: X:374.96, Y:-175.60, Z:2.05 [[ 7.22578757e-01 6.91256400e-01 -6.67303956e-03 3.74958334e+02] [-6.91228887e-01 7.22609552e-01 6.16930500e-03 -1.75597552e+02] [ 9.08657370e-03 1.54788973e-04 9.99958704e-01 2.05423852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.122320588 meters 0.0325968085137456 Centerline is valid? [True, True] Translation: X:374.98, Y:-175.62, Z:2.06 [[ 7.21421552e-01 6.92418766e-01 -1.03535869e-02 3.74982759e+02] [-6.92352504e-01 7.21495798e-01 9.58246296e-03 -1.75618703e+02] [ 1.41051466e-02 2.55336528e-04 9.99900485e-01 2.05636719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15232058799995 meters 0.03251334844214932 Centerline is valid? [True, True] Translation: X:375.01, Y:-175.64, Z:2.06 [[ 7.20547946e-01 6.93307403e-01 -1.16405570e-02 3.75007005e+02] [-6.93223592e-01 7.20641905e-01 1.07840651e-02 -1.75639747e+02] [ 1.58653454e-02 2.99072746e-04 9.99874093e-01 2.05742856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.182320588 meters 0.032800537978015104 Centerline is valid? [True, True] Translation: X:375.03, Y:-175.66, Z:2.06 [[ 7.20019827e-01 6.93828341e-01 -1.31788344e-02 3.75030319e+02] [-6.93720787e-01 7.20140344e-01 1.22210542e-02 -1.75662260e+02] [ 1.79699241e-02 3.43030008e-04 9.99838469e-01 2.05948815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21232058799995 meters 0.0329109982057849 Centerline is valid? [True, True] Translation: X:375.05, Y:-175.69, Z:2.06 [[ 7.19565581e-01 6.94287994e-01 -1.37679244e-02 3.75054238e+02] [-6.94170437e-01 7.19697194e-01 1.27809572e-02 -1.75685212e+02] [ 1.87824017e-02 3.60549197e-04 9.99823530e-01 2.06035183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.242320588 meters 0.03297881954169526 Centerline is valid? [True, True] Translation: X:375.08, Y:-175.71, Z:2.06 [[ 7.19388485e-01 6.94452796e-01 -1.46806467e-02 3.75078548e+02] [-6.94318869e-01 7.19538165e-01 1.36432066e-02 -1.75707474e+02] [ 2.00378485e-02 3.78284271e-04 9.99799151e-01 2.06150286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27232058799996 meters 0.03331900957577166 Centerline is valid? [True, True] Translation: X:375.10, Y:-175.73, Z:2.06 [[ 7.18685118e-01 6.95097612e-01 -1.81937009e-02 3.75101328e+02] [-6.94891718e-01 7.18915210e-01 1.69239740e-02 -1.75729643e+02] [ 2.48435422e-02 4.79643889e-04 9.99691237e-01 2.06315431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.302320588 meters 0.033392373985645867 Centerline is valid? [True, True] Translation: X:375.12, Y:-175.75, Z:2.06 [[ 7.18174570e-01 6.95580991e-01 -1.98083769e-02 3.75124424e+02] [-6.95336923e-01 7.18447492e-01 1.84327209e-02 -1.75752342e+02] [ 2.70527290e-02 5.35584434e-04 9.99633864e-01 2.06424158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33232058799996 meters 0.03358722408709259 Centerline is valid? [True, True] Translation: X:375.15, Y:-175.77, Z:2.07 [[ 7.17857759e-01 6.95840270e-01 -2.20580447e-02 3.75147996e+02] [-6.95537556e-01 7.18196321e-01 2.05317501e-02 -1.75774724e+02] [ 3.01288251e-02 6.03322386e-04 9.99545842e-01 2.06649575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.362320588 meters 0.03366711017822092 Centerline is valid? [True, True] Translation: X:375.17, Y:-175.80, Z:2.07 [[ 7.17666315e-01 6.95995178e-01 -2.33617867e-02 3.75172511e+02] [-6.95655508e-01 7.18046169e-01 2.17511578e-02 -1.75795610e+02] [ 3.19135424e-02 6.41682287e-04 9.99490427e-01 2.06835463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39232058799996 meters 0.033856032534953395 Centerline is valid? [True, True] Translation: X:375.20, Y:-175.82, Z:2.07 [[ 7.16868878e-01 6.96765309e-01 -2.48418041e-02 3.75196506e+02] [-6.96381476e-01 7.17298817e-01 2.31353990e-02 -1.75817336e+02] [ 3.39389401e-02 7.14324687e-04 9.99423653e-01 2.07006665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42232058799993 meters 0.033846041064659944 Centerline is valid? [True, True] Translation: X:375.22, Y:-175.84, Z:2.07 [[ 7.16869441e-01 6.96684241e-01 -2.70050628e-02 3.75218339e+02] [-6.96230316e-01 7.17377501e-01 2.51568518e-02 -1.75841610e+02] [ 3.68992067e-02 7.67565072e-04 9.99318698e-01 2.07385610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45232058799996 meters 0.03388107628434788 Centerline is valid? [True, True] Translation: X:375.24, Y:-175.86, Z:2.08 [[ 7.16954876e-01 6.96570894e-01 -2.76531206e-02 3.75240648e+02] [-6.96094569e-01 7.17487553e-01 2.57674724e-02 -1.75864951e+02] [ 3.77896411e-02 7.75072055e-04 9.99285416e-01 2.07536839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48232058799994 meters 0.0340291254060824 Centerline is valid? [True, True] Translation: X:375.26, Y:-175.89, Z:2.08 [[ 7.17662327e-01 6.95788054e-01 -2.89787577e-02 3.75264283e+02] [-6.95264022e-01 7.18246754e-01 2.70099874e-02 -1.75887167e+02] [ 3.96071252e-02 7.63837203e-04 9.99215038e-01 2.07692088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51232058799997 meters 0.03424017096715667 Centerline is valid? [True, True] Translation: X:375.29, Y:-175.91, Z:2.08 [[ 7.17699930e-01 6.95696323e-01 -3.02231211e-02 3.75288121e+02] [-6.95125903e-01 7.18335583e-01 2.81774639e-02 -1.75908725e+02] [ 4.13133013e-02 7.85910509e-04 9.99145932e-01 2.08010845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54232058799994 meters 0.03438578879661568 Centerline is valid? [True, True] Translation: X:375.31, Y:-175.93, Z:2.08 [[ 7.17814968e-01 6.95536513e-01 -3.11549445e-02 3.75311599e+02] [-6.94929877e-01 7.18490311e-01 2.90540691e-02 -1.75931057e+02] [ 4.25926917e-02 7.95056045e-04 9.99092203e-01 2.08239070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57232058799997 meters 0.034445049413789744 Centerline is valid? [True, True] Translation: X:375.33, Y:-175.95, Z:2.09 [[ 7.17380764e-01 6.95985661e-01 -3.11255416e-02 3.75334919e+02] [-6.95380105e-01 7.18055220e-01 2.90380818e-02 -1.75954891e+02] [ 4.25599462e-02 8.12721089e-04 9.99093584e-01 2.08622161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60232058799994 meters 0.03445212013929453 Centerline is valid? [True, True] Translation: X:375.36, Y:-175.98, Z:2.09 [[ 7.16866571e-01 6.96462345e-01 -3.22880993e-02 3.75358604e+02] [-6.95810796e-01 7.17592817e-01 3.01311314e-02 -1.75977283e+02] [ 4.41549066e-02 8.66407198e-04 9.99024321e-01 2.08784480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63232058799997 meters 0.034397752473860635 Centerline is valid? [True, True] Translation: X:375.38, Y:-176.00, Z:2.09 [[ 7.16316579e-01 6.97044405e-01 -3.19320643e-02 3.75382917e+02] [-6.96407216e-01 7.17027417e-01 2.98106235e-02 -1.75999900e+02] [ 4.36754939e-02 8.83876142e-04 9.99045379e-01 2.08847384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66232058799994 meters 0.03456057087051422 Centerline is valid? [True, True] Translation: X:375.41, Y:-176.02, Z:2.09 [[ 7.15950583e-01 6.97422566e-01 -3.18830383e-02 3.75406161e+02] [-6.96787182e-01 7.16659585e-01 2.97768730e-02 -1.76022744e+02] [ 4.36163481e-02 8.96922843e-04 9.99047952e-01 2.09053276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.692320588 meters 0.034730077841311206 Centerline is valid? [True, True] Translation: X:375.43, Y:-176.05, Z:2.09 [[ 7.15318792e-01 6.98114672e-01 -3.09019621e-02 3.75428758e+02] [-6.97518110e-01 7.15985396e-01 2.88686548e-02 -1.76045466e+02] [ 4.22789851e-02 9.04386891e-04 9.99105435e-01 2.09127075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5852.72 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%| | 0/12024 [00:00